CN113400327A - Master-slave teleoperation system and method for grinding and cutting integrated machining of medium-large casting parts - Google Patents
Master-slave teleoperation system and method for grinding and cutting integrated machining of medium-large casting parts Download PDFInfo
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- CN113400327A CN113400327A CN202110769054.4A CN202110769054A CN113400327A CN 113400327 A CN113400327 A CN 113400327A CN 202110769054 A CN202110769054 A CN 202110769054A CN 113400327 A CN113400327 A CN 113400327A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention discloses a master-slave teleoperation system and a method for medium and large-sized casting part grinding and cutting integrated processing, which mainly comprise: the system comprises a driving robot, a driving robot tail end handle, an operation table, a control interface, a control system, a driven robot tail end executor, an imaging system and a laser measuring instrument. In the manual control mode, the position transition between the grinding and cutting features in the workpiece is remotely completed by means of an imaging system; in an automatic control mode, the relative pose of the grinding and cutting characteristics of the end effector of the driven robot and the workpiece is detected by the laser measuring instrument, and autonomous trajectory planning is performed by the control system to finish automatic grinding and cutting integrated processing. The invention adopts a mode of combining manual control and automatic control, which not only can give full play to the subjective initiative and intelligence of an operator, improve the transition efficiency between the grinding and cutting characteristics in the workpiece, and remotely control to prevent the operator from being injured; and the grinding and cutting integrated machining precision of the end effector of the driven robot can be ensured.
Description
Technical Field
The invention relates to the field of casting post-treatment, in particular to a master-slave teleoperation system and a master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized castings.
Background
The high-end equipment is a national heavy equipment, and the key parts are the foundation and the core of the high-end equipment, but the development of the key parts industry is delayed, so that the problem of bottleneck for restricting the development of the high-end equipment manufacturing industry is solved. More than 40% of key parts of high-end equipment with complex appearance and inner cavity structure are mainly cast parts, and the grinding and cutting removal of centimeter-level casting heads, flash burrs and other residual characteristics is the first processing procedure for manufacturing the parts. Over 95% of casting enterprises adopt manual grinding and cutting operation modes, which have the disadvantages of high labor intensity, low working efficiency, poor product consistency and high potential safety hazard, and the adoption of automatic grinding and cutting equipment to replace the manual grinding and cutting operation mode has become a necessary trend.
The existing automatic grinding and cutting equipment is represented by a Japanese Koyama serial robot and an Italian Maus serial machine tool, the former has high flexibility but poor rigidity and precision, and can only complete grinding with small allowance and low efficiency; the latter has high rigidity and precision but insufficient flexibility, can only complete the 'cutting' of a small space and a limited space, and is difficult to complete the grinding and cutting integrated processing of medium and large-sized structural parts. In addition, when a medium-large cast part is cast, a fixed die is generally not provided, the distribution randomness of dead heads and flash burrs of the cast workpiece is high, the appearance is complex, and the grinding and cutting equipment based on teaching programming or off-line programming cannot meet the requirements of high-efficiency and high-quality grinding and cutting integrated processing of parts. Therefore, it is necessary to start with the characteristics of the grinding and cutting requirements of the castings, and a master-slave teleoperation method for the grinding and cutting integrated machining of medium and large-sized castings is proposed.
Disclosure of Invention
Based on the above background art review, aiming at the defects of the existing automatic grinding and cutting method, the invention provides a master-slave teleoperation system and a master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized castings, and aims to solve the problem of high-efficiency high-quality grinding and cutting integrated machining of the casting head/burr flash and other grinding and cutting characteristics of the medium and large-sized castings.
The technical scheme of the invention is as follows:
a master-slave teleoperation system for grinding and cutting integrated machining of medium and large-sized casting parts mainly comprises: the system comprises a driving robot, a driving robot tail end handle, an operation table, a control interface, a control system, a driven robot tail end executor, an imaging system and a laser measuring instrument; the laser measuring instrument is arranged beside the end effector of the slave robot and is connected with the control system through a data line; the master-slave teleoperation system for the grinding-cutting integrated machining of the medium-large casting part comprises two operation modes of manual control and automatic control, and the two operation modes are switched through the control interface.
