CN110281152B - Robot constant-force polishing path planning method and system based on online touch test - Google Patents
Robot constant-force polishing path planning method and system based on online touch test Download PDFInfo
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- CN110281152B CN110281152B CN201910519465.0A CN201910519465A CN110281152B CN 110281152 B CN110281152 B CN 110281152B CN 201910519465 A CN201910519465 A CN 201910519465A CN 110281152 B CN110281152 B CN 110281152B
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- 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
- B24B49/16—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 taking regard of the load
- B24B49/165—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 taking regard of the load for grinding tyres
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention belongs to the field of robot polishing path planning, and particularly discloses a robot constant force polishing path planning method and system based on-line trial touch, which comprises the steps of firstly obtaining geometric information and position information of a surface to be polished, and determining a trial touch range and a trial touch direction in an on-line trial touch process according to the geometric information and the position information; then determining a trial touch starting point, sending out a trial touch starting point by the robot clamping polishing tool, carrying out point-by-point online trial touch on the surface to be polished along the trial touch direction, and recording touch point information; and finally, fitting a constant-grinding-force surface grid of the surface to be ground by utilizing the recorded information of all the touch points, and generating a constant-force grinding path. The invention obtains the information of the surface of the workpiece by the way that the robot tries to touch the surface to be polished on line, and plans the constant-force polishing path according to the information, and has the advantages of simple operation, high automation degree, capability of realizing constant-force polishing and the like.
Description
Technical Field
The invention belongs to the field of robot polishing path planning, and particularly relates to a robot constant-force polishing path planning method and system based on-line touch test.
Background
With the wide application of robots in the field of machining and manufacturing, more and more manual operations are replaced by robot operations, such as robot spraying, drilling and riveting, grinding and polishing and the like. The three operations are most widely applied because of low requirement on the operation precision of the robot. In the field of robot grinding and polishing processing, the mode that a robot assists manual work or the robot works independently is adopted from small enterprises to large enterprises at present. Wherein, small and medium-sized enterprises mainly relate to the polishing of small parts such as bathroom industry, etc., and large-scale enterprises relate to the polishing of large-scale complicated components in wind power, high-speed rail, etc.
The robot grinding and polishing is divided into two types according to the clamping mode of a workpiece, wherein the workpiece is fixedly clamped on a working table surface, and a grinding tool is clamped by the robot to polish the workpiece to be processed; the other is that the workpiece is fixedly clamped at the tail end of the robot, and the robot clamps the workpiece to be close to the grinding tool so that the workpiece is ground. Two robot polishing modes face a series of problems, firstly, the problem of positioning a workpiece is solved by manual tool setting in the traditional numerical control machining, but the method is not suitable for the field of robot machining which requires high automation; then how to obtain the geometric information of the workpiece for polishing path planning, the general method uses a visual auxiliary means to obtain the precise geometric information of the workpiece; and finally, the deformation problem of the workpiece is solved, and even if the shape and position information of the workpiece is accurately acquired, the workpiece is still likely to deform due to the influence of the grinding force in the machining process, so that the planned grinding path is invalid.
In order to solve the problems, methods for automatically planning a polishing path according to a 3D point cloud model of a workpiece to be polished have appeared in recent years, and robot polishing control systems for ensuring polishing quality on line based on multi-sensor fusion have also appeared. For example, patent CN107598918A proposes an automatic programming method and device for surface polishing treatment based on a polishing robot, which obtains a polishing target item sequence through a 3D point cloud model of a workpiece to be polished, however, the precise 3D point cloud model depends on expensive three-dimensional measurement equipment, and the three-dimensional measurement process is cumbersome, further increasing the time cost. Patent CN108942940A has proposed a teleoperation robot control system that polishes based on multisensor fuses, and it draws the work piece through image processing and treats the image of the region of polishing, and then the polishing force information through six-dimensional force transducer feedback in-process of polishing adjusts position and gesture in real time to the polishing of the inside and the polishing of non-regular part of realization work piece, and the not enough of this method is that its polishing process need combine manual operation to go on, still treats the enhancement in the degree of automation.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a robot constant-force polishing path planning method and system based on-line trial touch.
