CN112659121B - Robot grinding wheel radius compensation method and device, robot and storage medium - Google Patents
Robot grinding wheel radius compensation method and device, robot and storage medium Download PDFInfo
- Publication number
- CN112659121B CN112659121B CN202011449060.3A CN202011449060A CN112659121B CN 112659121 B CN112659121 B CN 112659121B CN 202011449060 A CN202011449060 A CN 202011449060A CN 112659121 B CN112659121 B CN 112659121B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- tool
- axis direction
- tool path
- grinding wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000011159 matrix material Substances 0.000 claims description 17
- 238000010276 construction Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000003754 machining Methods 0.000 abstract description 9
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Landscapes
- Numerical Control (AREA)
Abstract
The application discloses a robot grinding wheel radius compensation method, a device, a robot and a storage medium, wherein the method comprises the following steps: obtaining a compensation value; acquiring the pose of an interpolation point of a track of a tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an original point, wherein the Z axis of the tool coordinate system is perpendicular to the wheel surface of the grinding wheel; obtaining an initial offset of each interpolation point under a tool path coordinate system according to the compensation value; converting the initial offset into a tool coordinate system to obtain a target offset; and calculating the target coordinates of the compensated interpolation points in the tool coordinate system by using the pose of the interpolation points and the target offset. Through the mode, the compensation value input by the user can be converted into the offset through establishing the tool coordinate system and the tool path coordinate system, so that the tool center point of the robot grinding wheel is compensated, and the defect that the machining precision of the robot grinding wheel is insufficient due to abrasion is avoided.
Description
Technical Field
The application relates to the technical field of polishing devices, in particular to a robot grinding wheel radius compensation method and device, a robot and a storage medium.
Background
In robot grinding applications, the radius of the repeatedly rubbed grinding wheel mounted on the robot flange is reduced, resulting in that the workpiece cannot be ground according to the originally taught track, and therefore, the track needs to be re-taught or the track is entirely offset. However, the process of re-teaching takes a long time, and the grinding wheel becomes smaller after the new teaching point is repeatedly processed, so that the degree of multiplexing of the teaching mode is not high. Second, during machining, if the grinding track is entirely in the same plane, an overall offset track approach may be used, but it is generally not possible that only the same plane edges of the workpiece to be ground need to be ground, for example: when the columnar body needs to polish six faces, the grinding wheel not only performs polishing work in one plane, but also can solve the problem of one plane due to integral offset, and other planes need manual adjustment, so that the operation is complex and the efficiency is low. Accordingly, there is a need to provide a method to solve the above-mentioned problems.
Disclosure of Invention
The application provides a robot grinding wheel radius compensation method, a device, a robot and a storage medium, so as to solve the problem that machining precision is reduced due to abrasion of an existing robot grinding wheel.
In order to solve the technical problems, one technical scheme adopted by the application is as follows: provided is a robot grinding wheel radius compensation method, comprising: obtaining a compensation value; acquiring the pose of an interpolation point of a track of a tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an original point, wherein the Z axis of the tool coordinate system is perpendicular to the wheel surface of the grinding wheel; obtaining an initial offset of each interpolation point under a tool path coordinate system according to the compensation value; converting the initial offset into a tool coordinate system to obtain a target offset; and calculating the target coordinates of the compensated interpolation points in the tool coordinate system by using the pose of the interpolation points and the target offset.
As a further refinement of the present application, the step of constructing a tool path coordinate system for each interpolation point includes: acquiring the tangential direction of the track and the Z-axis direction of a tool coordinate system; the X-axis direction, Y-axis direction, and Z-axis direction of the tool path coordinate system are determined based on the tangential direction, the Z-axis direction of the tool coordinate system.
As a further improvement of the present application, the step of determining the X-axis direction, the Y-axis direction, and the Z-axis direction of the tool path coordinate system based on the tangential direction, the Z-axis direction of the tool coordinate system, includes: setting the tangential direction as the X-axis direction of the tool path coordinate system; carrying out cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system to obtain the Y-axis direction of the tool path coordinate system; and obtaining the Z-axis direction of the tool path coordinate system by cross multiplication of the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system.
As a further improvement of the present application, the Z-axis direction of the tool coordinate system is set along the central axis of the grinding wheel.
