CN113211468A - Machine manpower feedback demonstration device that polishes - Google Patents

Abstract

The invention discloses a robot manpower feedback polishing demonstration device which comprises a feeding and discharging auxiliary device, a force sensing module, a visual detection device and a robot polishing workstation, wherein the feeding and discharging auxiliary device automatically grabs a workpiece to be fed and discharged; the robot polishing workstation generates air negative pressure to adsorb and fix the workpiece and rotate the workpiece at a constant speed and in need; the force sensing module uniformly adjusts the pose of the robot according to the stress condition of the robot and precisely polishes the workpiece; the visual inspection device detects the brightness value and the outline of the workpiece so as to determine whether the grinding quality meets the requirements. The teaching device can automatically load and unload a workpiece and accurately place the workpiece in a polishing area, and can provide force feedback and visual feedback for an operation object in real time in the polishing process of the robot, so that a robot polishing device control system can more accurately control the robot polishing device.

Description

Machine manpower feedback demonstration device that polishes

Technical Field

The invention relates to the field of polishing robots, in particular to a robot manpower feedback polishing teaching device.

Background

At present, the population of China is gradually increased, the labor cost is increased, the population bonus advantage is not better than that of peripheral countries, and under the background that the survival pressure of traditional manufacturing and processing enterprises is continuously increased, the application and the demand of the traditional manufacturing and processing enterprises on polishing robots are remarkably improved for replacing traditional manual polishing, so that the labor cost is reduced to a certain extent, and the cost pressure of the enterprises is relieved.

However, for the polishing of the cambered surface of a metal part requiring refinement, the existing polishing robot cannot accurately control the polishing force and the robot pose, which is still the problem of the technical difficulty faced by the existing polishing robot.

Disclosure of Invention

In order to solve the defects mentioned in the background technology, the invention aims to provide a robot manpower feedback polishing teaching device, which can automatically load and unload a workpiece and accurately place the workpiece in a polishing area, and can provide force feedback and visual feedback for an operation object in real time in the polishing process of a robot, so that a robot polishing device control system can more accurately control a robot polishing device.

The purpose of the invention can be realized by the following technical scheme:

a robot manpower feedback polishing teaching device comprises a feeding and discharging auxiliary device, a force sensing module, a visual detection device and a robot polishing workstation, wherein the feeding and discharging auxiliary device automatically grabs workpieces for feeding and discharging; the robot polishing workstation generates air negative pressure to adsorb and fix the workpiece and rotate the workpiece at a constant speed and in need; the force perception module uniformly adjusts the pose of the robot according to the stress condition of the robot and precisely polishes the workpiece; the visual inspection device detects the brightness value and the outline of the workpiece so as to determine whether the grinding quality meets the requirements.

Further preferably, the feeding and discharging auxiliary device comprises an X-axis transverse motion system, a Z-axis longitudinal motion system, a C-axis rotary motion system and a gripper grabbing device, and the feeding and discharging auxiliary device is communicated with the automatic conveying device and the robot polishing device control system to control and complete corresponding actions of the feeding and discharging auxiliary device.

Further preferably, the force sensing module comprises three multi-component force sensors, the centers of the three multi-component force sensors and the central connecting line of the rotary polishing device mutually form an included angle of 120 degrees, and the distance between the center of each multi-component force sensor and the center of the rotary polishing device is equal.

Preferably, the multi-component force sensors calculate stress values by using an algorithm, the pose of the robot is accurately changed according to the average values by calculating the average values of the stress values of the three multi-component force sensors, independent stress values of each multi-component force sensor are independently judged, and the pose of the robot is accurately adjusted again according to the stress values of each multi-component force sensor, so that the aim of accurately controlling the polishing device of the robot is fulfilled.

Further preferably, the operation of applying the algorithm to calculate the stress value is as follows:

s1, respectively acquiring stress values of the three multi-component force sensors;

s2, calculating the average value of all the stress values of the acquired multi-component force sensor;

s3, calculating the difference value of each stress value of the acquired multi-component force sensor;

s4, obtaining an allowable range of the average value of all stress values of the set multi-component force sensor, wherein the allowable range is a positive number; obtaining an allowable range of difference values of all stress values of the set multi-component force sensor, wherein the allowable range is a positive number; acquiring a set stress value precision value for adjusting the pose of the robot;

s5, sequentially comparing the average value and the difference value of each stress value of the multi-component force sensor with the average value and the allowable range of the difference value of each stress value: if the pose of the robot is within the allowable range, the robot grinding device control system maintains the original pose of the robot, the step S1 is returned, and the process is circulated again; otherwise, the robot grinding device control system starts to adjust the pose of the robot, and after the stress value of the multi-component force sensor which is not in the allowable range changes the set stress value precision value for adjusting the pose of the robot each time, the step S1 is returned, and the process is circulated again.