In order to achieve the above object, according to an aspect of the present invention, a robot constant force polishing path planning method based on-line trial touch is provided, which includes the following steps:
s1, acquiring geometric information and position information of the surface to be polished, and determining a trial touch range and a trial touch direction in an on-line trial touch process according to the geometric information and the position information;
s2, determining a trial touch starting point in a trial touch range, clamping the grinding tool by the robot from the trial touch starting point, performing point-by-point online trial touch on the surface to be ground along the trial touch direction, and recording touch point information;
s3, fitting a constant grinding force surface grid of the surface to be ground by using the recorded information of all touch points, and generating a constant force grinding path.
Further preferably, in step S1, the trial touch range and trial touch direction of the robot are determined by the following steps:
s11, determining a cuboid completely containing the surface to be polished according to the geometric information and the position information of the surface to be polished;
s12, one parallel face of the six faces of the cuboid, which is the same side as the face to be polished, is used as a trial contact face, the trial contact face is a trial contact range, and the normal vector of the trial contact face pointing to the face to be polished is used as a trial contact direction.
More preferably, step S2 specifically includes the following steps:
s21, determining a plurality of lines extending along the long axis direction of the cuboid on a trial contact surface as trial contact lines, taking the end points on the same side of each trial contact line as initial trial contact points, and moving the robot clamping polishing tool to the initial trial contact point corresponding to any one trial contact line;
s22 the robot clamps the grinding tool from the current trial touch starting point, moves along the trial touch direction to be close to the surface to be ground, detects the external force applied to the grinding tool in real time, records the information of the touch point when the external force applied to the grinding tool reaches the preset threshold value, and then moves reversely along the trial touch direction to drive the grinding tool to return to the trial touch starting point;
s23, calculating the next trial touch starting point, judging whether the trial touch starting point is in the trial touch range, if not, finishing the trial touch, if so, clamping the grinding tool by the robot to move to the trial touch starting point, and repeating the step S22 until the calculated trial touch starting point is not in the trial touch range, thereby finishing the trial touch process of a trial touch line;
and S24, the robot clamps the grinding tool and moves to the initial touch starting point corresponding to the next touch line, and the steps S22-S23 are repeated to complete the touch process of all touch lines, so as to complete the touch within the whole touch range.
Preferably, in step S23, the following equation is used to calculate the next trial trigger point:
Pi+1＝Pi+mi
wherein, PiFor the position of the current trial-touch point i, Pi+1Is the position of the next trial contact point i +1, miIs the step size of the move.
Further preferably, in step S22, the external force detection is implemented by adding a force sensor to the end flange of the robot, or by estimating the joint current of the robot; preferably, the external force threshold is set to a sanding force required for the surface to be sanded.
More preferably, step S3 specifically includes the following steps:
s31, fitting all touch point information obtained from the test touch points on the same test touch line to obtain a plurality of transverse equal-polishing-force lines;
s32, equidistantly taking points on all transverse equal polishing force lines, and fitting to obtain a plurality of longitudinal equal polishing force lines, wherein the longitudinal equal polishing force lines and the transverse equal polishing force lines form the equal polishing force surface grids;
s33, selecting needed mesh nodes on the mesh with the equal grinding force surface, and sequentially connecting the mesh nodes to generate the needed grinding path.
More preferably, the touch point information includes a collision occurrence time, a collision force magnitude, a collision force direction, a joint displacement and a joint velocity of the robot.
According to another aspect of the present invention, there is provided an on-line trial touch-based robot constant-force grinding path planning system, comprising:
the trial touch information determining module is used for acquiring geometric information and position information of the surface to be polished and determining a trial touch range and a trial touch direction in an online trial touch process according to the geometric information and the position information;
the on-line trial touch module is used for determining a trial touch starting point, enabling the robot to clamp the polishing tool to perform point-by-point on-line trial touch on the surface to be polished from the trial touch starting point along the trial touch direction, and recording touch point information;
and the polishing path planning module is used for fitting a constant polishing force surface grid of the surface to be polished according to the recorded information of all the touch points and generating a constant force polishing path.