As a further refinement of the present application, the step of converting the initial offset into a tool coordinate system to obtain the target offset includes: calculating to obtain a rotation matrix between the tool coordinate system and the tool path coordinate system by using the pose of the interpolation point; and converting the initial offset into a tool coordinate system according to the rotation matrix and the initial offset to obtain the target offset.
As a further improvement of the present application, after the step of constructing the tool path coordinate system of each interpolation point, further includes: judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the last interpolation point; if yes, reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
In order to solve the technical problems, another technical scheme adopted by the application is as follows: provided is a robot grinding wheel radius compensation device, comprising: the acquisition module is used for acquiring the compensation value; the construction module is coupled with the acquisition module and is used for acquiring the pose of the interpolation point of the track of the tool center point in a pre-established tool coordinate system, constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, and enabling the Z axis of the tool coordinate system to be perpendicular to the wheel surface of the grinding wheel; the receiving module is coupled with the construction module and is used for obtaining the initial offset of each interpolation point under the tool path coordinate system according to the compensation value; the conversion module is coupled with the receiving module and used for converting the initial offset into a tool coordinate system to obtain a target offset; and the calculation module is coupled with the conversion module and is used for calculating the target coordinates of the compensated interpolation point in the tool coordinate system by using the pose of the interpolation point and the target offset.
In order to solve the technical problem, a further technical scheme adopted by the application is as follows: providing a robot comprising a controller, a memory coupled to the controller, wherein the memory stores program instructions for implementing the robot grinding wheel radius compensation method of any one of the above; the controller is used for executing program instructions stored in the memory to realize the compensation of the radius of the grinding wheel of the robot.
In order to solve the technical problem, a further technical scheme adopted by the application is as follows: a storage medium is provided that stores a program file capable of implementing any one of the above-described robot grinding wheel radius compensation methods.
The beneficial effects of this application are: according to the method, the tool coordinate system of the grinding wheel and the tool path coordinate system of each interpolation point are constructed, the obtained compensation value is converted into the initial offset under the tool path coordinate system, the rotation matrix between the tool coordinate system and the tool path coordinate system is calculated through the coordinates of the same interpolation point under the tool coordinate system and the coordinates under the tool path coordinate system, the initial offset is subjected to rotation transformation by utilizing the rotation matrix, the target offset under the tool coordinate system is obtained, the coordinates of the tool center point of the grinding wheel of the robot are reset based on the pose of the interpolation point and the target offset, so that the tool center point of the grinding wheel of the robot is offset when the robot executes Cartesian space interpolation tracks, the radius compensation of the grinding wheel is realized, and the machining precision of a workpiece is improved.
Drawings
FIG. 1 is a flow chart of a robotic grinding wheel radius compensation method according to a first embodiment of the present application;
FIG. 2 is a schematic diagram of the tool path coordinate system establishment of the present application;
FIG. 3 is a flow chart of a robotic grinding wheel radius compensation method according to a second embodiment of the present application;
FIG. 4 is a schematic view of the wheel of the present application in a tangential direction reversal;
FIG. 5 is a schematic structural view of a robotic grinding wheel radius compensation device according to an embodiment of the present application;
fig. 6 is a schematic structural view of a robot according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The terms "first," "second," "third," and the like in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", and "a third" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, back … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Fig. 1 is a flow chart of a method for radius compensation of a robotic grinding wheel according to a first embodiment of the present application. It should be noted that, if there are substantially the same results, the method of the present application is not limited to the flow sequence shown in fig. 1. As shown in fig. 1, the method comprises the steps of:
step S100: and acquiring a compensation value.
In step S100, since the grinding wheel is always worn, and the grinding wheels made of different materials are not worn at the same speed, the user is required to input the corresponding compensation value every certain time.
It should be noted that, in some embodiments, the compensation value may be set by user input, and the set compensation value may be obtained by the user according to experiments and experience. In other embodiments, the compensation value may also be obtained by measuring the wear data of the grinding wheel, inputting the wear data of the grinding wheel into a compensation algorithm, and calculating the compensation value, wherein the compensation algorithm may be obtained by a user based on experimental training.
Step S101: and acquiring the pose of each interpolation point of the track of the tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an original point, wherein the Z axis of the tool coordinate system is perpendicular to the wheel surface of the grinding wheel.