Further preferably, the vision detection device detects the contour of the cambered surface of the metal part and transmits a feedback signal obtained by measurement to the robot polishing device control system, and the robot polishing device control system roughly adjusts the pose of the robot according to the contour of the cambered surface of the metal part recorded by the vision detection device.

Further preferably, the vision detection device detects the brightness value of the arc surface of the metal part and transmits a feedback signal obtained by measurement to the robot polishing device control system, and the robot polishing device control system determines whether to polish the arc surface of the metal part again or not and whether to finish polishing according to whether the brightness value is within an allowable range or not.

Further preferably, the robot polishing workstation comprises a vacuum generator, a suction nozzle, a polishing workstation rotating device and a servo motor, wherein the vacuum generator generates negative pressure, the suction nozzle sucks and fixes the metal part, the polishing workstation rotating device rotates to a target position according to the brightness value of the cambered surface of the metal part detected by the visual detection device, and the servo motor moves up and down to the target position according to the cambered surface position of the metal part polished by the robot polishing device.

The invention has the beneficial effects that:

the robot manual feedback polishing teaching device can automatically load and unload a workpiece and accurately place the workpiece in a polishing area, and can provide force feedback and visual feedback for an operation object in real time in the polishing process of the robot, so that a robot polishing device control system can more accurately control the robot polishing device.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic view of the working principle of the robot-powered feedback polishing teaching device of the present invention;

FIG. 2 is a schematic view of the structure of the automatic transfer device of the present invention;

FIG. 3 is a schematic structural view of the auxiliary loading/unloading apparatus of the present invention;

FIG. 4 is a schematic diagram of the construction of the robotic buffing station of the present invention;

FIG. 5 is a schematic structural diagram of the force sensing module of the present invention;

FIG. 6 is a schematic diagram of the force sensing module of the present invention in terms of spatial stress;

FIG. 7 is a schematic view of the construction of the rotary grinding apparatus of the present invention;

FIG. 8 is a schematic view of the force sensing module assembly of the present invention;

fig. 9 is a schematic view of the visual inspection apparatus of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.

As shown in fig. 1, the machine manpower feedback polishing teaching device comprises a loading and unloading auxiliary device 21, a force sensing module 23, a vision detection device 25 and a robot polishing workstation 24, wherein the loading and unloading auxiliary device 21 automatically grabs a workpiece for loading and unloading; the robot sanding station 24 generates a negative air pressure to attract the stationary workpiece and rotate the workpiece at a constant speed and as needed; the force sensing module 23 uniformly adjusts the pose of the robot according to the stress condition of the robot and precisely polishes the workpiece; the vision inspection device 25 inspects the brightness value and profile of the workpiece to confirm whether the grinding quality meets the requirements.

As shown in fig. 2 in combination with fig. 1, the automatic conveying device 20 conveys the metal parts to a designated position, and the photosensitive sensor 1 receives a signal and feeds the signal back to the upper blanking auxiliary device 21;

referring to fig. 3 in combination with fig. 1, the feeding and discharging auxiliary device 21 receives a feedback signal from the photosensor 1 in the automatic transfer device 20 and starts to operate, the Z-axis longitudinal motion system 3 drives the gripper 5 to move downward to a position, the C-axis rotational motion system 4 drives the gripper 5 to rotate to an original angle of 0 ° so that the gripper 5 is parallel to the horizontal direction, the gripper 5 is opened, and the X-axis transverse motion system 2 operates so that the gripper 5 moves forward to a fixed position for gripping the metal parts on the automatic transfer device 20. The photosensitive sensor 1 detects whether the metal parts exist again, if the metal parts do not exist, all motion systems in the loading and unloading auxiliary device 21 return to original positions in sequence, and the robot force feedback polishing teaching device sends alarm signals that the metal parts do not exist; if the metal part grinding device exists, the gripper grabbing device 5 is closed and clamped, the Z-axis longitudinal motion system 3 drives the gripper grabbing device 5 to move upwards to a proper position, the C-axis rotary motion system 4 drives the gripper grabbing device 5 to rotate 180 degrees, the inner wall of the cambered surface of the metal part faces downwards, the X-axis transverse motion system 2 operates, and the gripper grabbing device 5 moves backwards to a fixed position where the robot grinding work station 24 grinds the metal part. The Z-axis longitudinal motion system 3 drives the gripper grabbing device 5 to move downwards to the proper position, the gripper grabbing device 5 is opened, and the X-axis transverse motion system 2 operates to drive the gripper grabbing device 5 to operate backwards to the original position.

