CN109366492A - Casting grinding track online compensation system and method based on robot - Google Patents
Casting grinding track online compensation system and method based on robot Download PDFInfo
- Publication number
- CN109366492A CN109366492A CN201811244970.0A CN201811244970A CN109366492A CN 109366492 A CN109366492 A CN 109366492A CN 201811244970 A CN201811244970 A CN 201811244970A CN 109366492 A CN109366492 A CN 109366492A
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- Prior art keywords
- robot
- electro spindle
- range sensor
- cutting depth
- workpiece
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Classifications
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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
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
Abstract
The present invention provides a kind of casting grinding track online compensation system and method based on robot, and system includes robot, PLC controller, laser range sensor, electro spindle, mounting plate, workbench, workpiece and pedestal.Laser range sensor and electro spindle are mounted on robot end's ring flange by mounting plate and move, laser range sensor transmitting laser beam is parallel to machining area workpiece surface normal, pass through laser range sensor intermittent transmission pulse laser beam, detect robot end to workpiece surface distance L1, cutting depth is calculated according to cutting rear surface distance L2 difference needed for robot end when L1 and original state and workpiece, robot end position is adjusted according to cutting depth, form a kind of feedback mechanism, so that the cutting depth that polishing tool keeps relative stability to workpiece surface.The present invention, which is able to maintain, polishes to casting equilibrium, improves casting quality after polishing, effectively prevents excessively polishing and polishing is insufficient.
Description
Technical field
The invention belongs to the fields of polishing, and are related to a kind of casting grinding technology, and in particular to a kind of casting based on robot
Polishing track online compensation system and method.
Background technique
With the arrival of made in China 2025, robot using more and more extensive.In space flight and aviation, the manufacturing industry such as automobile
In, part is mostly complicated cast member.Such as automotive hub, engine cylinder body, cylinder cap, crankshaft, clamp, bracket, knuckle, and compare
The casing components of such as aircraft need to polish to its dead head, overlap, burr, can be improved using robot polishing
Processing efficiency guarantees machining accuracy, reduces polishing cost.Since robot automatically grinding is directed to all parts rather than single
Part requires starting point, that is, cast member size very high.Therefore polishing track has an important influence in automatically grinding, track
Height determines the surface quality of workpiece after processing.Following problem thus is commonly present in practical application: 1, the zero of cast member
Part surface size is widely different, it cannot be guaranteed that the feed path of robot is suitable for all same positions, hinders robot and beats
The full-automatic application of mill.2, the consistency of cast member is poor, and part position has very big deviation after each clamping.It 3, cannot be automatic
Centering requires to remodify the starting point of robot, extends process time before polishing every time.4, when polishing, robot
Feed path do not meet current work surface, if any the idle stroke of a very long time, processing efficiency is influenced, in another example just
Secondary feed cutting depth is excessive, increases to Cutting Tool Damage, influences cutter life, aggravates stage property cost.5, it is such as encountered in processing
The case where idle stroke, it is unobvious to will result in grinding effect, needs secondary polishing, extends process time, reduce processing efficiency,
If encountering the excessive situation of first feed cutting depth, whole polishing will result in excessively, to hurt the ontology of part.
6, in process, machining allowance cannot be detected and corrected in real time.
Summary of the invention
The object of the present invention is to provide a kind of the casting grinding track online compensation system and method based on robot, the skill
Art can automatic capturing starting point, robot high efficiency is realized in and track during real-time detection and modification and processing, high-precision
It is fully automated polishing.
A kind of casting grinding track online compensation system based on robot, it is characterised in that: including six-joint robot,
PLC controller, laser range sensor, electro spindle, mounting plate, polishing tool, workbench and pedestal, the PLC controller are used
In the distance signal of reception laser range sensor measurement, and control six-joint robot and electro spindle movement, electro spindle mounting plate
Six-joint robot is fixed on by bolt and pin and executes end, and electro spindle is fixed on electro spindle mounting plate by bolt and pin to swash
Ligh-ranging sensor is installed on a mounting board, and polishing tool is mounted on electro spindle, and workpiece to be polished is fixed on by fixture
On workbench, the laser range sensor intermittent transmission pulse laser beam is detected between polishing tool and workpiece surface
Distance L1, when definition polishing tool is located at initial position, six-joint robot, which executes, cuts rear surface distance needed for end and workpiece
For L2, cutting depth is calculated according to L1 and L2 difference, adjusts the posture of robot, according to cutting depth to guarantee cutting for cutter
Cut depth to the extent permitted by the error.