In step S101, it should be noted that the robot plans a trajectory through a motion planning algorithm, where the trajectory has a plurality of interpolation points, and a pose of each interpolation point is obtained in a robot teaching process, where the pose includes a position and a pose. In this embodiment, the Z-axis of the tool coordinate system is perpendicular to the wheel face of the grinding wheel when the tool coordinate system is constructed. Preferably, in some embodiments, the Z-axis direction of the tool coordinate system is set along the central axis of the grinding wheel, because the grinding wheel surface is worn during grinding of the tool by the grinding wheel, the grinding wheel radius is reduced, and the offset of the grinding wheel is set along the radial direction of the grinding wheel, so that the user sets the compensation value along the radial direction, and the compensation value can be quickly converted into the tool coordinate system when the central axis of the grinding wheel is taken as the Z-axis direction of the tool coordinate system, thereby facilitating calculation. The step of constructing the tool path coordinate system of each interpolation point specifically comprises the following steps:
1. the tangential direction of the trajectory is obtained, as well as the Z-axis direction of the tool coordinate system.
Specifically, a track formed by connecting all the interpolation points, namely a track when the grinding wheel grinds a workpiece, acquires a tangential direction of each interpolation point at the track and a Z-axis direction of a tool coordinate system.
2. The X-axis direction, Y-axis direction, and Z-axis direction of the tool path coordinate system are determined based on the tangential direction, the Z-axis direction of the tool coordinate system.
Specifically, the X-axis direction, Y-axis direction and Z-axis direction of the tool path coordinate system are determined by using the tangential direction of the track and the Z-axis direction of the tool coordinate system, and then the tool path coordinate system of each interpolation point is established by taking each interpolation point as an origin.
Further, referring to fig. 2, determining the X-axis direction, the Y-axis direction, and the Z-axis direction of the tool path coordinate system based on the tangential direction and the Z-axis direction of the tool coordinate system specifically includes:
2.1, setting the tangential direction as the X-axis direction of a tool path coordinate system;
2.2, carrying out cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system to obtain the Y-axis direction of the tool path coordinate system;
and 2.3, carrying out cross multiplication on the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system to obtain the Z-axis direction of the tool path coordinate system.
Step S102: and obtaining the initial offset of each interpolation point under the corresponding tool path coordinate system according to the compensation value.
In step S102, the compensation value is converted to a tool path coordinate system to obtain an initial offset. Specifically, it is known from the above that the Y axis of the tool path coordinate system is along the radial direction of the grinding wheel, and the direction of the grinding wheel abrasion is also along the radial direction of the grinding wheel, therefore, when the grinding wheel is compensated, the Y axis in the tool path coordinate system needs to be offset compensated, therefore, assuming that the compensation value input by the user is a, the Y axis in the tool path coordinate system is offset compensated, other axes can be converted into the tool path coordinate system without offset, and the initial offset (0, -a, 0) is obtained, and it is required to move the grinding wheel towards the negative direction of the Y axis of the tool path coordinate system after the grinding wheel is abraded, so that the wheel surface of the grinding wheel is closer to the workpiece, the workpiece is effectively polished, and therefore, the value on the Y axis in the initial offset is negative.
Step S103: and converting the initial offset into a tool coordinate system to obtain the target offset.
In step S103, by using the pose of each interpolation point in the tool coordinate system, a rotation matrix of the tool coordinate system and the tool path coordinate system is calculated, and then the initial offset is converted into the tool coordinate system by the rotation matrix, thereby obtaining the target offset.
In some embodiments, step S103 specifically includes:
1. and calculating by using the pose of the interpolation point to obtain a rotation matrix between the tool coordinate system and the tool path coordinate system.
Specifically, in this embodiment, the tool path coordinate system is obtained by performing euler angle rotation transformation based on the tool coordinate system, where euler angle transformation refers to a process of converting from the tool coordinate system to the tool path coordinate system, and then rotating the tool path coordinate system according to the z-axis, then rotating the tool path coordinate system according to the y-axis, then rotating the tool path coordinate system according to the x-axis, and finally obtaining the tool path coordinate system, the angle of rotation according to the z-axis is yaw, the angle of rotation according to the y-axis is pitch, and the angle of rotation according to the x-axis is roll, and then the rotation matrix from the tool coordinate system to the tool path coordinate system is defined as follows:
thus, the rotation matrices for the tool coordinate system and the tool path coordinate system are obtained as follows:
wherein the angle of rotation in the z-axis is yw, the angle of rotation in the y-axis is pitch, the angle of rotation in the x-axis is roll, the directions of the respective axes of the tool coordinate system and the tool path coordinate system are obtained in the above steps, roll is determined from the direction of the x-axis of the tool coordinate system and the direction of the x-axis of the tool path coordinate system, pitch is determined from the direction of the y-axis of the tool coordinate system and the direction of the y-axis of the tool path coordinate system, and yaw is determined from the direction of the z-axis of the tool coordinate system and the direction of the z-axis of the tool path coordinate system. And calculating by referring to the formula to obtain the rotation matrix.