As a further preferred option, the trial contact information determining module preferably includes the following sub-modules:
the cuboid determining submodule is used for determining a cuboid which completely contains the surface to be polished according to the geometric information and the position information of the surface to be polished;
and the trial contact range and trial contact direction determining submodule is used for selecting one surface of the six surfaces of the cuboid, which is the same side as and parallel to the surface to be polished, as a trial contact surface, wherein the trial contact surface is the trial contact range, and selecting a normal vector of the trial contact surface pointing to the surface to be polished as a trial contact direction.
Preferably, the on-line touch testing module specifically adopts the following steps to realize the touch testing process:
s21, determining a plurality of lines extending along the long axis direction of the cuboid on a trial contact surface as trial contact lines, taking the end points on the same side of each trial contact line as initial trial contact points, and moving the robot clamping polishing tool to the initial trial contact point corresponding to any one trial contact line;
s22 the robot clamps the grinding tool from the current trial touch starting point, moves along the trial touch direction to be close to the surface to be ground, detects the external force applied to the grinding tool in real time, records the information of the touch point when the external force applied to the grinding tool reaches the preset threshold value, and then moves reversely along the trial touch direction to drive the grinding tool to return to the trial touch starting point;
s23, calculating the next trial touch starting point, judging whether the trial touch starting point is in the trial touch range, if not, finishing the trial touch, if so, clamping the grinding tool by the robot to move to the trial touch starting point, and repeating the step S22 until the calculated trial touch starting point is not in the trial touch range, thereby finishing the trial touch process of a trial touch line;
and S24, the robot clamps the grinding tool and moves to the initial touch starting point corresponding to the next touch line, and the steps S22-S23 are repeated to complete the touch process of all touch lines, so as to complete the touch within the whole touch range.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the method acquires the discrete point information (namely the touch point information) of the surface to be polished under the robot base coordinate system in an on-line trial touch manner, plans the polishing path of the surface to be polished according to the information, does not depend on the three-dimensional model of the workpiece, does not need a complicated calibration process before processing, saves the equipment cost and saves the time consumed by processing the workpiece.
2. According to the invention, the external force detection threshold is set as the required polishing force value, so that the actual position information of the discrete points of the workpiece under the processing concentrated force is obtained, the problem that the processing path is invalid due to the deformation of the workpiece under the stress is avoided, and the constant-force polishing of the surface to be polished of the unknown workpiece can be realized.
3. The polishing path planning method can realize automation after the early preparation stage is completed, does not need manual participation, greatly saves labor cost and is beneficial to promoting the industrial processing automation process.
Drawings
FIG. 1 is a block diagram of the overall steps of a method for planning a constant force grinding path of a robot based on-line trial touch, constructed in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a robotic polishing scene constructed in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic illustration of a trial touch preparation of a surface to be sanded of an unknown workpiece constructed in accordance with a preferred embodiment of the invention;
FIG. 4 is a flow diagram of an online tact process constructed in accordance with a preferred embodiment of the present invention;
fig. 5 is a schematic illustration of an iso-abrasive surface mesh of a surface to be abraded of an unknown workpiece constructed in accordance with a preferred embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-surface to be polished; 2-grinding the tool; 3-a robot; 4-a cuboid bounding box; 5-trial contact surface; 6-direction of touch; 7-forward direction; 8-tangential direction; 9-test wire touching; 10-a point of tentation; 11-touch point; 12-transverse equal polishing force line; 13-longitudinal equal sanding force line.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The basic process of the invention is that firstly, a trial touch range and a trial touch direction of the surface of a workpiece to be polished are set, then the workpiece to be polished is subjected to point-by-point trial touch according to set conditions, touch point information in the trial touch process is recorded, an equal polishing force line of the workpiece to be polished is fitted according to the touch point information to generate an equal polishing force surface grid, and finally, a polishing path is further planned according to actual polishing requirements.
