CN108994830A - System calibrating method for milling robot off-line programing - Google Patents

System calibrating method for milling robot off-line programing Download PDF

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Publication number
CN108994830A
CN108994830A CN201810764773.5A CN201810764773A CN108994830A CN 108994830 A CN108994830 A CN 108994830A CN 201810764773 A CN201810764773 A CN 201810764773A CN 108994830 A CN108994830 A CN 108994830A
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CN
China
Prior art keywords
robot
point
calibrating
milling
line
Prior art date
Application number
CN201810764773.5A
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Chinese (zh)
Inventor
王永强
祁佩
王力
黄顺舟
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上海航天设备制造总厂有限公司
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Priority to CN201810764773.5A priority Critical patent/CN108994830A/en
Publication of CN108994830A publication Critical patent/CN108994830A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1653Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture

Abstract

The present invention provides a kind of system calibrating method for milling robot off-line programing, includes the following steps: S1, obtains scanning point cloud model in kind;S2, calibration milling tools coordinate system;S3, measurement obtain coordinate value of the characteristic point in kind under robot coordinate;S4, model imports and Feature Points Matching;S5, robot off-line programming and analogue simulation;S6, robot program generate;S7, polishing in kind.Provided by the present invention for the system calibrating method of milling robot off-line programing, it can be applied in the technique for grinding with the store-vessel bottom thermal insulation layer of a variety of raised flanges barriers and brevicone edge, it can be in the requirement for guaranteeing to meet uniform thickness processing in the case where shape smooth transition as far as possible.