2. And converting the initial offset into a tool coordinate system according to the rotation matrix to obtain the target offset.
Specifically, the calculation process for converting the initial offset into the target offset is:
C WOBJ ＝TP ORI *C TP ；
wherein C is WOBJ For the target offset, C TP Is the initial offset.
In this embodiment, the initial offset in the tool path coordinate system is converted to the target offset in the tool coordinate system by using the rotation matrix, and then the grinding wheel is compensated according to the target offset, so that the offset in the radial direction of the grinding wheel is realized, and the precision of workpiece processing is improved.
Step S104: and calculating the target coordinates of the compensated interpolation points in the tool coordinate system by using the pose of the interpolation points and the target offset.
In step S104, the pose of the target offset and the interpolation point in the tool coordinate system is calculated, specifically:
P WITH_C ＝P+C WOBJ ；
wherein P is WITH_C In order to compensate the target coordinates of the interpolation point in the tool coordinate system, P is the coordinates of the initial interpolation point in the tool coordinate system.
In this embodiment, the tool center point is used as the origin of coordinates of the tool coordinate system, the coordinates of the interpolation point before compensation in the tool coordinate system are known, the positional relationship between the tool center point and the interpolation point before compensation can be obtained, after the target coordinates of the interpolation point after compensation are obtained, the new position of the tool center point can be confirmed by referring to the positional relationship between the tool center point and the interpolation point before compensation, and then the movement of the tool center point to the new position is controlled to process the workpiece, thereby realizing the compensation of the radius of the grinding wheel.
According to the robot grinding wheel radius compensation method, the tool coordinate system of the grinding wheel and the tool path coordinate system of each interpolation point are constructed, the obtained compensation value is converted into the initial offset under the tool path coordinate system, the grinding wheel radius compensation is realized by the aid of the rotation matrix between the tool coordinate system and the tool path coordinate system, which are obtained by calculating the coordinates of the same interpolation point under the tool coordinate system and the coordinates under the tool path coordinate system, the initial offset is subjected to rotation transformation by the aid of the rotation matrix, the target offset under the tool coordinate system is obtained, the coordinates of the tool center point of the robot grinding wheel are reset based on the pose of the interpolation point and the target offset, so that the tool center point of the robot shifts when the Cartesian space interpolation track is executed, the grinding wheel radius compensation is realized, and the workpiece machining precision is improved.
Fig. 3 is a flow chart of a method for radius compensation of a robotic grinding wheel according to a second embodiment of the present application. It should be noted that, if there are substantially the same results, the method of the present application is not limited to the flow sequence shown in fig. 3. As shown in fig. 3, the method comprises the steps of:
step S200: and acquiring a compensation value.
In this embodiment, step S200 in fig. 3 is similar to step S100 in fig. 1, and is not described herein for brevity.
Step S201: and acquiring the pose of the interpolation point of the track of the tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, wherein the tool coordinate system is constructed by taking the center point of the grinding wheel as the origin.
In this embodiment, step S201 in fig. 3 is similar to step S101 in fig. 1, and is not described here again for brevity.
Step S202: and judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the last interpolation point. If yes, go to step S203; if not, step S204 is performed.
In step S202, please refer to fig. 4,Z-tool together as the Z-axis of the tool coordinate system, in some cases, the machining track of the grinding wheel is not performed in a single direction, and there may be a situation as shown in fig. 4, which may cause the tangential direction along the track to be reversed, resulting in the Y-axis direction of the tool path coordinate system to be reversed. If the Z-axis direction of the tool coordinate system is not reversed, the offset direction of the grinding wheel is wrong, the grinding wheel is farther away from the workpiece after the offset, and the work load of workers is increased and the processing efficiency is reduced through the reverse of the Z-axis direction of the tool coordinate system by a user. In order to solve the above problem, in this embodiment, whether the machining track of the grinding wheel changes direction is determined by determining whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point, and if so, step S203 is executed.