A master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized casting parts mainly comprises the following steps: the system comprises a driving robot, a driving robot tail end handle, an operation table, a control interface, a control system, a driven robot tail end executor, an imaging system and a laser measuring instrument; the laser measuring instrument is arranged beside the end effector of the slave robot and is connected with the control system through a data line; the master-slave teleoperation system for the grinding-cutting integrated machining of the medium-large casting part comprises two operation modes of manual control and automatic control, and the two operation modes are switched through the control interface.
The manual control mode selects a manual mode in the control interface, the imaging system transmits a processing scene to the control interface on the operation platform in the form of video pictures, an operator identifies the pose relation between grinding and cutting features (flash burrs or casting heads) in a workpiece and the driven robot end effector according to the video pictures, the end handle of the driving robot is manually controlled to implement specific motion, and the control system receives the motion signal of the driving robot and drives the driven robot end effector to reach the expected pose.
The automatic control mode selects an automatic mode in the control interface, the control system performs autonomous trajectory planning according to the pose relationship between grinding and cutting features (flash burrs or dead heads) in the workpiece and the driven robot end effector, and then controls the driven robot end effector to move according to the planned trajectory, so that the grinding and cutting integrated processing process is completed. The position and posture relation between the grinding and cutting features in the workpiece and the driven robot end effector is measured through the laser measuring instrument arranged beside the driven robot end effector, and a fixed offset distance is kept between the laser measuring instrument and the driven robot end effector, so that the control system can have enough time for carrying out track planning.
The active robot, the operation table and the control interface are all arranged in an operation chamber; the driven robot and the imaging system are in a processing workshop far away from the operation room, namely an operator is not in a processing field, and remote operation, grinding and cutting integrated processing is realized through remote master-slave control.
When the driven robot end effector performs grinding and cutting integrated processing on the workpiece, a grinding operation mode is adopted for grinding and cutting characteristics of burrs and fins in the workpiece; and aiming at the grinding and cutting characteristics of the casting head type in the workpiece, a grinding and cutting operation mode is adopted.
The invention has the beneficial effects that: the system and the method of the invention adopt a mode of combining manual control and automatic control, not only can fully exert the subjective activity and intelligence of an operator through manual control, improve the transition efficiency between grinding and cutting characteristics in a workpiece, and remotely control to prevent the operator from being injured; and the grinding and cutting integrated machining precision of the driven robot end effector can be automatically controlled and guaranteed.
Drawings
FIG. 1 is a schematic diagram of a master-slave teleoperation system for grinding and cutting integrated machining of medium and large-sized castings according to the present invention;
FIG. 2 is a schematic diagram of the active robot structure of the present invention;
FIG. 3 is a schematic diagram of the construction of the slave robot according to the present invention;
FIG. 4 is a flow chart of two modes of operation of the present invention;
reference numerals:
1-laser measuring instrument; 2-an active robot; 3-active robot end handle; 4-an operation table; 5-a control interface; 6-a control system; 7-a slave robot; 8-slave robot end effector; 9-a workpiece; 10-imaging system.
Detailed Description
The present invention will be described in further detail below with reference to the attached drawings, which are illustrative only and are not to be construed as limiting the present invention.
As shown in fig. 1, the master-slave teleoperation system for grinding and cutting integrated machining of medium and large-sized castings mainly comprises the following entities: the system comprises a laser measuring instrument 1, a driving robot 2, a driving robot end handle 3, an operation table 4, a control interface 5, a control system 6, a driven robot 7, a driven robot end effector 8 and an imaging system 10.