Specifically, as shown in fig. 1, a robot constant-force polishing path planning method based on-line trial contact provided by the embodiment of the present invention includes the following steps:
s1 early preparation
Acquiring position information and geometric information of the surface to be polished, for example, acquiring approximate position information and geometric information of the surface to be polished by using a visual means or a direct measurement means (such as stereoscopic vision, human eye estimation, metric measurement and the like), for example, acquiring a position (namely, position information) of the surface to be polished relative to a robot base coordinate system and a spatial range (geometric information) of the surface to be polished, and determining a trial touch range and a trial touch direction of the robot in an on-line trial touch process according to the geometric information and the position information;
s2 on-line trial touch (i.e. using collision detection to search the shape and position of the surface to be polished of the workpiece)
Determining a trial touch starting point 10 (i.e. an initial position at which the robot clamps the polishing tool to move towards the surface to be polished) in a trial touch range, driving the polishing tool at the tail end of the robot to move along a trial touch direction by taking each trial touch starting point as a starting point so as to perform trial touch on the surface of the workpiece to be polished, and recording corresponding touch point information, wherein a constructed robot polishing scene is shown in fig. 2, and the polishing tool 2 at the tail end of the robot 3 clamps the surface 1 to be polished to perform trial touch;
s3 grinding path planning:
and fitting a constant force surface grid (equal polishing force surface grid) of the surface to be polished by using the information of each touch point recorded in the trial touch process, and generating a corresponding polishing path by using the constant force surface grid so as to complete the planning of the constant force polishing path. Specifically, the equal-polishing force lines of the surface to be polished are fitted one by one, then a plurality of equal-polishing force lines are utilized to generate an equal-polishing force surface grid, and finally a machining path is generated according to the equal-polishing force surface grid, so that the constant-force polishing path planning is completed.
In step S1, the trial touch direction and trial touch range of the robot are preferably determined by the following steps:
s11, after acquiring the geometric and positional information of the surface to be polished, it is able to determine a cuboid with the determined geometric and positional information, which can completely contain the surface to be polished, called as a bounding box of the surface to be polished, as shown in fig. 3, it is able to determine a cuboid bounding box 4 containing the entire surface 1 to be polished, because the geometric and positional information of the surface to be polished is known, the shape of the bounding box and the position relative to the robot base coordinate system can be accurately described, that is, a cuboid with the known shape and position and completely containing the surface to be polished can be determined according to the positional information and the geometric information of the surface to be polished;
s12, selecting one of six surfaces of a cuboid (namely a bounding box), which is the same side as the surface to be polished and parallel to the surface to be polished, as a trial contact surface 5, wherein the trial contact surface is a trial contact range, and using a normal vector of the trial contact surface pointing to the surface to be polished as a trial contact direction 6, so as to complete the determination of the trial contact direction and the trial contact range of the robot.
Specifically, step S2 preferably includes the steps of:
s21, determining a plurality of lines extending along the long axis direction of the surface to be polished (i.e. the long axis direction of the rectangular parallelepiped) on the trial contact surface as trial contact lines 9, and taking the end point of each trial contact line as the first trial contact point of the trial contact line, wherein, as shown in fig. 3, the extending direction of the trial contact line is taken as the advancing direction 7, and the cross product of the advancing direction 7 and the trial contact direction 6 is taken as the tangential direction 8;
s22 robot drives the polishing tool at its end to move from the trial touch start point (i.e. the current trial touch start point, the first trial touch start point is the first trial touch start point, and the later trial touch start point is the calculated trial touch start point) along the trial touch direction to touch the surface to be polished, specifically, the tool nose of the polishing tool is driven to move to the trial touch start point, the contact point between the polishing tool and the surface to be polished is the touch point 11 (specifically, as shown in fig. 3), the external force applied to the polishing tool is detected in real time, the polishing tool is static, i.e., the surface of the workpiece is not polished, when the detected external force applied to the polishing tool reaches the set threshold, the touch point information at that moment is recorded, and then the robot is driven to move reversely along the trial touch direction to drive the polishing tool to return to the current trial touch start point, specifically, the touch point information preferably includes the collision occurrence time, Collision force direction, joint displacement and joint velocity of the robot;
s23, calculating the next trial touch starting point, judging whether the trial touch starting point is in the trial touch range (namely, whether the position of the trial touch starting point is on the trial touch surface is confirmed), if not, finishing the trial touch stage, if so, driving the polishing tool at the tail end of the robot to move to the trial touch starting point, repeating the step S22 until the calculated trial touch starting point is not in the trial touch range, thereby finishing the trial touch process of a trial touch line, namely starting the trial touch from the end point of the trial touch line (which is the initial trial touch starting point), finishing the calculation of the next trial touch starting point and finishing the trial touch of the point by trial touch, then calculating the next trial touch starting point and finishing the trial touch of the point, and so on until the trial touch of the trial touch line is finished, wherein the trial touch finishing condition is realized by judging whether the calculated trial touch starting point is in the trial touch range or not;
s24, after the test of one test contact line is completed, the robot drives the polishing tool at the tail end of the robot to move to the first test contact starting point corresponding to the next test contact line, then the test contact of the next test contact line is realized in the same way of the steps S22-S23, the test contact process of all test contact lines is completed, namely the on-line test contact of all test contact lines is sequentially realized by taking the end point of each test contact line as the starting point and the test contact mode of the steps S22-S23, the on-line test contact in the whole test contact range is further completed, and the circulating process of the on-line test contact is specifically shown in FIG. 4.