A kind of casting grinding track online compensation method based on robot, which comprises the following steps:
Step 1 adjusts six-joint robot position by PLC controller, the starting point so that polishing tool alignment pieces are polished,
Polishing tool is defined when being located at initial position, it is L2 that six-joint robot, which executes cutting rear surface distance needed for end and workpiece,；
Step 2 starts to polish, and executes end to workpiece surface by laser range sensor clearance-type robot measurement
Distance L1, initial cuts depth e is calculated according to L1 and L2 difference0, and data are reached PLC controller；
Step 3, PLC control terminal send range data to six-joint robot, are worked as by the determining program detection of robot
Whether the position of preceding robot is in the range of the distance L1 for the guarantee wanted allows；
Step 4, when detecting that numerical value L1 is bigger than normal, then illustrate that the cutter of robot does not have contact workpiece surface or cutting
Depth is inadequate, then calculates the difference i.e. cutting depth e of numerical value L1 and L2, cutting depth e is transmitted to robot, so that machine
People drives polishing tool mobile, feed, until actual cutting depth e is within the allowable range, it is same to detect that numerical value L1 is inclined
Hour, then polishing tool is controlled by robot and is displaced outwardly withdrawing, until actual cutting depth e is within the allowable range, from
And the cutting depth that polishing tool keeps relative stability to workpiece surface；
Step 5, robot are moved along set path in workpiece surface；
Step 6, laser range sensor the intermittent transmission laser beam with the movement of robot carry out real-time measurement,
Step 4 is repeated, is realized to grinding workpieces track online compensation, until completing entire grinding workpieces.
Preferably, the mobile accuracy of the robot is not more than 0.05mm, the measurement accuracy of laser range sensor is not
Greater than 0.01mm.
Preferably, actual cut depth e and initial cuts depth e0Difference be not more than 0.1mm.
The six-joint robot includes robot body and robot control cabinet, for carrying out data with PLC controller
Exchange, wherein robot body has the ring flange for installing electro spindle mounting plate in six shaft ends, then by electro spindle and swash
Ligh-ranging sensor is installed on a mounting board.
Preferably, the direction of the laser range sensor transmitting laser beam should be parallel to electro spindle shaft axis side
To.
Preferably, the path of the robot ambulation is to set track route according to workpiece theory shape.
Preferably, remaining that the axis of electro spindle is flat with corresponding work pieces process region during robot ambulation
Face normal direction is parallel.
The medicine have the advantages that
1, by the laser distance measuring principle of laser range sensor, robot initial position is automatically adjusted, is allowed to
Energy automatic capturing, reduces the influence of workpiece position error in clamping, reduces the time to point, while solving cast member
The problem of consistency difference, serious forgiveness is high, reduces the risk that robot collides, ensure that the safety of system.
2, this method can control the surplus of polishing, guarantee the uniformity of the different parts machining allowance of same type, solve
Cast member surface size difference big problem, reduces the requirement to cast member precision；3, this method is real in process
When detect, ensure that contact of the cutter with workpiece surface, reduce the time of idle stroke significantly, improve grinding efficiency, drop simultaneously
Low Cutting Tool Damage rate, has saved the cost of cutter.
3, this method can apply to the cast member polishing of the complicated types such as curved surface cambered surface, and will not hurt ontology, have
The unexistent advantage of lathe, while full-automatic polishing system is realized, make it gradually to substitute manual polishing.Therefore it is based on machine
The casting grinding track online compensation method of device people has important advantage for full-automation polishing.
Detailed description of the invention
Fig. 1 is casting grinding track online compensation system structure diagram of the present invention；
Fig. 2 is electro spindle of the present invention and polishing tool installation relation schematic diagram.
1- robot, the end 2- assembly, 3- workpiece, 4- workbench, 5- pedestal, 6- mounting plate, 7- sensor installation seat, 8-
Laser range sensor, 9- electro spindle, 10- polishing tool.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, the indicating positions such as term " on ", "lower", " front " or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the component or element of indication or suggestion meaning must have
Specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.It is in order to better explain the present invention that this specification, which is chosen and specifically describes these embodiments,
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention only by
The limitation of claims and its full scope and equivalent.