Description

System calibrating method for milling robot off-line programing
Technical field
The present invention relates to robot field, in particular to a kind of system calibrating side for milling robot off-line programing Method.
Background technique
The application of this patent --- certain carrier rocket store-vessel bottom structure is more complicated, major embodiment are as follows: (1) bottom For the substantially elliposoidal curved-surface structure of multi-panel welding;(2) spraying insulation thickness differs greatly;(3) bottom has many flanges etc. Protrusion;(4) bottom edge is brevicone structure.The structural complexity of bottom causes its thermal insulation layer polishing difficulty larger, also more difficult Realize automation polishing, furthermore cannot collide the protrusions such as flange in thermal insulation layer bruting process, otherwise easily lead to tank damage and It scraps.Currently, the molding box bottom still uses manually polishing process, not only the process-cycle is long, production efficiency is low, low precision, production Quality stability is poor, and labor intensity is big, and operating environment is also poor.Therefore, in order to realize cabinet thermal insulation layer high efficiency, In high precision, the rule processing of high safety, it is necessary to study a kind of tank thermal insulation layer robot polishing system Accurate Calibration and control Method.
However most of existing industrial robot application is programmed using teaching mode, i.e., robot operating position needs to exist Reachable before robot manipulating task, this is obviously not suitable for this application of polishing.It is beaten therefore, it is desirable to be realized using popular industrial machine people Mill, off-line programing is essential step.It is another other than trajectory planning and code conversion in robot off-line programming A important step is exactly the calibration of whole system, and especially for the higher field of required precision, high-precision calibration seems outstanding It is important.
Summary of the invention
The purpose of the present invention is to provide a kind of system calibrating methods for milling robot off-line programing, make appearance in kind State is accurately matched with source model posture, is realized and is reflected into robot to robot off-line programming real result under software emulation environment In actual processing, guarantee polishing quality and safety.
In order to solve the above-mentioned technical problem, it is compiled offline the technical scheme is that providing one kind for milling robot The system calibrating method of journey includes the following steps: S1, obtains scanning point cloud model in kind;S2, calibration milling tools coordinate system; S3, measurement obtain coordinate value of the characteristic point in kind under robot coordinate;S4, model imports and Feature Points Matching;S5, robot Off-line programing and analogue simulation;S6, robot program generate;S7, polishing in kind.
Further, after step S7, polishing quality testing is carried out: using distance measuring sensor or needle point method to nonmetallic Thickness measures, and compares inspection with actual process.
Further, in the step S2, calibration milling tools coordinate system include to the position of milling tools and posture into Rower is fixed: X, Y-axis are measured together using grinding head end face center point, and Z axis uses calibrating block independent measurement, then by each of TCP point Tool TCP positional value can be obtained in a axis combination.Attitude value is obtained by being parallel to the two-point measurement of axis on cylinder polishing tool ?.
Further, in the step S3, multiple spies convenient for measurement are added in actually polishing object and simulation model Point is levied, multimetering matching is carried out.
Further, multiple characteristic points convenient for measurement are added in actually polishing object and simulation model: in polishing pair As edge through-hole in a manner of being spirally connected fixed multiple small cubes, while by the cube model to match actual installation appearance The mode of state is scanned into polishing simulation model.
Further, multimetering matches:
Under actual environment, the calibration tool for having cusp is fixed in robot end, using this cusp as robot TCP point is fixed into rower, and then robot motion makes the TCP point be substantial access to characteristic point on cube, reads machine under the state Device people TCP point coordinate, as characteristic point coordinate value under robot coordinate system complete measurement;It is soft in threedimensional model processing simultaneously Corresponding calibration point is extracted in part, the function being aligned using data processing software multiple spot completes model pair in off-line simulation environment The correction of elephant matches.
Further, in the step S3, line-of-sight course part calibration is carried out:
Respectively in the actual environment with two groups of corresponding 3 characteristic points are obtained in simulated environment, pass through Feature Points Matching, it is real Existing workpiece adjustment.
Further, in the step S4, by material object obtained in robot model, step S1 scan point cloud model and The characteristic point obtained in step S3 imports Geomagic software the same coordinate system, by the reconstruction model character pair point with Measure obtain Characteristic points match, be converted into reconstruction model under robot coordinate system, then by above-mentioned registration calibration after all moulds Type is directed into robot off-line programming software Mastercam and carries out trajectory planning.
Further, in the step S5, object of placing obstacles in the robot off-line programming software with CAM function rule The condition kept away generates machining locus, and into accessibility, interference detection, singular point inspection, choosing in robot off-line programming software Select robot motion profile and posture.
Further, in the step S6 and S7, machining locus is exported as into robot operating instruction program, imports machine People's control cabinet, control robot carry out practical polishing processing.
Provided by the present invention for the system calibrating method of milling robot off-line programing, it can be applied to that there are a variety of protrusions It, can be the case where guaranteeing shape smooth transition in the technique for grinding of the store-vessel bottom thermal insulation layer at flange barrier and brevicone edge Under meet as far as possible uniform thickness processing requirement.
Detailed description of the invention
Invention is described further with reference to the accompanying drawing:
Fig. 1 is that robot assisted automatically grinding provided in an embodiment of the present invention equips schematic diagram, in which: 1 is milling tools Or calibration tooling, 2 be industrial robot, 3 be the padded tooling of robot, 4 be bottom bracket 4,5 for the storage with flange barrier Case bottom;
Fig. 2 is the flow chart of the system calibrating method provided in an embodiment of the present invention for milling robot off-line programing.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to the system mark proposed by the present invention for milling robot off-line programing The method of determining is described in further detail.According to following explanation and claims, advantages and features of the invention will be become apparent from.It needs Illustrate, attached drawing is all made of very simplified form and using non-accurate ratio, only to convenient, lucidly auxiliary is said The purpose of the bright embodiment of the present invention.
Core of the invention thought is, provided by the present invention for the system calibrating side of milling robot off-line programing Method can be applied in the technique for grinding with the store-vessel bottom thermal insulation layer of a variety of raised flanges barriers and brevicone edge, can In the requirement for guaranteeing to meet uniform thickness processing in the case where shape smooth transition as far as possible.
Fig. 1 is that robot assisted automatically grinding provided in an embodiment of the present invention equips schematic diagram, and Fig. 2 is the embodiment of the present invention The flow chart of the system calibrating method for milling robot off-line programing provided.As an embodiment of the present invention, Fig. 1 A kind of present invention system calibrating method for high precision grinding machine device people's off-line programing claimed is shown in certain type Application in store-vessel bottom robot bruting process.There is the store-vessel bottom 5 of flange barrier to use bottom bracket 4 for description in figure It holds up and fixes, therefore in order to enable robot working space can cover bottom polishing region well, industrial robot 2 can Its substructure height is suitably raised using padded tooling 3, off-line simulation software specifically highly can be used and estimated.Robot end A kind of fixed calibration tooling 1 with cusp, determines using this cusp as tool TCP point into rower, and it is certain to be subsequently used for measurement bottom The coordinate value under robot world's coordinate system of characteristic point.The fixed milling tools 1 of robot end beats store-vessel bottom 5 Mill processing.Referring to FIG. 1 and FIG. 2, the system calibrating method of high precision grinding machine device people's off-line programing provided in this embodiment is specific It is as follows:
(1) scanning point cloud model in kind obtains.Using the hand held noncontact laser scanning measurement system of Creaform company System carries out point cloud data scanning to bottom and obtains, and the system is by Digital Photogrammetric System MaxShot 3D and three-D scanning measuring system HandyScan 3D two parts composition, Digital Photogrammetric System MaxShot 3D major function are shooting encoded point positioning measurment system The frame of reference, three-D scanning measuring system HandyScan3D major function is to carry out bottom point cloud numbers for 2 CCD cameras According to scanning imagery.Then noise reduction is carried out to point cloud data using Geomagic software and simplifies processing, imported UG software and carry out feature Point extraction, surface fitting and barrier model reconstruction.
(2) tool coordinates system high-precision calibrating.The general scaling method of industrial robot is XYZ4 point method, three points TCP point position is solved, another point can measure stated accuracy.Here XYZ4 point method is improved.It can be by X, Y-axis with making It is measured together with grinding head end face center point, though there is fractional error in this way, does not influence overall grinding accuracy, Z axis is with special Then the higher tool TCP positional value of precision can be obtained in each axis combination of TCP point by high-precision calibrating block independent measurement. In general, the ABC2 point method measuring tool coordinate system pose carried using robot itself can meet required precision.But this is this Method needs to have two vertical sides on tool, and the cylindrical grinding head used in us is difficult to find out such point, directly It is difficult have high-precision with grinding head measurement, can directly demarcates posture using high-precision auxiliary calibration block here, have in calibrating block The higher vertical line of precision, therefore relatively high precision is had using the calibration of ABC2 point method.After the completion of calibration by this value with demarcated Positional value combination the higher tool coordinates system of precision can be obtained.
(3) measurement obtains characteristic point coordinate value under robot coordinate system in kind.Robot end fixes one with point The calibration tool of point is demarcated using this cusp as robot TCP point using XYZ4 point method, and then robot motion makes this TCP point is substantial access to characteristic point on curved surface, reads robot TCP point coordinate under the state, as characteristic point is in robot coordinate It is lower coordinate value, completes measurement.
(4) model importing and Feature Points Matching.By robot model, step (1) reconstruct threedimensional model and step (3) The characteristic point of acquisition is directed into Geomagic software the same coordinate system, and the character pair point on the reconstruction model is obtained with measurement The Characteristic points match taken, is converted into reconstruction model under robot coordinate system, then all models after the calibration of above-mentioned registration are imported To robot off-line programming software Robotmaster.
(5) in view of certain type store-vessel bottom grinding accuracy is more demanding, it can be changed to multiple spot with 3 points in step (3), used Robot measuring tool measures multiple index points on practical work piece, equally uses three-dimensional coordinate scanner scanning calibration point and beats Grinder part obtains the three-dimensional polishing part model with index point after software processing.Then multi-point fitting is used in CAM software Method simulation model is matched with realistic model.
(6) consider that avoidance carries out robot off-line programming and analogue simulation.In the robot off-line programming with CAM function In software, the condition that object of placing obstacles is evaded generates machining locus, and into accessibility, dry in robot off-line programming software The inspection such as detection, singular point is related to, suitable robot motion track and posture are selected.
(7) track is generated polishes in kind.Machining locus is exported as into robot operating instruction program, imports robot control Cabinet processed, control robot carry out practical polishing processing.Step (6) and (7) can divide 2-3 step to carry out by coarse-fine processing.
(7) polishing quality testing.Using distance measuring sensor (such as high precision laser displacement sensor and current vortex sensor Measurement in a closed series) or needle point method nonmetal thickness is measured, and with actual process require compare inspection.
Obviously, those skilled in the art can carry out various changes and deformation without departing from essence of the invention to the present invention Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims (10)