Step 203: and reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
In step S203, if the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the previous interpolation point, the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is reversed, so as to ensure that the final offset direction of the grinding wheel is correct.
Step S204: and obtaining the initial offset of each interpolation point under the tool path coordinate system according to the compensation value.
In this embodiment, step S204 in fig. 3 is similar to step S102 in fig. 1, and is not described herein for brevity.
Step S205: and converting the initial offset into a tool coordinate system to obtain the target offset.
In this embodiment, step S205 in fig. 3 is similar to step S103 in fig. 1, and is not described herein for brevity.
Step S206: and calculating the target coordinates of the compensated interpolation points by using the pose of the interpolation points and the target offset.
In this embodiment, step S206 in fig. 3 is similar to step S104 in fig. 1, and is not described herein for brevity.
According to the robot grinding wheel radius compensation method, on the basis of the first embodiment, whether the machining track of the grinding wheel is reversed is confirmed by detecting whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the last interpolation point, if so, the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is reversed, so that the correct direction of final grinding wheel offset is ensured, the Z-axis direction of the tool coordinate system is not required to be reversed manually, the manpower loss is reduced, and the workpiece machining efficiency is improved.
Fig. 5 is a schematic structural view of a radius compensation device for a grinding wheel of a robot according to an embodiment of the present application. As shown in fig. 5, in the present embodiment, the robot grinding wheel radius compensation apparatus 70 includes an acquisition module 71, a construction module 72, a reception module 73, a conversion module 74, and a calculation module 75.
An acquisition module 71 for acquiring a compensation value;
the construction module 72 is coupled with the acquisition module 71, and is used for acquiring the pose of the interpolation point of the track of the tool center point in a pre-established tool coordinate system, constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, and enabling the Z axis of the tool coordinate system to be perpendicular to the wheel surface of the grinding wheel;
a receiving module 73, coupled to the constructing module 72, for obtaining an initial offset of each interpolation point under the tool path coordinate system according to the compensation value;
the conversion module 74 is coupled to the receiving module 73, and is configured to convert the initial offset into a tool coordinate system to obtain a target offset;
the calculating module 75 is coupled to the converting module 74, and is configured to calculate the target coordinates of the compensated interpolation point in the tool coordinate system by using the pose of the interpolation point and the target offset.
Optionally, the operation of the construction module 72 to construct the tool path coordinate system for each interpolation point is specifically: acquiring the tangential direction of the track and the Z-axis direction of a tool coordinate system; the X-axis direction, Y-axis direction, and Z-axis direction of the tool path coordinate system are determined based on the tangential direction, the Z-axis direction of the tool coordinate system.
Alternatively, the operations of the construction module 72 to determine the X-axis direction, the Y-axis direction, and the Z-axis direction of the tool path coordinate system based on the tangential direction, the Z-axis direction of the tool coordinate system are specifically: setting the tangential direction as the X-axis direction of the tool path coordinate system; carrying out cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system to obtain the Y-axis direction of the tool path coordinate system; and obtaining the Z-axis direction of the tool path coordinate system by cross multiplication of the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system.
Optionally, the Z-axis direction of the tool coordinate system is disposed along the central axis of the grinding wheel.
Optionally, the conversion module 74 converts the initial offset into the tool coordinate system, and the operation of obtaining the target offset is specifically: calculating to obtain a rotation matrix between the tool coordinate system and the tool path coordinate system by using the pose of the interpolation point; and converting the initial offset into a tool coordinate system according to the rotation matrix and the initial offset to obtain the target offset.
Optionally, the operation of the construction module 72 to construct the tool path coordinate system for each interpolation point further includes: judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the last interpolation point; if yes, reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 6, the robot 80 includes a processor 81 and a memory 82 coupled to the processor 81.
The memory 82 stores program instructions for implementing the robotic grinding wheel radius compensation method described in any of the embodiments above.
The processor 81 is configured to execute program instructions stored in the memory 82 to implement compensation of the radius of the grinding wheel of the robot.