As shown in Figure 1, this figure is the schematic diagram of entire casting grinding track online compensation system, comprising: robot 1, end
Hold assembly 2, workpiece 3, workbench 4, pedestal 5.Wherein workbench 4 and robot 1 are each attached on pedestal.Clamping above workbench
Workpiece, positioned at the distance of robot 1 front end about 1m, for guaranteeing the working position of workpiece all in the working range of robot
Interior, the total robot 1 of the present embodiment uses six-joint robot.
As shown in Fig. 2, this figure is detection process schematic diagram, comprising: mounting base 6, sensor installation seat 7, laser ranging pass
Sensor 8, electro spindle 9, polishing tool 10.
The PLC controller be used for receive laser range sensor measurement distance signal, and control six-joint robot and
Electro spindle movement, electro spindle mounting plate by bolt and pin be fixed on six-joint robot execute end, electro spindle by bolt with
Pin is fixed on electro spindle mounting plate, and laser range sensor is mounted on six-joint robot and executes end, and polishing tool is mounted on
On electro spindle, workpiece to be polished is fixed on the table by fixture, the laser range sensor intermittent transmission pulse
Laser beam detects the distance between polishing tool and workpiece surface L1, when definition polishing tool is located at initial position, six axis machines
It is L2 that people, which executes cutting rear surface distance needed for end and workpiece, cutting depth is calculated according to L1 and L2 difference, according to cutting
Depth adjusts the posture of robot, to guarantee the cutting depth of cutter to the extent permitted by the error.
A kind of casting grinding track online compensation method based on robot, comprising the following steps:
Step 1 adjusts six-joint robot position by PLC controller, the starting point so that polishing tool alignment pieces are polished,
Polishing tool is defined when being located at initial position, it is L2 that six-joint robot, which executes cutting rear surface distance needed for end and workpiece,；
Step 2 starts to polish, and executes end to workpiece surface by laser range sensor clearance-type robot measurement
Distance L1, initial cuts depth e is calculated according to L1 and L2 difference0, and data are reached PLC controller；
Step 3, PLC control terminal send range data to six-joint robot, are worked as by the determining program detection of robot
Whether the position of preceding robot is in the range of the distance L1 for the guarantee wanted allows；
Step 4, when detecting that numerical value L1 is bigger than normal, then illustrate that the cutter of robot does not have contact workpiece surface or cutting
Depth is inadequate, then calculates the difference i.e. cutting depth e of numerical value L1 and L2, cutting depth e is transmitted to robot, so that machine
People drives polishing tool mobile, feed, until actual cutting depth e is within the allowable range, it is same to detect that numerical value L1 is inclined
Hour, then polishing tool is controlled by robot and is displaced outwardly withdrawing, until actual cutting depth e is within the allowable range, from
And the cutting depth that polishing tool keeps relative stability to workpiece surface；
Step 5, robot are moved along set path in workpiece surface；
Step 6, laser range sensor the intermittent transmission laser beam with the movement of robot carry out real-time measurement,
Step 4 is repeated, is realized to grinding workpieces track online compensation, until completing entire grinding workpieces.
As a kind of more excellent embodiment, the mobile accuracy of the robot is not more than 0.05mm, laser range sensor
Measurement accuracy is not more than 0.01mm.
As a kind of more excellent embodiment, actual cut depth e and initial cuts depth e0Difference be not more than 0.1mm, most
Excellent, for example difference can be taken as 0.1mm.
As a kind of more excellent embodiment, the six-joint robot includes robot body and robot control cabinet, wherein
Robot body has the ring flange for installing electro spindle mounting plate in six shaft ends, then senses electro spindle and laser ranging
Device is installed on a mounting board.
As a kind of more excellent embodiment, the direction of the laser range sensor transmitting laser beam should be parallel to electro spindle and turn
Axis axis direction, the path of the robot ambulation are to set track route, robot ambulation process according to workpiece theory shape
In, remain that the axis of electro spindle is parallel with corresponding work pieces process area planar normal direction.