The threshold value is set as the grinding force required by the surface to be ground, and the detection of the external force applied to the grinding tool is realized by additionally arranging a force sensor on a flange at the tail end of the robot or by estimating the current of a joint of the robot.
In a preferred embodiment, the next trial start point is determined as follows:
setting the external force threshold value as FtsThe current trial touch start point (ith trial touch start point) is located at PiThe first point of trial touch is the end point of the trial touch line, i.e. P1For testing the position of the contact point end point, as the robot moves along the touch testing direction, the external force gradually increases until reaching the threshold value, and the moment is recorded as
Because the robot moves and has the acceleration and deceleration process, when the external force reaches the threshold value, the robot cannot move reversely along the trial touch direction immediately, so the external force can be continuously increased until the maximum value is reachedFi mThe time is recorded as
Combined with the moving speed v of the robot along the trial touch directione(preset according to actual needs), calculating to obtain the local rigidity of the touch point:
calculating the moving step length m according to the principle that the larger the local rigidity is, the closer the next trial touch starting point is to the current trial touch starting pointi：
Wherein, c1Is the maximum step size of movement, c2The stiffness influencing factors are both normal numbers, and the specific numerical value can be determined according to the time-consuming requirement of the trial touch process.
The position P of the next trial touch start pointi+1Calculated by the following formula: pi+1＝Pi+miAnd distributing the calculated test touch starting points on the test touch lines, wherein the end point of each test touch line is used as the first test touch starting point on the test touch line, and the next test touch starting point is positioned on one side along the advancing direction from the current test touch starting point.
Further, in step S3, N groups of touch point information are currently collected, where each group of touch point information includes the time t when the collision occursiCollision force Fi(including magnitude of collision force and direction of collision force), robot joint displacement
Using displacement of robot joints
The pose P of the touch point under the robot base coordinate system can be obtained through calculationiAnd further use of the same thing asAll P in the same plane formed by the test touch line and the touch directioniThe transverse equal polishing force lines 12 of the surface to be polished can be obtained through fitting, as shown in fig. 5, a plurality of transverse equal polishing force lines 12 are obtained through fitting, and the number of the transverse equal polishing force lines 12 corresponds to the number of the test contact lines; equally taking points on all the transverse equal-polishing-force lines at equal intervals, and then sequentially connecting corresponding points on all the transverse equal-polishing-force lines to fit to obtain a plurality of longitudinal equal-polishing-force lines 13, as shown in FIG. 5; all transverse equal-polishing force lines and longitudinal equal-polishing force lines jointly form an equal-polishing force surface grid (namely a constant-force surface grid), any desired polishing path can be generated by utilizing the equal-polishing force surface grid, such as an S-shaped path and the like, specifically, grid nodes required on the equal-polishing force surface grid are selected, then the grid nodes are sequentially connected to generate a polishing path formed by discrete points, and each discrete point contains polishing position information and polishing direction information.