The processor 81 may also be referred to as a CPU (Central Processing Unit ). The processor 81 may be an integrated circuit chip with signal processing capabilities. Processor 81 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium of the embodiment of the present application stores a program file 91 capable of implementing all the methods described above, where the program file 91 may be stored in the storage medium in the form of a software product, and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes, or a terminal device such as a computer, a server, a mobile phone, a tablet, or the like.
In several embodiments provided in the present application, it should be understood that the disclosed robot, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. The foregoing is only the embodiments of the present application, and not the patent scope of the present application is limited by the foregoing description, but all equivalent structures or equivalent processes using the contents of the present application and the accompanying drawings, or directly or indirectly applied to other related technical fields, which are included in the patent protection scope of the present application.
Claims (7)
1. A method for radius compensation of a robotic grinding wheel, comprising:
obtaining a compensation value;
acquiring the pose of each interpolation point of the track of the tool center point in a pre-established tool coordinate system, and constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an original point, wherein the Z axis of the tool coordinate system is perpendicular to the wheel surface of the grinding wheel;
obtaining initial offset of each interpolation point under the tool path coordinate system according to the compensation value;
converting the initial offset into the tool coordinate system to obtain a target offset;
calculating to obtain the target coordinates of the compensated interpolation points in the tool coordinate system by using the pose of the interpolation points and the target offset;
the step of constructing a tool path coordinate system of each interpolation point comprises the following steps:
acquiring the tangential direction of the track at each interpolation point and the Z-axis direction of the tool coordinate system;
determining an X-axis direction, a Y-axis direction and a Z-axis direction of the tool path coordinate system based on the tangential direction and a Z-axis direction of the tool coordinate system;
the step of determining the X-axis direction, the Y-axis direction, and the Z-axis direction of the tool path coordinate system based on the tangential direction and the Z-axis direction of the tool coordinate system includes:
setting the tangential direction as an X-axis direction of the tool path coordinate system;
the Y-axis direction of the tool path coordinate system is obtained by carrying out cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system;
the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system are subjected to cross multiplication to obtain the Z-axis direction of the tool path coordinate system;
and after the grinding wheel is worn, the grinding wheel is moved towards the negative direction of the Y axis of the tool path coordinate system, and the value on the Y axis in the initial offset is taken as negative.
2. The robotic grinding wheel radius compensation method of claim 1, wherein the Z-axis direction of the tool coordinate system is disposed along a central axis of the grinding wheel.
3. The robotic grinding wheel radius compensation method according to claim 1, wherein the step of converting the initial offset into the tool coordinate system to obtain a target offset comprises:
calculating a rotation matrix between the tool coordinate system and the tool path coordinate system by using the pose of the interpolation point;
and converting the initial offset into the tool coordinate system according to the rotation matrix and the initial offset to obtain the target offset.
4. The robotic grinding wheel radius compensation method according to claim 1, further comprising, after the step of constructing a tool path coordinate system for each of the interpolation points:
judging whether the Y-axis direction of the tool path coordinate system corresponding to the current interpolation point is opposite to the Y-axis direction of the tool path coordinate system corresponding to the last interpolation point;
if yes, reversing the Y axis of the tool path coordinate system corresponding to the current interpolation point.
5. A robotic grinding wheel radius compensation device, comprising:
the acquisition module is used for acquiring the compensation value;
the construction module is coupled with the acquisition module and is used for acquiring the pose of an interpolation point of a track of a tool center point in a pre-established tool coordinate system, constructing a tool path coordinate system of each interpolation point by taking each interpolation point as an origin, and enabling the Z axis of the tool coordinate system to be perpendicular to the wheel surface of the grinding wheel;
the receiving module is coupled with the construction module and is used for obtaining the initial offset of each interpolation point under the tool path coordinate system according to the compensation value;
the conversion module is coupled with the receiving module and is used for converting the initial offset into the tool coordinate system to obtain a target offset;
the calculation module is coupled with the conversion module and is used for calculating the target coordinates of the compensated interpolation point in the tool coordinate system by using the pose of the interpolation point and the target offset;
the operation of the construction module for constructing the tool path coordinate system of each interpolation point is specifically as follows: acquiring the tangential direction of the track at each interpolation point and the Z-axis direction of the tool coordinate system; determining an X-axis direction, a Y-axis direction and a Z-axis direction of the tool path coordinate system based on the tangential direction and a Z-axis direction of the tool coordinate system;
the construction module determines the X-axis direction, the Y-axis direction and the Z-axis direction of the tool path coordinate system based on the tangential direction and the Z-axis direction of the tool coordinate system, specifically: setting the tangential direction as an X-axis direction of the tool path coordinate system; the Y-axis direction of the tool path coordinate system is obtained by carrying out cross multiplication on the X-axis direction of the tool path coordinate system and the Z-axis direction of the tool coordinate system; the X-axis direction of the tool path coordinate system and the Y-axis direction of the tool path coordinate system are subjected to cross multiplication to obtain the Z-axis direction of the tool path coordinate system;
and after the grinding wheel is worn, the grinding wheel is moved towards the negative direction of the Y axis of the tool path coordinate system, and the value on the Y axis in the initial offset is taken as negative.