As shown in fig. 4 in combination with fig. 1 and 3, when the feeding and blanking auxiliary device 21 places the metal part at a fixed position where the metal part is ground at the robot grinding work station, the vacuum generator generates negative pressure to make the suction nozzle 7 suck the inner wall of the cambered surface of the metal part, so as to complete the fixation of the metal part.

As shown in fig. 5 and 6, the multi-component force sensor which measures forces (Fx, Fy, Fz) and moments (Mx, My, Mz) on three mutually perpendicular axes can detect the stress condition of each position of the rotary grinding device during grinding work of the robot, and change the pose of the robot according to the stress condition in three directions.

As shown in fig. 7 and 8, the force sensing module 23 is formed by the multi-component force sensor 10 on the rotary grinding device 31, wherein the multi-component force sensor 13 is mounted on the rotary grinding device 32 as shown in fig. 8, the center of the multi-component force sensor 13 and the central connecting line of the rotary grinding device 32 form an included angle of 120 degrees, and the center of each multi-component force sensor 13 is equidistant from the center of the rotary grinding device 32.

Under the rotatory grinding device 32 atress condition, establish three multicomponent force sensor 10 and be multicomponent force sensor I, multicomponent force sensor II and multicomponent force sensor III respectively, multicomponent force sensor I obtains the atress value: fx1, Fy1, Fz1, Mx1, My1, Mz 1; and the multi-component force sensor II obtains a stress value: fx2, Fy2, Fz2, Mx2, My2, Mz 2; and (3) obtaining a stress value by a multi-component force sensor III: fx3, Fy3, Fz3, Mx3, My3, Mz 3; and the sensed stress value is fed back to the robot polishing control system 27, and the robot polishing control system 27 changes the polishing pose of the robot according to the algorithm of the invention.

The algorithm of the invention is to calculate the average value of all the stress values of the multi-component force sensor 10, change the robot pose according to the average value, independently judge the difference value of all the stress values of the multi-component force sensor 10, and finally determine the robot pose according to the difference value of all the stress values, so as to achieve the aim of accurately controlling the robot polishing device.

The algorithm of the invention performs the operation according to the following steps, which are specifically expressed as follows:

step S1, acquiring each stress value of the multi-component force sensor 10: fx1, Fy1, Fz1, Mx1, My1, Mz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2, Fx3, Fy3, Fz3, Mx3, My3, Mz 3;

step S2, calculating an average value of the force values of the multi-component force sensor 10:

Fx＝(Fx1+Fx2+Fx3)/3；

Fy＝(Fy1+Fy2+Fy3)/3；

Fz＝(Fz1+Fz2+Fz3)/3；

Mx＝(Mx1+Mx2+Mx3)/3；

My＝(My1+My2+My3)/3；

Mz＝(Mz1+Mz2+Mz3)/3；

step S3, calculating a difference between the force values of the multi-component force sensor 10:

Σ1(Fx)＝Fx1-Fx2；Σ2(Fx)＝Fx1-Fx3；Σ3(Fx)＝Fx2-Fx3；

Σ1(Fy)＝Fy1-Fy2；Σ2(Fy)＝Fy1-Fy3；Σ3(Fy)＝Fy2-Fy3；

Σ1(Fz)＝Fz1-Fz2；Σ2(Fz)＝Fz1-Fz3；Σ3(Fz)＝Fz2-Fz3；

Σ1(Mx)＝Mx1-Mx2；Σ2(Mx)＝Mx1-Mx3；Σ3(Mx)＝Mx2-Mx3；

Σ1(My)＝My1-My2；Σ2(My)＝My1-My3；Σ3(My)＝My2-My3；

Σ1(Mz)＝Mz1-Mz2；Σ2(Mz)＝Mz1-Mz3；Σ3(Mz)＝Mz2-Mz3；

step S4, obtaining the allowable range delta Fx, delta Fy, delta Fz, delta Mx, delta My and delta Mz of the average value of all the stress values of the set multi-component force sensor 10, wherein the allowable range is a positive number; obtaining allowable difference value ranges Δ Σ Fx, Δ Σ Fy, Δ Σ Fz, Δ Σ Mx, Δ Σ My, Δ Σ Mz of the set difference values of the respective stress values of the multi-component force sensor 10, the allowable ranges being positive numbers; and acquiring the set accuracy values phi Fx, phi Fy, phi Fz, phi Mx, phi My and phi Mz of the stress values for adjusting the pose of the robot.

And step S5, sequentially comparing the average value and the difference value of all the stress values of the multi-component force sensor 10 with the average value and the allowable range of the difference value of all the stress values. If the pose is within the allowable range, the robot polishing device control system 27 maintains the original pose of the robot, and the process returns to the step S1 to circulate again; otherwise, the robot polishing device control system 27 starts to adjust the pose of the robot, and returns to step S1 after the force values of the multi-component force sensor 10 which are not within the allowable range change the set force value precision value for adjusting the pose of the robot each time, and the process is repeated.

The specific flow of step S5 is as follows:

PA 1: if Fx is larger than delta Fx, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the Fx stress value is reduced by phi Fx, and returns to PA 1;

PA 2: if Fy is larger than delta Fy, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the Fy stress value is reduced by phi Fy, and returns to PA 1;

PA 3: if Fz is larger than delta Fz, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the Fz stress value is reduced by phi Fz, and returns to PA 1;

PA 4: if Mx is larger than delta Mx, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the Mx stress value is reduced by phi Mx, and returns to PA 1;

PA 5: if My is larger than delta My, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the My stress value is reduced by phi My, and returns to PA 1;

PA 6: if Mz is larger than delta Mz, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the Mz stress value is reduced by phi Mz, and returns to PA 1;

PB 1: if (| Σ 1(Fx) | < Δ Σ Fx) & (| Σ 2(Fx) | < Δ Σ Fx) & (| Σ 3(Fx) | < Δ Σ Fx), the pose of the robot does not need to be adjusted, and the pose of the robot returns to PA 1;

PB 2: if (| Σ 1(Fx) | ≧ Σ 3(Fx) |) | (| Σ 2(Fx) | ≧ Σ 3(Fx) |), the positive or negative of Σ 1(Fx), Σ 2(Fx) is determined again:

PB 2-1: if (Σ 1(Fx) < 0) | (Σ 2(Fx) < 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of Fx1 increases by Φ Fx, stops the adjustment, and returns to PA 1;

PB 2-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the bearing force value of Fx1 is reduced by phi Fx, and returns to PA 1;

PB3, if (| Σ 1(Fx) | ≧ Σ 2(Fx) |) | (| Σ 3(Fx) | ≧ Σ 2(Fx) |), then positive or negative of Σ 1(Fx), Σ 3(Fx) is determined:

PB 3-1: if (Σ 1(Fx) > 0) | (Σ 3(Fx) < 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of Fx2 increases by Φ Fx, stops the adjustment, and returns to PA 1;

PB 3-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the bearing force value of Fx2 is reduced by phi Fx, and returns to PA 1;

PB4, if (| Σ 2(Fx) | ≧ Σ 1(Fx) |) | (| Σ 3(Fx) | ≧ Σ 1(Fx) |), then positive or negative of Σ 2(Fx), Σ 3(Fx) is determined:

PB 4-1: if (Σ 2(Fx) > 0) | (Σ 3(Fx) > 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of Fx3 increases by Φ Fx, stops the adjustment, and returns to PA 1;

PB 4-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the bearing force value of Fx3 is reduced by phi Fx, and returns to PA 1;

PC 1: if (| Σ 1(Fy) | < Δ Σ Fy) & (| Σ 2(Fy) | < Δ Σ Fy) & (| Σ 3(Fy) | < Δ Σ Fy), then the pose of the robot does not need to be adjusted, and the pose returns to PA 1;

PC 2: if (| Σ 1(Fy) | ≧ Σ 3(Fy) |) | (| Σ 2(Fy) | ≧ Σ 3(Fy) |), positive or negative of Σ 1(Fy), Σ 2(Fy) is determined again at this time:

PC 2-1: if (Σ 1(Fy) < 0) | (Σ 2(Fy) < 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of Fy1 increases by Φ Fy, stops the adjustment, and returns to PA 1;

PC 2-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the force value of Fy1 is reduced by phi Fy, and returns to PA 1;

PC3, if (| Σ 1(Fy) | ≧ Σ 2(Fy) |) | (| Σ 3(Fy) | ≧ | Σ 2(Fy) |), then, the positive or negative of Σ 1(Fy), Σ 3(Fy) is determined:

PC 3-1: if (Σ 1(Fy) > 0) | (Σ 3(Fy) < 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of Fy2 increases by Φ Fy, stops the adjustment, and returns to PA 1;

PC 3-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the force value of Fy2 is reduced by phi Fy, and returns to PA 1;

PC4, if (| Σ 2(Fy) | ≧ Σ 1(Fy) |) | (| Σ 3(Fy) | ≧ Σ 1(Fy) |), then, the positive or negative of Σ 2(Fy), Σ 3(Fy) is determined:

PC 4-1: if (Σ 2(Fy) > 0) | (Σ 3(Fy) > 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of Fy3 increases by Φ Fy, stops the adjustment, and returns to PA 1;

PC 4-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the force value of Fy3 is reduced by phi Fy, and returns to PA 1;

PD 1: if (| Σ 1(Fz) | < Δ Σ Fz) & (| Σ 2(Fz) | < Δ Σ Fz) & (| Σ 3(Fz) | < Δ Σ Fz), the pose of the robot does not need to be adjusted, and the robot returns to PA 1;

PD 2: if (| Σ 1(Fz) | ≧ Σ 3(Fz) |) | (| Σ 2(Fz) | ≧ Σ 3(Fz) |), the positive or negative of Σ 1(Fz), Σ 2(Fz) is determined again:

PD 2-1: if (Σ 1(Fz) < 0) | (Σ 2(Fz) < 0), the robot dressing device control system 27 adjusts the robot pose until the force value of Fz1 increases by Φ Fz to stop the adjustment, and returns to PA 1;

PD 2-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the force value of Fz1 is reduced by phi Fz, and returns to PA 1;

PD3, if (| Σ 1(Fz) | ≧ Σ 2(Fz) |) | (| Σ 3(Fz) | ≧ Σ 2(Fz) |), then judges whether or not Σ 1(Fz), Σ 3(Fz) is positive or negative:

PD 3-1: if (Σ 1(Fz) > 0) | (Σ 3(Fz) < 0), the robot dressing device control system 27 adjusts the robot pose until the force value of Fz2 increases by Φ Fz to stop the adjustment, and returns to PA 1;

PD 3-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value of Fx2 is reduced by phi Fz, and returns to PA 1;

PD4, if (| Σ 2(Fx) | ≧ Σ 1(Fx) |) | (| Σ 3(Fx) | ≧ Σ 1(Fx) |), then judges whether or not Σ 2(Fx), Σ 3(Fx) are positive or negative:

PD 4-1: if (Σ 2(Fx) > 0) | (Σ 3(Fx) > 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of Fx3 increases by Φ Fz to stop the adjustment, and returns to PA 1;

PD 4-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value of Fx3 is reduced by phi Fz, and returns to PA 1;

PE 1: if (| Σ 1(Mx) | < Δ Σ Mx) & (| Σ 2(Mx) | < Δ Σ Mx) & (| Σ 3(Mx) | < Δ Σ Mx), the pose of the robot does not need to be adjusted, and the robot returns to PA 1;

PE 2: if (| Σ 1(Mx) | ≧ Σ 3(Mx) |) | (| Σ 2(Mx) | ≧ | Σ 3(Mx) |), the positive or negative of Σ 1(Mx) or Σ 2(Mx) is determined again at that time:

PE 2-1: if (Σ 1(Mx) < 0) | (Σ 2(Mx) < 0), the robot polishing apparatus control system 27 adjusts the robot pose until the Mx1 stress value increases by Φ Mx, stops the adjustment, and returns to PA 1;

PE 2-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value Mx1 is reduced by phi Mx, and returns to PA 1;

PE3, if (| Σ 1(Mx) | ≧ Σ 2(Mx) |) | (| Σ 3(Mx) | ≧ | Σ 2(Mx) |), the positive or negative of Σ 1(Mx), Σ 3(Mx) is determined at that time:

PE 3-1: if (Σ 1(Mx) > 0) | (Σ 3(Mx) < 0), the robot polishing apparatus control system 27 adjusts the robot pose until the Mx2 stress value increases by Φ Mx, stops the adjustment, and returns to PA 1;

PE 3-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value Mx2 is reduced by phi Mx, and returns to PA 1;

PE4, if (| Σ 2(Mx) | ≧ Σ 1(Mx) |) | (| Σ 3(Mx) | ≧ Σ 1(Mx) |), the positive or negative of Σ 2(Mx), Σ 3(Mx) is determined at that time:

PE 4-1: if (Σ 2(Mx) > 0) | (Σ 3(Mx) > 0), the robot polishing apparatus control system 27 adjusts the robot pose until the Mx3 stress value increases by Φ Mx, stops the adjustment, and returns to PA 1;

PE 4-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value Mx3 is reduced by phi Mx, and returns to PA 1;

PF 1: if (| Σ 1(My) | < Δ Σ My) & (| Σ 2(My) | < Δ Σ My) & (| Σ 3(My) | < Δ Σ My), the robot pose does not need to be adjusted, and the robot pose returns to PA 1;

PF 2: if (| Σ 1(My) | ≧ Σ 3(My) |) | (| Σ 2(My) | ≧ | Σ 3(My) |), the positive or negative of Σ 1(My), Σ 2(My) is determined again at that time:

PF 2-1: if (Σ 1(My) < 0) | (Σ 2(My) < 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of My1 increases by Φ My, stops the adjustment, and returns to PA 1;

PF 2-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, and the robot polishing device control system stops adjusting until the My1 stress value is reduced by phi My, and returns to PA 1;

PF3, if (| Σ 1(My) | ≧ Σ 2(My) |) | (| Σ 3(My) | ≧ | Σ 2(My) |), the positive or negative of Σ 1(My) and Σ 3(My) is determined at that time:

PF 3-1: if (Σ 1(My) > 0) | (Σ 3(My) < 0), the robot polishing apparatus control system 27 adjusts the pose of the robot until the force value of My2 increases by Φ My, stops the adjustment, and returns to PA 1;

PF 3-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, and the robot polishing device control system stops adjusting until the My2 stress value is reduced by phi My, and returns to PA 1;

PF4, if (| Σ 2(My) | ≧ Σ 1(My) |) | (| Σ 3(My) | ≧ | Σ 1(My) |), the positive or negative of Σ 2(My) and Σ 3(My) is determined at that time:

PF 4-1: if (Σ 2(My) > 0) | (Σ 3(My) > 0), the robot polishing apparatus control system 27 adjusts the pose of the robot, stops adjusting until the force bearing value of My3 increases by Φ My, and returns to PA 1;

PF 4-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, and the robot polishing device control system stops adjusting until the My3 stress value is reduced by phi My, and returns to PA 1;

PG 1: if (| Σ 1(Mz) | < Δ Σ Mz) & (| Σ 2(Mz) | < Δ Σ Mz) & (| Σ 3(Mz) | < Δ Σ Mz), the pose of the robot does not need to be adjusted, and the robot returns to PA 1;

PG 2: if (| Σ 1(Mz) | ≧ Σ 3(Mz) |) | (| Σ 2(Mz) | ≧ Σ 3(Mz) |), the positive or negative of Σ 1(Mz), Σ 2(Mz) is determined again at that time:

PG 2-1: if (Σ 1(Mz) < 0) | (Σ 2(Mz) < 0), the robot dressing device control system 27 adjusts the robot pose until the Mz1 stress value increases by Φ Mz, stops the adjustment, and returns to PA 1;

PG 2-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value Mz1 is reduced by phi Mz, and returns to PA 1;

PG3 if (| Σ 1(Mz) | ≧ Σ 2(Mz) |) | (| Σ 3(Mz) | ≧ | Σ 2(Mz) |), positive or negative of Σ 1(Mz), Σ 3(Mz) is determined again:

PG 3-1: if (Σ 1(Mz) > 0) | (Σ 3(Mz) < 0), the robot polishing apparatus control system 27 adjusts the robot pose until the Mz2 stress value increases by Φ Mz, stops the adjustment, and returns to PA 1;

PG 3-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value Mz2 is reduced by phi Mz, and returns to PA 1;