Working principle
The present invention utilizes the principle of laser ranging, and laser range sensor and electro spindle are mounted in robot together,
Make it as the movement two of robot is mobile.Robot pose is adjusted, enables the electro spindle being mounted in robot vertical
In processing plane, so that the laser beam of laser range sensor transmitting also can be perpendicular to processing plane.Then robot position is adjusted
It sets, so that bit alignment grinding workpieces starting point A0 point, when definition polishing tool is located at initial position, six-joint robot executes end
End is L2 with cutting rear surface distance needed for workpiece.Workpiece surface is arrived in the intermittent robot measurement end of laser range sensor
Distance L1 calculates initial cuts depth e according to L1 and L2 difference0, and data are reached PLC controller.PLC controller will be away from
From data transmission to robot.By the determining program of robot detect current robot position whether the guarantee wanted away from
In the range of allowing from L1；When detecting that numerical value L1 is bigger than normal, then illustrate the cutter of robot do not have contact workpiece surface or
Cutting depth is inadequate, then calculates the difference i.e. cutting depth e of numerical value L1 and L2, cutting depth e is transmitted to robot, so that
Robot drives polishing tool mobile, feed, until actual cutting depth e is within the allowable range, it is same to detect numerical value
When L1 is less than normal, then polishing tool is controlled by robot and be displaced outwardly withdrawing, until actual cutting depth e is in allowed band
It is interior, so that the cutting depth that polishing tool keeps relative stability to workpiece surface.Laser range sensor intermittent transmission
Laser beam, robot are moved along set path, reach next point A1Point.Robot repeats the location of judgement again
Whether in the accuracy rating of permission and repeats above-mentioned regulative mode and carry out self-control.Hereafter before reaching home, machine
The every mobile a distance of people will judge once, to guarantee its position within the error of permission.Realize track online compensation.
Claims (8)
1. a kind of casting grinding track online compensation system based on robot, it is characterised in that: including six-joint robot, PLC
Controller, laser range sensor, electro spindle, mounting plate, polishing tool, workbench and pedestal, the PLC controller is for connecing
The distance signal of laser range sensor measurement is received, and controls six-joint robot and electro spindle movement, electro spindle mounting plate passes through
Bolt and pin are fixed on six-joint robot and execute end, and electro spindle is fixed on Laser Measuring on electro spindle mounting plate by bolt and pin
On a mounting board away from sensor installation, polishing tool is mounted on electro spindle, and workpiece to be polished is fixed on work by fixture
On platform, the laser range sensor intermittent transmission pulse laser beam detects the distance between polishing tool and workpiece surface
L1 defines polishing tool when being located at initial position, and it is L2 that six-joint robot, which executes cutting rear surface distance needed for end and workpiece,
Cutting depth is calculated according to L1 and L2 difference, the posture of robot is adjusted according to cutting depth, the cutting to guarantee cutter is deep
Degree is to the extent permitted by the error.
2. a kind of casting grinding track online compensation method based on robot, which comprises the following steps:
Step 1 adjusts six-joint robot position by PLC controller, the starting point so that polishing tool alignment pieces are polished, definition
When polishing tool is located at initial position, it is L2 that six-joint robot, which executes cutting rear surface distance needed for end and workpiece,；
Step 2 starts to polish, and by laser range sensor clearance-type robot measurement execute end to workpiece surface away from
From L1, initial cuts depth e is calculated according to L1 and L2 difference0, and data are reached PLC controller；
Step 3, PLC control terminal send range data to six-joint robot, detect current machine by the determining program of robot
Whether the position of device people is in the range of the distance L1 for the guarantee wanted allows；
Step 4, when detecting that numerical value L1 is bigger than normal, then illustrate that the cutter of robot does not have contact workpiece surface or cutting depth
Not enough, the difference i.e. cutting depth e for then calculating numerical value L1 and L2, is transmitted to robot for cutting depth e, so that robot band
Dynamic polishing tool moves, feed, until actual cutting depth e is within the allowable range, when should detect that numerical value L1 is less than normal together,
Polishing tool is then controlled by robot and is displaced outwardly withdrawing, until actual cutting depth e is within the allowable range, so that
The cutting depth that polishing tool keeps relative stability to workpiece surface；
Step 5, robot are moved along set path in workpiece surface；
Step 6, laser range sensor the intermittent transmission laser beam with the movement of robot carry out real-time measurement, repeat
Step 4 is executed, is realized to grinding workpieces track online compensation, until completing entire grinding workpieces.
3. a kind of casting grinding track online compensation method based on robot as claimed in claim 2, it is characterised in that: institute
The mobile accuracy of robot is stated no more than 0.05mm, the measurement accuracy of laser range sensor is not more than 0.01mm.