The invention also provides a robot constant-force polishing path planning system based on-line touch test, which comprises:
the trial touch information determining module is used for acquiring geometric information and position information of the surface to be polished and determining a trial touch range and a trial touch direction in an online trial touch process according to the geometric information and the position information;
the on-line trial touch module is used for determining a trial touch starting point, enabling the robot to clamp the polishing tool to perform point-by-point on-line trial touch on the surface to be polished from the trial touch starting point along the trial touch direction, and recording touch point information;
and the polishing path planning module is used for generating a constant polishing force surface grid of the surface to be polished according to the recorded information of all the touch points and generating a constant force polishing path so as to complete the planning of the constant force polishing path.
Specifically, the trial contact information determining module preferably includes the following sub-modules:
the cuboid determining submodule is used for determining a cuboid which completely contains the surface to be polished according to the geometric information and the position information of the surface to be polished;
and the trial contact range and trial contact direction determining submodule is used for selecting one surface of the six surfaces of the cuboid, which is the same side as and parallel to the surface to be polished, as a trial contact surface, wherein the trial contact surface is the trial contact range, and selecting a normal vector of the trial contact surface pointing to the surface to be polished as a trial contact direction.
The invention can be used for polishing fixed workpieces by a robot clamping polishing tool in the robot polishing field, can plan polishing paths for various workpieces without relying on prior knowledge of the workpieces, the accurate geometric information of the robot and the like, can ensure constant polishing force by the planned path, can obtain better effect when being applied to polishing of workpieces with weak rigidity, greatly improves the automation degree of polishing of the robot, has less required equipment, reduces the processing cost, and can effectively utilize good repeated positioning precision of industrial robots. In addition, the method can be used for processing the surface to be processed with known shape and position and can also be used for processing the surface to be processed with unknown shape and position, and constant-force grinding of the surface to be processed can be realized based on the exploration and planning mode of collision detection.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A robot constant-force grinding path planning method based on-line touch test is characterized by comprising the following steps:
s1, geometric information and position information of the surface to be polished are acquired, and a trial touch range and a trial touch direction in an online trial touch process are determined according to the geometric information and the position information, and the method specifically comprises the following steps:
s11, determining a cuboid completely containing the surface to be polished according to the geometric information and the position information of the surface to be polished;
s12, taking one of six rectangular parallelepiped surfaces which is parallel to and at the same side as the surface to be polished as a trial contact surface, wherein the trial contact surface is a trial contact range, and taking a normal vector of the trial contact surface pointing to the surface to be polished as a trial contact direction;
s2, determining a trial touch starting point in a trial touch range, sending out the trial touch starting point by the robot clamping polishing tool, performing point-by-point online trial touch on the surface to be polished along the trial touch direction, and recording touch point information, wherein the method specifically comprises the following steps:
s21, determining a plurality of lines extending along the long axis direction of the cuboid on a trial contact surface as trial contact lines, taking the end points on the same side of each trial contact line as initial trial contact points, and moving the robot clamping polishing tool to the initial trial contact point corresponding to any one trial contact line;
s22 the robot clamps the grinding tool from the current trial touch starting point, moves along the trial touch direction to be close to the surface to be ground, detects the external force applied to the grinding tool in real time, records the information of the touch point when the external force applied to the grinding tool reaches the preset threshold value, and then moves reversely along the trial touch direction to drive the grinding tool to return to the trial touch starting point; the preset threshold value is the grinding force required by the surface to be ground;
s23, calculating the next trial touch starting point, judging whether the trial touch starting point is in the trial touch range, if not, finishing the trial touch, if so, clamping the grinding tool by the robot to move to the trial touch starting point, and repeating the step S22 until the calculated trial touch starting point is not in the trial touch range, thereby finishing the trial touch process of a trial touch line;
s24, the robot clamps the grinding tool and moves to the initial touch starting point corresponding to the next touch line, and the steps S22-S23 are repeated to complete the touch testing process of all touch lines, so as to complete the touch testing in the whole touch testing range;
s3, fitting the constant grinding force surface grid of the surface to be ground by utilizing the recorded information of all touch points, and generating a constant grinding path, which specifically comprises:
s31, fitting all touch point information obtained from the test touch points on the same test touch line to obtain a plurality of transverse equal-polishing-force lines;
s32, equidistantly taking points on all transverse equal polishing force lines, and fitting to obtain a plurality of longitudinal equal polishing force lines, wherein the longitudinal equal polishing force lines and the transverse equal polishing force lines form a constant polishing force surface grid;
s33, selecting needed mesh nodes on the constant grinding force surface mesh, and sequentially connecting the mesh nodes to generate the needed grinding path.