1. being used for the system calibrating method of milling robot off-line programing, which comprises the steps of::
S1, scanning point cloud model in kind is obtained;
S2, calibration milling tools coordinate system;
S3, measurement obtain coordinate value of the characteristic point in kind under robot coordinate;
S4, model imports and Feature Points Matching;
S5, robot off-line programming and analogue simulation;
S6, robot program generate;
S7, polishing in kind.
2. being used for the system calibrating method of milling robot off-line programing as described in claim 1, which is characterized in that step S7 After, carry out polishing quality testing, nonmetal thickness measured using distance measuring sensor or needle point method, and with practical work Skill compares inspection.
3. being used for the system calibrating method of milling robot off-line programing as described in claim 1, which is characterized in that the step In rapid S2, calibration milling tools coordinate system includes demarcating to the position of milling tools and posture: X, Y-axis use the polishing crown Face central point measures together, and Z axis uses calibrating block independent measurement, then each axis combination of TCP point can be obtained tool TCP Set value.Attitude value is obtained by being parallel to the two-point measurement of axis on cylinder polishing tool.
4. being used for the system calibrating method of milling robot off-line programing as described in claim 1, which is characterized in that the step In rapid S3, multiple characteristic points convenient for measurement are added in actually polishing object and simulation model, carry out multimetering matching.
5. being used for the system calibrating method of milling robot off-line programing as claimed in claim 4, which is characterized in that in reality Multiple characteristic points convenient for measurement: the side on the through-hole of polishing target edges to be spirally connected are added in polishing object and simulation model The fixed multiple small cubes of formula, while the cube model being scanned into polishing emulation in a manner of matching actual installation posture In model.
6. being used for the system calibrating method of milling robot off-line programing as claimed in claim 4, which is characterized in that multiple spot is surveyed It is flux matched:
Under actual environment, the calibration tool for having cusp is fixed in robot end, using this cusp as robot TCP point It is demarcated, then robot motion makes the TCP point be substantial access to characteristic point on cube, reads robot under the state TCP point coordinate, as characteristic point coordinate value under robot coordinate system complete measurement;Simultaneously in threedimensional model processing software Corresponding calibration point in scanning part model is extracted, the function being aligned using data processing software multiple spot completes off-line simulation ring The correction matching of model object in border.
7. being used for the system calibrating method of milling robot off-line programing as described in claim 1, which is characterized in that the step In rapid S3, line-of-sight course part calibration is carried out:
Respectively in the actual environment with two groups of corresponding 3 characteristic points are obtained in simulated environment, pass through Feature Points Matching, realize work Part adjustment.
8. being used for the system calibrating method of milling robot off-line programing as described in claim 1, which is characterized in that the step In rapid S4, it is equal that material object obtained in robot model, step S1 is scanned to the characteristic point obtained in point cloud model and step S3 Geomagic software the same coordinate system is imported, by the character pair point on the reconstruction model and measures the Characteristic points match obtained, It is converted into reconstruction model under robot coordinate system, then all models after the calibration of above-mentioned registration is directed into robot off-line programming Software Mastercam carries out trajectory planning.
9. being used for the system calibrating method of milling robot off-line programing as described in claim 1, which is characterized in that the step In rapid S5, the condition that object of placing obstacles in the robot off-line programming software with CAM function is evaded generates machining locus, And robot motion track and appearance are selected into accessibility, interference detection, singular point inspection in robot off-line programming software State.
10. being used for the system calibrating method of milling robot off-line programing as described in claim 1, which is characterized in that described In step S6 and S7, machining locus is exported as into robot operating instruction program, imports robot control cabinet, control robot into The practical polishing processing of row.
CN201810764773.5A 2018-07-12 2018-07-12 System calibrating method for milling robot off-line programing CN108994830A (en)