PG4 if (| Σ 2(Mz) | ≧ Σ 1(Mz) |) | (| Σ 3(Mz) | ≧ Σ 1(Mz) |), then positive or negative of Σ 2(Mz), Σ 3(Mz) is determined:

PG 4-1: if (Σ 2(Mz) > 0) | (Σ 3(Mz) > 0), the robot polishing apparatus control system 27 adjusts the robot pose until the Mz3 stress value increases by Φ Mz, stops the adjustment, and returns to PA 1;

PG 4-2: otherwise, the robot polishing device control system 27 adjusts the pose of the robot, stops adjusting until the stress value Mz3 is reduced by phi Mz, and returns to PA 1.

In the above formulae: and & represents a logical and relationship, and | represents a logical or relationship.

Referring to fig. 1, 4 and 9, fig. 9 is a schematic diagram of an optical vision sensor for detecting the brightness and profile of metal parts and transmitting the measured feedback signals to the robotic polishing device control system 27. After the metal parts are placed on the robot polishing workstation 24 and are fixedly adsorbed by the feeding and discharging auxiliary device 21, the polishing workstation rotating device 6 rotates 360 degrees, meanwhile, the optical vision sensor 8 records the contour of the cambered surface of the metal parts, the recorded information of the contour of the cambered surface of the metal parts is fed back to the robot polishing device control system 27, the robot polishing device control system 27 roughly adjusts the pose of the robot according to the contour of the cambered surface of the metal parts recorded by the optical vision sensor 8, the robot polishing device 26 is made to be parallel to the contour of the cambered surface of the metal parts, and the robot polishing device 26 is prevented from being damaged because the polishing device is not close to the metal parts. After the robot polishing device 26 is parallel to the contour of the arc surface of the metal part, at the moment, the robot polishing device 26 approaches the metal part at a constant speed, the force sensing module 23 acquires a stress value, and the pose of the robot is accurately adjusted in real time according to the algorithm of the invention. In the polishing operation, the polishing workstation rotating device 6 drives the metal part to rotate at a constant speed, the servo motor 9 moves up and down in real time according to the position of the metal part polished by the robot polishing device 26, so that the optical vision sensor 8 detects the brightness value of the arc surface position of the metal part which is just polished in real time and feeds the brightness value back to the robot polishing device control system 27, and the robot polishing device control system 27 determines whether to polish the metal part again according to whether the brightness value is in an allowable range. If the brightness value is within the allowable range, the robot polishing device 26 maintains the original polishing operation; if the brightness value is out of the allowable range, the polishing workstation rotating device 6 rotates, the area where the brightness value of the metal part is not in the allowable range rotates to the working area of the robot polishing device 26, the metal part is polished again, and if the operation is carried out for more than 2 times, the robot force feedback polishing teaching device sends out an alarm signal that the metal part cannot be polished normally.

As shown in fig. 1, 3 and 4, after the vision detection device detects that the brightness values of the arc surfaces of the metal parts are all within an allowed range or the robot force feedback polishing teaching device sends out abnormal polishing alarm signals, the robot polishing device 26 stops polishing and returns to the original pose, the robot polishing workstation 24 stops rotating and stops generating negative pressure to adsorb the metal parts, and the X-axis transverse motion system 2 in the feeding and discharging auxiliary device 21 drives the gripper gripping device 5 to move forwards to the fixed position where the robot polishing workstation 24 polishes the metal parts; the gripper grabbing device 5 is closed and clamped, the Z-axis longitudinal movement system 3 drives the gripper grabbing device 5 to move upwards to a proper position, and the X-axis transverse movement system 2 operates to enable the gripper grabbing device 5 to move forwards to a fixed position of a metal part on the automatic conveying device 20; the C-axis rotary motion system 4 drives the gripper grabbing device 5 to rotate back to an original angle of 0 degrees, the Z-axis longitudinal motion system 3 drives the gripper grabbing device 5 to move downwards to a proper position, the gripper grabbing device 5 is opened, and the X-axis transverse motion system 2 operates to drive the gripper grabbing device 5 to operate backwards to an original position; after the automatic conveying device 20 detects that the brightness values of the cambered surfaces of the metal parts are all within the allowable range or the robot feeds back the abnormal polishing alarm signals sent by the polishing teaching device, if the photosensitive sensor 1 feeds back and detects object signals, the automatic conveying device 20 operates and conveys the metal parts with the brightness values all within the allowable range to a good product area in a classified mode, and the metal parts which cannot be polished normally are conveyed to a defective product area. Otherwise, the photosensitive sensor 1 does not feed back the detected object signal, and the robot force feeds back the absence of the alarm signal when the grinding teaching device sends the metal part.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed.