The imaging system 10 is connected with the control interface 5 through a video signal line, the driving robot 2 and the driven robot 7 are connected with the control system 6 through a data line and a power supply line, and the laser measuring instrument 1 is connected with the control system 6 through a data line.
The master-slave teleoperation method for the grinding-cutting integrated machining of the medium-large casting part comprises two operation modes of manual control and automatic control, and the two operation modes can be switched through the control interface 5.
As shown in fig. 1 to 4, if the manual control mode is adopted, the "manual mode" is selected in the control interface 5, the imaging system 10 transmits a processing scene to the control interface 5 on the operation table 4 in the form of video pictures, an operator identifies the pose relationship between the grinding feature in the workpiece 9 and the slave robot end effector 8 according to the video pictures, manually controls the master robot end handle 3 to implement a specific motion, and the control system 6 receives the motion signal of the master robot 2 to drive the slave robot end effector 8 to a desired pose.
As shown in fig. 1 to 4, when the automatic control mode is adopted, the automatic control mode is characterized in that: and selecting an automatic mode in the control interface 5, and carrying out autonomous trajectory planning by the control system 6 according to the pose relationship between the grinding and cutting characteristics in the workpiece 9 and the driven robot end effector 8, so as to control the driven robot end effector 8 to move according to a planned trajectory and finish the grinding and cutting integrated machining process.
As shown in fig. 1 to 4, when the method of the present invention is used for grinding and cutting integrated machining, the active robot 2, the operation table 4, the control interface 5, an operator, etc. are all in an operation room (a); the driven robot 7, the imaging system 10 and the like are in a processing workshop (B) far away from the operation room, namely an operator is not in a processing field, and remote operation grinding and cutting integrated processing is realized through remote master-slave control.
As shown in fig. 1-4, in the automatic control mode, the positional relationship between the abrasive cutting feature 12 and the slave robot end effector 8 in the workpiece 9 is measured by the laser surveying instrument 1 mounted on the slave robot end effector 8, and a certain offset distance is maintained between the laser surveying instrument 1 and the slave robot end effector 8, ensuring that the control system 6 has enough time for trajectory planning.
As shown in fig. 1 to 3, when the driven robot end effector 8 performs grinding and cutting integrated processing on the workpiece 9, a grinding operation mode is adopted for burr flash type grinding and cutting characteristics in the workpiece 9; and aiming at the casting head type grinding and cutting characteristics in the workpiece 9, a grinding and cutting operation mode is adopted.
The driving robot and the driven robot are not limited in structural form and are robots with corresponding functions in the prior art.
The above-mentioned embodiments are merely examples of the present invention, and the scope of the present invention is not limited thereto. Any equivalent or similar changes, which can be made by a person skilled in the art in the light of the present disclosure within the technical scope as set forth in the present disclosure, are within the scope of the present disclosure.
Claims (7)
1. A master-slave teleoperation system for grinding and cutting integrated machining of medium and large-sized casting parts is characterized by mainly comprising: the system comprises a driving robot, a driving robot tail end handle, an operation table, a control interface, a control system, a driven robot tail end executor, an imaging system and a laser measuring instrument; the laser measuring instrument is arranged beside the end effector of the slave robot and is connected with the control system through a data line; the master-slave teleoperation system for the grinding-cutting integrated machining of the medium-large casting part comprises two operation modes of manual control and automatic control, and the two operation modes are switched through the control interface.
2. A master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized casting parts is characterized by mainly comprising the following steps: the system comprises a driving robot, a driving robot tail end handle, an operation table, a control interface, a control system, a driven robot tail end executor, an imaging system and a laser measuring instrument; the laser measuring instrument is arranged beside the end effector of the slave robot and is connected with the control system through a data line; the master-slave teleoperation system for the grinding-cutting integrated machining of the medium-large casting part comprises two operation modes of manual control and automatic control, and the two operation modes are switched through the control interface.