4. a kind of casting grinding track online compensation method based on robot as claimed in claim 2, it is characterised in that: real
Border cutting depth e and initial cuts depth e0Difference be not more than 0.1mm.
5. a kind of casting grinding track online compensation method based on robot as claimed in claim 2, it is characterised in that: institute
The six-joint robot stated includes robot body and robot control cabinet, is used for and PLC controller carries out data exchange, wherein machine
Device human body has the ring flange for installing electro spindle mounting plate in six shaft ends, then by electro spindle and laser range sensor
Installation is on a mounting board.
6. a kind of casting grinding track online compensation method based on robot as claimed in claim 2, it is characterised in that: institute
The direction for stating laser range sensor transmitting laser beam should be parallel to electro spindle shaft axis direction.
7. a kind of casting grinding track online compensation method based on robot as claimed in claim 2, it is characterised in that: institute
The path for stating robot ambulation is to set track route according to workpiece theory shape.
8. a kind of casting grinding track online compensation method based on robot as claimed in claim 7, it is characterised in that: machine
In device people's walking process, remain that the axis of electro spindle is parallel with corresponding work pieces process area planar normal direction.
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| CN201811244970.0A CN109366492A (en) | 2018-10-24 | 2018-10-24 | Casting grinding track online compensation system and method based on robot |
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| CN201811244970.0A CN109366492A (en) | 2018-10-24 | 2018-10-24 | Casting grinding track online compensation system and method based on robot |
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| CN201811244970.0A Pending CN109366492A (en) | 2018-10-24 | 2018-10-24 | Casting grinding track online compensation system and method based on robot |
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| CN109846145A (en) * | 2019-03-15 | 2019-06-07 | 佛山市南海中禧机械有限公司 | A kind of full-automatic shoe sole trimming equipment and its shoe sole edge trimming machine structure |
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| CN111230976A (en) * | 2020-01-14 | 2020-06-05 | 山东华滋自动化技术股份有限公司 | Control method and system for automatic sleeve cutting of die cutting machine |
| CN112171458A (en) * | 2020-11-27 | 2021-01-05 | 大捷智能科技(广东)有限公司 | Intelligent mold polishing platform and polishing method |
| CN112388511A (en) * | 2020-09-23 | 2021-02-23 | 广东博智林机器人有限公司 | Control method and device of polishing robot, electronic equipment and storage medium |
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| CN112872593A (en) * | 2020-12-24 | 2021-06-01 | 中国电子科技集团公司第十四研究所 | Laser polishing system and polishing method thereof |
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| CN112643674A (en) * | 2020-12-15 | 2021-04-13 | 北京配天技术有限公司 | Robot following machining workpiece surface compensation method, robot and storage device |
| CN112643674B (en) * | 2020-12-15 | 2022-07-12 | 北京配天技术有限公司 | Robot following machining workpiece surface compensation method, robot and storage device |
| CN112872593A (en) * | 2020-12-24 | 2021-06-01 | 中国电子科技集团公司第十四研究所 | Laser polishing system and polishing method thereof |
| CN112692726B (en) * | 2020-12-30 | 2021-10-26 | 常州多博特机器人科技股份有限公司 | Casting grinding wheel compensation control method |
| CN112692726A (en) * | 2020-12-30 | 2021-04-23 | 常州多博特机器人科技股份有限公司 | Casting grinding wheel compensation control method |
| CN112902839B (en) * | 2021-01-21 | 2022-05-20 | 华中科技大学 | Machining allowance measuring method and system based on point laser displacement sensor |
| CN112902839A (en) * | 2021-01-21 | 2021-06-04 | 华中科技大学 | Machining allowance measuring method and system based on point laser displacement sensor |
| CN114227387A (en) * | 2021-09-06 | 2022-03-25 | 广东东方精工科技股份有限公司 | Method for polishing rubber pad of die cutting unit |
| CN114227387B (en) * | 2021-09-06 | 2022-12-20 | 广东东方精工科技股份有限公司 | Method for polishing rubber pad of die cutting unit |
| CN116587268A (en) * | 2023-04-14 | 2023-08-15 | 大连理工大学 | Milling precision improving method for large-area robot in space |
| CN116587268B (en) * | 2023-04-14 | 2024-01-23 | 大连理工大学 | Milling precision improving method for large-area robot in space |
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