Claims (8)

1. A robot manpower feedback polishing demonstration device is characterized by comprising a loading and unloading auxiliary device, a force sensing module, a visual detection device and a robot polishing workstation, wherein the loading and unloading auxiliary device automatically grabs a workpiece to be loaded and unloaded; the robot polishing workstation generates air negative pressure to adsorb and fix the workpiece and rotate the workpiece at a constant speed and in need; the force sensing module uniformly adjusts the pose of the robot according to the stress condition of the robot and precisely polishes the workpiece; the visual inspection device detects the brightness value and the outline of the workpiece so as to determine whether the grinding quality meets the requirements.

2. The robotic feedback grinding teaching device according to claim 1, wherein the loading and unloading assisting device comprises an X-axis transverse motion system, a Z-axis longitudinal motion system, a C-axis rotary motion system and a gripper grasping device, and the loading and unloading assisting device communicates with the automatic conveying device and the robotic polishing device control system to control the completion of corresponding actions of the loading and unloading assisting device.

3. A robotic feedback grinding teaching device according to claim 1 wherein the force sensing module comprises three multi-component force sensors, the centers of the three multi-component force sensors being at 120 ° angles to each other from a line connecting the centers of the rotary grinding devices, the center of each multi-component force sensor being equidistant from the center of the rotary grinding device.

4. The robot-powered feedback grinding teaching device according to claim 3, wherein the multi-component force sensor applies an algorithm to calculate stress values, the robot pose is accurately changed according to the average value by calculating the average value of the stress values of the three multi-component force sensors, the independent stress value of each multi-component force sensor is independently judged, and the robot pose is accurately adjusted again according to the stress value of each multi-component force sensor, so as to achieve the purpose of accurately controlling the robot grinding device.

5. A robotic feedback grinding teaching device according to claim 4 wherein the step of applying an algorithm to calculate the force values is as follows:

s1, respectively acquiring stress values of the three multi-component force sensors;

s2, calculating the average value of all the stress values of the acquired multi-component force sensor;

s3, calculating the difference value of each stress value of the acquired multi-component force sensor;

s4, obtaining an allowable range of the average value of all stress values of the set multi-component force sensor, wherein the allowable range is a positive number; obtaining an allowable range of difference values of all stress values of the set multi-component force sensor, wherein the allowable range is a positive number; acquiring a set stress value precision value for adjusting the pose of the robot;

s5, sequentially comparing the average value and the difference value of each stress value of the multi-component force sensor with the average value and the allowable range of the difference value of each stress value: if the pose of the robot is within the allowable range, the robot grinding device control system maintains the original pose of the robot, the step S1 is returned, and the process is circulated again; otherwise, the robot grinding device control system starts to adjust the pose of the robot, and after the stress value of the multi-component force sensor which is not in the allowable range changes the set stress value precision value for adjusting the pose of the robot each time, the step S1 is returned, and the process is circulated again.

6. The robot-powered feedback grinding teaching device according to claim 1, wherein the vision inspection device detects the contour of the metal part arc surface and transmits a measured feedback signal to the robot grinding device control system, and the robot grinding device control system roughly adjusts the pose of the robot according to the contour of the metal part arc surface recorded by the vision inspection device.

7. A robot-powered feedback grinding teaching device according to claim 1, wherein the vision inspection device detects a brightness value of the metal part arc surface and transmits a measured feedback signal to the robot grinding device control system, and the robot grinding device control system determines whether to grind the metal part arc surface again and whether to finish grinding according to whether the brightness value is within an allowable range.

8. The robot-powered feedback grinding teaching device according to claim 1, wherein the robot grinding station comprises a vacuum generator, a suction nozzle, a grinding station rotating device and a servo motor, the vacuum generator generates negative pressure, the suction nozzle sucks and fixes the metal part, the grinding station rotating device rotates to a target position according to a brightness value of an arc surface of the metal part detected by the visual detection device, and the servo motor moves up and down to the target position according to the arc surface position of the metal part ground by the robot grinding device.

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