3. The master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized castings according to claim 2, wherein: the manual control mode selects a manual mode from the control interface, the imaging system transmits a processing scene to the control interface on the operation table in the form of video pictures, an operator identifies the pose relation between the grinding and cutting features in the workpiece and the slave robot end effector according to the video pictures, the master robot end handle is manually controlled to implement specific motion, and the control system receives the master robot motion signal and drives the slave robot end effector to reach a desired pose.
4. The master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized castings according to claim 2, wherein: the automatic control mode selects an 'automatic mode' in the control interface, and the control system performs autonomous trajectory planning according to the pose relationship between the grinding and cutting characteristics in the workpiece and the driven robot end effector, so as to control the driven robot end effector to move according to the planned trajectory, and complete the grinding and cutting integrated processing process.
5. The master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized castings according to claim 2, wherein: the active robot, the operation table and the control interface are all arranged in an operation chamber; the driven robot and the imaging system are in a processing workshop far away from the operation room, namely an operator is not in a processing field, and remote operation, grinding and cutting integrated processing is realized through remote master-slave control.
6. The master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized castings according to claim 4, wherein: the position and posture relation between the grinding and cutting features in the workpiece and the driven robot end effector is measured through the laser measuring instrument arranged beside the driven robot end effector, and a fixed offset distance is kept between the laser measuring instrument and the driven robot end effector, so that the control system can have enough time for carrying out track planning.
7. The master-slave teleoperation method for grinding and cutting integrated machining of medium and large-sized castings according to claim 2, wherein: when the driven robot end effector performs grinding and cutting integrated processing on the workpiece, a grinding operation mode is adopted for grinding and cutting characteristics of burrs and fins in the workpiece; and aiming at the grinding and cutting characteristics of the casting head type in the workpiece, a grinding and cutting operation mode is adopted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769054.4A CN113400327A (en) | 2021-07-07 | 2021-07-07 | Master-slave teleoperation system and method for grinding and cutting integrated machining of medium-large casting parts |
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| CN202110769054.4A CN113400327A (en) | 2021-07-07 | 2021-07-07 | Master-slave teleoperation system and method for grinding and cutting integrated machining of medium-large casting parts |
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| CN113400327A true CN113400327A (en) | 2021-09-17 |
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| CN202110769054.4A Pending CN113400327A (en) | 2021-07-07 | 2021-07-07 | Master-slave teleoperation system and method for grinding and cutting integrated machining of medium-large casting parts |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114378796A (en) * | 2022-03-04 | 2022-04-22 | 国网智能科技股份有限公司 | Master-slave and autonomous operation integrated mechanical arm system, robot system and method |
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| CN107127755A (en) * | 2017-05-12 | 2017-09-05 | 华南理工大学 | A kind of real-time acquisition device and robot polishing method for planning track of three-dimensional point cloud |
| CN110480657A (en) * | 2019-08-13 | 2019-11-22 | 北京控制工程研究所 | A kind of labyrinth environment space robot world remote control system |
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2021
- 2021-07-07 CN CN202110769054.4A patent/CN113400327A/en active Pending
Patent Citations (5)
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| CN107127755A (en) * | 2017-05-12 | 2017-09-05 | 华南理工大学 | A kind of real-time acquisition device and robot polishing method for planning track of three-dimensional point cloud |
| CN110480657A (en) * | 2019-08-13 | 2019-11-22 | 北京控制工程研究所 | A kind of labyrinth environment space robot world remote control system |
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| CN113021082A (en) * | 2019-12-24 | 2021-06-25 | 沈阳智能机器人创新中心有限公司 | Robot casting polishing method based on teleoperation and panoramic vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114378796A (en) * | 2022-03-04 | 2022-04-22 | 国网智能科技股份有限公司 | Master-slave and autonomous operation integrated mechanical arm system, robot system and method |
| CN114378796B (en) * | 2022-03-04 | 2023-09-05 | 国网智能科技股份有限公司 | Master-slave and autonomous operation integrated mechanical arm system, robot system and method |
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