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Cited By (6)

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Publication number Priority date Publication date Assignee Title
CN110065068A (en) * 2019-04-08 2019-07-30 浙江大学 A kind of robotic asssembly operation programming by demonstration method and device based on reverse-engineering
CN110315431A (en) * 2019-06-05 2019-10-11 广州文冲船厂有限责任公司 A kind of component polishing orbit generation method, device and equipment
CN110394554A (en) * 2019-06-14 2019-11-01 广东镭奔激光科技有限公司 A kind of robot motion track off-line programing method that the impeller disk is laser impact intensified
CN110919499A (en) * 2019-12-18 2020-03-27 东莞市照亮智能装备科技有限公司 Off-line programming-based golf head manufacturing process
CN110977962A (en) * 2019-11-12 2020-04-10 长沙长泰机器人有限公司 Automatic deviation rectifying method for robot polishing path based on 3D vision
CN111774962A (en) * 2020-07-06 2020-10-16 无锡中车时代智能装备有限公司 Robot polishing control method, industrial personal computer and system for high-speed rail body end wall

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Publication number Priority date Publication date Assignee Title
CN110065068A (en) * 2019-04-08 2019-07-30 浙江大学 A kind of robotic asssembly operation programming by demonstration method and device based on reverse-engineering
CN110315431A (en) * 2019-06-05 2019-10-11 广州文冲船厂有限责任公司 A kind of component polishing orbit generation method, device and equipment
CN110394554A (en) * 2019-06-14 2019-11-01 广东镭奔激光科技有限公司 A kind of robot motion track off-line programing method that the impeller disk is laser impact intensified
CN110977962A (en) * 2019-11-12 2020-04-10 长沙长泰机器人有限公司 Automatic deviation rectifying method for robot polishing path based on 3D vision
CN110919499A (en) * 2019-12-18 2020-03-27 东莞市照亮智能装备科技有限公司 Off-line programming-based golf head manufacturing process
CN111774962A (en) * 2020-07-06 2020-10-16 无锡中车时代智能装备有限公司 Robot polishing control method, industrial personal computer and system for high-speed rail body end wall

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