6. A robot comprising a controller, a memory coupled to the controller, wherein,
the memory stores program instructions for implementing the robotic grinding wheel radius compensation method of any one of claims 1-4;
the controller is used for executing the program instructions stored by the memory to realize the compensation of the radius of the grinding wheel of the robot.
7. A storage medium storing a program file enabling the robot grinding wheel radius compensation method according to any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011449060.3A CN112659121B (en) | 2020-12-09 | 2020-12-09 | Robot grinding wheel radius compensation method and device, robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011449060.3A CN112659121B (en) | 2020-12-09 | 2020-12-09 | Robot grinding wheel radius compensation method and device, robot and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112659121A CN112659121A (en) | 2021-04-16 |
| CN112659121B true CN112659121B (en) | 2024-03-29 |
Family
ID=75402343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011449060.3A Active CN112659121B (en) | 2020-12-09 | 2020-12-09 | Robot grinding wheel radius compensation method and device, robot and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112659121B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113414762B (en) * | 2021-06-09 | 2024-05-03 | 配天机器人技术有限公司 | Method and device for shifting welding path, robot and storage device |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4945493A (en) * | 1988-09-26 | 1990-07-31 | Ford Motor Company | Method and system for correcting a robot path |
| JPH07156067A (en) * | 1993-12-04 | 1995-06-20 | Hitachi Constr Mach Co Ltd | Grinding tool wear compensator of grinding robot |
| JPH07261821A (en) * | 1994-03-16 | 1995-10-13 | Fanuc Ltd | Robot track planning method taking deflection due to load into consideration |
| DE102012101497A1 (en) * | 2012-02-24 | 2013-08-29 | Convergent Information Technologies Gmbh | Method for performing e.g. robot-supported painting to surfaces of e.g. car component by industrial robot, involves performing computer-assisted planning of modified travel path for industrial robot based on mathematical model |
| CN106774153A (en) * | 2016-12-29 | 2017-05-31 | 科德数控股份有限公司 | A kind of profile tolerance compensation method of S-shaped rose cutter |
| CN106736846A (en) * | 2016-12-29 | 2017-05-31 | 科德数控股份有限公司 | A kind of complex milling machine tool lathe tool radius compensation method |
| CN106799738A (en) * | 2017-03-17 | 2017-06-06 | 福州大学 | A kind of industrial robot automatic grinding and polishing system and method for free form surface |
| CN107838920A (en) * | 2017-12-20 | 2018-03-27 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot polishing Force control system and method |
| JP2018167252A (en) * | 2017-03-30 | 2018-11-01 | マツダ株式会社 | Coating method and coating applicator |
| CN108972546A (en) * | 2018-06-22 | 2018-12-11 | 华南理工大学 | A kind of robot constant force curved surface tracking method based on intensified learning |
| CN110091333A (en) * | 2019-05-17 | 2019-08-06 | 上海交通大学 | The device and method of complex-curved surface weld feature identification and automatic grinding and polishing |
| CN110465950A (en) * | 2019-09-09 | 2019-11-19 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| CN110465949A (en) * | 2019-09-09 | 2019-11-19 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| 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 |
| CN111958611A (en) * | 2020-07-31 | 2020-11-20 | 华中科技大学 | Milling robot posture optimization method and device considering minimum contour error |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3610485B2 (en) * | 1999-09-20 | 2005-01-12 | 株式会社日立製作所 | Numerically controlled curved surface processing equipment |
-
2020
- 2020-12-09 CN CN202011449060.3A patent/CN112659121B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4945493A (en) * | 1988-09-26 | 1990-07-31 | Ford Motor Company | Method and system for correcting a robot path |
| JPH07156067A (en) * | 1993-12-04 | 1995-06-20 | Hitachi Constr Mach Co Ltd | Grinding tool wear compensator of grinding robot |
| JPH07261821A (en) * | 1994-03-16 | 1995-10-13 | Fanuc Ltd | Robot track planning method taking deflection due to load into consideration |