2. The method for planning the constant-force grinding path of the robot based on the on-line trial touch as claimed in claim 1, wherein in step S23, the following equation is used to calculate the next trial touch start point:
Pi+1＝Pi+mi
wherein, PiFor the position of the current trial-touch point i, Pi+1Is the position of the next trial contact point i +1, miIs the step size of the move.
3. The method for planning the constant-force grinding path of the robot based on the on-line trial touch as claimed in claim 1, wherein in step S22, the external force detection is realized by adding a force sensor to the end flange of the robot or by estimating the current of the joint of the robot.
4. The method for planning the constant-force grinding path of the robot based on the on-line trial touch as claimed in any one of claims 1 to 3, wherein the touch point information preferably comprises the time when the collision occurs, the magnitude of the collision force, the direction of the collision force, the joint displacement and the joint speed of the robot.
5. The utility model provides a robot constant force path planning system that polishes based on online examination touches which characterized in that, this system includes:
the trial touch information determining module is used for acquiring geometric information and position information of the surface to be polished and determining a trial touch range and a trial touch direction in an online trial touch process according to the geometric information and the position information;
the on-line trial touch module is used for determining a trial touch starting point, enabling the robot to clamp the polishing tool to perform point-by-point on-line trial touch on the surface to be polished from the trial touch starting point along the trial touch direction, and recording touch point information;
and the polishing path planning module is used for fitting a constant polishing force surface grid of the surface to be polished according to the recorded information of all the touch points and generating a constant force polishing path.
6. The system for planning a constant force sanding path of a robot based on-line trial touch as claimed in claim 5, wherein the trial touch information determination module preferably comprises the following sub-modules:
the cuboid determining submodule is used for determining a cuboid which completely contains the surface to be polished according to the geometric information and the position information of the surface to be polished;
and the trial contact range and trial contact direction determining submodule is used for selecting one surface of the six surfaces of the cuboid, which is the same side as and parallel to the surface to be polished, as a trial contact surface, wherein the trial contact surface is the trial contact range, and selecting a normal vector of the trial contact surface pointing to the surface to be polished as a trial contact direction.
7. The system for planning the constant-force grinding path of the robot based on the on-line trial touch as claimed in claim 5 or 6, wherein the on-line trial touch module is used for realizing the trial touch process by specifically adopting the following steps:
s21, determining a plurality of lines extending along the long axis direction of the cuboid on a trial contact surface as trial contact lines, taking the end points on the same side of each trial contact line as initial trial contact points, and moving the robot clamping polishing tool to the initial trial contact point corresponding to any one trial contact line;
s22 the robot clamps the grinding tool from the current trial touch starting point, moves along the trial touch direction to be close to the surface to be ground, detects the external force applied to the grinding tool in real time, records the information of the touch point when the external force applied to the grinding tool reaches the preset threshold value, and then moves reversely along the trial touch direction to drive the grinding tool to return to the trial touch starting point;
s23, calculating the next trial touch starting point, judging whether the trial touch starting point is in the trial touch range, if not, finishing the trial touch, if so, clamping the grinding tool by the robot to move to the trial touch starting point, and repeating the step S22 until the calculated trial touch starting point is not in the trial touch range, thereby finishing the trial touch process of a trial touch line;
and S24, the robot clamps the grinding tool and moves to the initial touch starting point corresponding to the next touch line, and the steps S22-S23 are repeated to complete the touch process of all touch lines, so as to complete the touch within the whole touch range.
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| CN113263506A (en) * | 2021-03-25 | 2021-08-17 | 蓝点触控(北京)科技有限公司 | Robot polishing device and teaching method |
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