| DE102012101497A1 (en) * | 2012-02-24 | 2013-08-29 | Convergent Information Technologies Gmbh | Method for performing e.g. robot-supported painting to surfaces of e.g. car component by industrial robot, involves performing computer-assisted planning of modified travel path for industrial robot based on mathematical model |
| CN106774153A (en) * | 2016-12-29 | 2017-05-31 | 科德数控股份有限公司 | A kind of profile tolerance compensation method of S-shaped rose cutter |
| CN106736846A (en) * | 2016-12-29 | 2017-05-31 | 科德数控股份有限公司 | A kind of complex milling machine tool lathe tool radius compensation method |
| CN106799738A (en) * | 2017-03-17 | 2017-06-06 | 福州大学 | A kind of industrial robot automatic grinding and polishing system and method for free form surface |
| JP2018167252A (en) * | 2017-03-30 | 2018-11-01 | マツダ株式会社 | Coating method and coating applicator |
| CN107838920A (en) * | 2017-12-20 | 2018-03-27 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot polishing Force control system and method |
| CN108972546A (en) * | 2018-06-22 | 2018-12-11 | 华南理工大学 | A kind of robot constant force curved surface tracking method based on intensified learning |
| CN110091333A (en) * | 2019-05-17 | 2019-08-06 | 上海交通大学 | The device and method of complex-curved surface weld feature identification and automatic grinding and polishing |
| CN110465950A (en) * | 2019-09-09 | 2019-11-19 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| CN110465949A (en) * | 2019-09-09 | 2019-11-19 | 北京配天技术有限公司 | The planing method of welding robot and its swinging track |
| 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 |
| CN111958611A (en) * | 2020-07-31 | 2020-11-20 | 华中科技大学 | Milling robot posture optimization method and device considering minimum contour error |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112659121A (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114918747B (en) | Method and device for grinding rear cutter surface of three-edge milling cutter and computer equipment | |
| CN112659121B (en) | Robot grinding wheel radius compensation method and device, robot and storage medium | |
| CN110871434B (en) | Kinematics calibration method of parallel processing equipment | |
| CN112975954B (en) | Control method of robot arm, computer device, and storage medium | |
| CN110549332B (en) | Stepping control method and device, polishing robot and readable storage medium | |
| CN108195327A (en) | A kind of additional shaft scaling method and terminal based on robot | |
| CN110850883A (en) | Movement control method, medium, terminal and device of robot | |
| CN113126607A (en) | Robot and motion control method and device thereof | |
| CN113319656B (en) | Grinding method for special-shaped workpiece | |
| CN114905341B (en) | Method and device for grinding front cutter surface of three-edge milling cutter and computer equipment | |
| CN112643674B (en) | Robot following machining workpiece surface compensation method, robot and storage device | |
| CN112631200A (en) | Machine tool axis measuring method and device | |
| CN113084791A (en) | Mechanical arm control method, mechanical arm control device and terminal equipment | |
| CN112157651B (en) | Pose determination method and device and robot | |
| Gueta et al. | Multiple-goal task realization utilizing redundant degrees of freedom of task and tool attachment optimization | |
| CN112388633A (en) | Method for generating robot machining motion trail, storage device and robot | |
| CN102441816A (en) | Three-dimensional cutting machining method | |
| CN118162954B (en) | Teaching polishing method and device for spatial arc profile of grinding casting | |
| CN107614208B (en) | Robot control method and control equipment | |
| CN107636418B (en) | Robot control method, control equipment and system | |
| TWM586193U (en) | Grinding machine | |
| CN114723812B (en) | Method, device, equipment and storage medium for determining pose of robot grinding tool | |
| CN111240267A (en) | Contour error defining and estimating method and device for robot machining | |
| CN115755755B (en) | AGV trolley B spline curve path rapid generation method, storage medium and system | |
| CN210849444U (en) | Grinding machine with grinding wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |