CN113836110A - Method for establishing polishing database of planar putty robot - Google Patents
Method for establishing polishing database of planar putty robot Download PDFInfo
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Abstract
The invention provides a method for establishing a polishing database of a planar putty robot, which comprises the steps of programming a program of a planar polishing track of the robot; testing the influence of the polishing parameters of the planar putty robot on the quality of the polished surface, and measuring the removal amount of the experimental polished surface by using a measuring tool; and determining the relation between the grinding parameters and the grinding results along with the change of time and establishing a grinding database by comprehensively considering the two data of the surface removal amount and the grinding time. The method for establishing the polishing database of the planar putty robot determines the relation between polishing parameters and polishing quality, and can efficiently perform repeated planar polishing work on the premise of meeting the polishing quality.
Description
Technical Field
The invention relates to the technical field of robot polishing, in particular to a method for establishing a polishing database of a planar putty robot.
Background
At present, industrial robots develop very rapidly in the industrial field, along with the development of science and technology, industrial robot intelligent manufacturing can play a bigger and bigger role, and industrial robots can undertake more works. The intelligent and automatic production is the inevitable trend of manufacturing, and industrial robot will change the production operation mode in the past, realizes production automation through introducing industrial robot, further promotes industrial production efficiency, promotes the intelligent adjustment of industrial structure.
The current high-speed railway automobile body putty process of polishing mainly adopts manual operation's method, wastes time and energy, and the inefficiency of polishing and the quality of polishing can't be guaranteed, for this reason, the research has been a feasible effective high-speed railway automobile body putty polishing robot carries out the automatic technological method of polishing, will effectively reduce the recruitment cost, reduces the injury of the in-process dust of polishing to the workman, improves production efficiency and the quality of polishing to can realize the reproducibility of the parameter of polishing. However, in the prior art, a set of mature grinding parameter and grinding quality database is not available, so that in each grinding operation, the grinding parameters need to be ground according to actual working conditions, and grinding quality is guaranteed, and grinding work cannot be reproduced and repeated.
Disclosure of Invention
The invention mainly aims to solve the problems and the defects and provides a method for establishing a polishing database of a plane putty robot, which is used for determining the relation between polishing parameters and polishing quality and efficiently performing repeated plane polishing on the premise of meeting the polishing quality.
In order to achieve the purpose, the invention provides a method for establishing a polishing database of a planar putty robot, which adopts the technical scheme that:
a method for establishing a polishing database of a plane putty robot comprises the following steps,
s1, determining a grinding path;
s2, according to the determined polishing path, respectively performing experiments on the polishing removal amount changing along with time under different polishing parameters, and recording experimental data;
s3, respectively analyzing the change relations between the polishing removal amount and each polishing parameter in different polishing time periods according to the recorded experimental data;
and S4, combining the polishing removal amount in different polishing time periods and the change relation between each polishing parameter, performing an optimization experiment on the planar putty robot polishing method by taking the polishing removal amount as a processing purpose, establishing the correlation between the polishing parameters and the polishing results along with the change of time, and establishing a planar putty robot polishing database.
Further, in step S2, one of the polishing parameters is used as a variable, and the other polishing parameters are used as fixed values, the experimental values of the polishing parameters used as variables are adjusted, and the experiments are performed respectively, each group of experiments measures the polishing removal amount in different polishing time periods, and each group of data takes N adjacent point record data.
Further, in step S3, the polishing removal amount and the polishing parameters at different time periods are analyzed and determined to be in a linear relationship according to the recorded experimental data.
Furthermore, the interval of the polishing paths and the polishing linear speed in the polishing parameters are in a negative correlation relationship with the polishing removal amount, the polishing rotating speed and the polishing pressure are in a positive correlation relationship with the polishing removal amount, and the polishing removal amount is gradually reduced along with the increase of the polishing time.
Further, a variation relation curve between the polishing removal amount and the polishing path interval at different time periods can be fitted into yFitting 1＝k1x1+b1Wherein, yFitting 1The theoretical removal amount, x, is increased along with the polishing time under the condition that the polishing path interval is variable and other polishing parameters are constant values1Independent variable, k, for varying the interval of the grinding path1Is an independent variable coefficient, negative number, b1Is a constant related to the sanding time.
Further, a change relation curve between the polishing removal amount and the polishing rotation speed in different time periods can be fitted into yFitting 2＝k2x2+b2Wherein, yFitting 2The grinding speed is taken as a variable, and the theoretical removal amount, x, is increased along with the grinding time under the condition that other grinding parameters are constant values2Independent variable, k, for grinding speed as variable2Is an independent variable coefficient, positive number, b2Is a constant related to the sanding time.
Further, a change relation curve between the polishing removal amount and the polishing linear speed in different time periods can be fitted into yFitting 3＝k3x3+b3Wherein y fitting 3 is a theoretical removal amount which is increased along with the polishing time under the condition that the polishing linear speed is variable and other polishing parameters are constant values, and x3Independent variable, k, for polishing line speed as a function of variable3Is an independent variable coefficient, negative number, b3Is a constant related to the sanding time.
Further, a variation relation curve between the polishing removal amount and the polishing line pressure at different time periods may be fitted to yFitting 4＝k4x4+b4Wherein, yFitting 4The theoretical removal amount, x, is increased along with the polishing time under the condition that the polishing pressure is variable and other polishing parameters are constant values4Independent variable, k, when varying the sanding pressure4Is an independent variable coefficient, positive number, b4Is a constant related to the sanding time.
Further, in step S3, the influence of the polishing parameters on the polishing removal amount for different polishing time periods is analyzed simultaneously by using the recorded experimental data.
Further, in step S4, according to the influence of the acquired polishing parameters on the polishing removal amounts for different polishing time periods, only the polishing parameters having no influence on the polishing efficiency are considered to perform an optimization experiment.
In summary, compared with the prior art, the method for establishing the polishing database of the planar putty robot provided by the invention has the following technical advantages:
1. the relation between the polishing parameters and the polishing quality can be determined, and the work of repeatedly polishing the plane putty of the high-speed rail car body can be efficiently carried out on the premise of meeting the polishing quality;
2. the variable parameters are few, the database establishing method is simple and convenient, and the applicable range is wide;
3. in a turning section of a grinding path, the grinding head is lifted at a certain angle, and a necessary centripetal force is provided for the grinding head rotating at a high speed during turning, so that the grinding head does not need to be decelerated during turning;
4. the turning path has a certain overlapping amount, and the grinding area at the turning position is repeatedly ground, so that the grinding quality is improved;
5. the polishing head is lifted at a certain angle, so that the polishing amounts of two sides of the polishing head are different, the light polishing amounts of two times of polishing at the overlapped part are reversely overlapped, excessive polishing is avoided, and the polishing quality is further improved.
Description of the drawings:
FIG. 1: the polishing path schematic diagram in the method provided by the invention;
FIG. 2: the polishing head lifting angle in the method provided by the invention is schematically shown;
FIG. 3: according to the method, the change relation curve between the grinding removal amount in different time periods and the horizontal path interval is obtained;
FIG. 4: according to the method, the change relation curve between the polishing removal amount and the polishing rotating speed in different time periods is obtained;
FIG. 5: according to the method, the change relation curve between the polishing removal amount and the polishing linear speed in different time periods is obtained;
FIG. 6: according to the method, the change relation curve between the polishing removal amount and the polishing pressure in different time periods is obtained;
FIG. 7: optimizing an experimental result curve in the method provided by the invention;
FIG. 8: according to the method, the roughness schematic diagram is polished when the lifting angle alpha is different in the turning road section;
FIG. 9: according to the method, two groups of experimental data graphs of which the polishing pressure and the polishing rotating speed gradually change along with the polishing time are provided;
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description.
The invention provides a method for establishing a plane putty robot polishing database, which is suitable for a polishing robot device to perform putty polishing operation in a plane range, such as plane polishing of putty on a large-area side wall of a high-speed rail vehicle body, near a vehicle door and near a vehicle window, and the polishing robot device comprises a robot polishing system, a robot control system and a polishing control system, wherein the robot polishing system comprises a robot and a polishing system arranged at the tail end of a polishing arm (mechanical arm) of the robot, in the embodiment, the polishing system adopts an AOK polishing system which is an integrated polishing system comprising a force control system and a polishing system, can conveniently and integrally control polishing parameters such as polishing pressure, polishing head rotating speed and the like when the putty on the side wall of a rail vehicle body is polished, the AOK polishing system is arranged on the polishing arm (mechanical arm) of the robot, the same applies later), the robot drives the AOK polishing system to perform polishing operation according to the planned polishing path according to the instruction output by the robot control system. When the grinding database is established, the following method can be adopted, and the method comprises the following steps:
and S1, determining a polishing path of the plane to be polished by using a programming robot, in the embodiment, determining the transverse distance of single polishing by combining the length of a polishing arm of the polishing robot, dividing the whole polishing section into polishing sections, and performing polishing operation by using a transverse horizontal snake-shaped path in each polishing section as shown in figures 1 and 2, wherein when a polishing head of the polishing robot horizontally pushes and polishes to the end of the path, an arc-shaped turning is performed, and the polishing is horizontally pushed and polished reversely, so that adjacent polishing straight line sections are connected through an arc-shaped polishing section. When the arc-shaped turning grinding is carried out, one side of the grinding head is lifted up at a preset angle alpha to leave the grinding surface, and after the path turns, the grinding head is reset at the same angle and enters the grinding surface again.
The robot control system is internally provided with side wall structure parameters and structure diagrams of vehicles of various types and polishing heads of various specifications which can be used on site, wherein the specifications of the polishing heads comprise but are not limited to initial roughness (mesh number) of the polishing heads, diameters of the polishing heads and the like, and the robot control system can plan and generate polishing routes according to the side wall structure characteristics of the vehicles to be polished (including but not limited to the structure of the vehicles and the thickness, the removal amount and the final thickness of coated putty) and the specification parameters of the polishing heads to be used and controls polishing arms of the robot to move according to the polishing routes generated by polishing. In practical application, the polishing route can be planned and generated on line and then uploaded to the robot control system, and the robot control system controls the robot to perform polishing operation according to the instruction and the polishing route.
For the rail vehicle, the structural change of the longitudinal direction (vertical to the running direction of the vehicle body) of the vehicle body is relatively large, the change of polishing parameters is also large, the polishing control is relatively complex, and the polishing quality is not easy to control; and the structural parameters in the transverse direction (running direction) of the vehicle body are not changed greatly, and the polishing parameters are relatively constant, so that in the embodiment, the polishing route planned in each sub-area mainly takes the horizontal direction as the main direction, snake-shaped reciprocating propelling polishing is carried out, the robot drives the AOK polishing system to enter polishing operation from the left side edge of the area, and to push the AOK polishing system to the right side edge of the area, and to enter an arc turning section at a preset position, and after the AOK polishing system turns in an arc shape, the AOK polishing system enters a next straight polishing route to push the AOK polishing system to the left side, and the AOK polishing system enters the next straight polishing route to the left side through the arc turning section, and the AOK polishing system circularly reciprocates until all polishing operation of the area is completed. When the snake-shaped reciprocating polishing is carried out, the distance between two adjacent straight polishing paths in the longitudinal direction (the distance between the central lines of the two polishing paths) is less than or equal to the diameter of the polishing head.
The polishing control system is communicated with the robot control system, the robot control system generates polishing parameters while planning a polishing path and transmits the polishing parameters to the proofing and polishing control system, and the polishing control system controls the polishing parameters of the polishing system according to the planned path and the polishing requirements, such as polishing pressure, polishing rotating speed and the like, and can also perform man-machine interaction and manually adjust the polishing parameters.
Furthermore, the polishing device also comprises a measuring tool for measuring the roughness of the polishing area and determining the polishing removal amount, and the measuring tool is used for measuring the roughness, namely measuring the thickness of the putty coating, so that the thickness of the putty coating is compared with a preset standard value of the thickness of the putty of the car body, and the removal amount in the polishing process is determined.
Because of the characteristics of the robot, the grinding control system controls the grinding system to reduce the walking speed when turning, when the grinding straight section enters the grinding straight section after turning is finished, the original grinding speed is recovered, the grinding speed is reduced when the turning, the grinding quality is influenced, and in order to solve the technical problem, in the embodiment, when the grinding head of the grinding system enters the turning stage, the grinding head of the grinding system is controlled to lift up at a certain angle alpha according to an instruction output by the robot control system, the grinding head leaves the grinding surface, the turning grinding without reducing the speed is carried out on the turning part, after the path turning is changed, the grinding head enters the grinding surface at the same angle, and the straight line grinding in the horizontal direction is continued. As shown in fig. 9, a great deal of experimental verification is respectively performed on different grinding speeds and different lifting angles α used in the grinding process, and it is determined that the selected value range of the lifting angle α is 10 to 40 ° at different grinding speeds, the lifting direction can be the reverse direction of the centripetal force generated when the grinding head turns, so as to balance the action of the centripetal force and realize a smooth transition during turning, and therefore, the selection of the lifting angle α is related to the grinding speed and the centripetal force generated during turning at the grinding speed.
Because when turning, the one side of the head of polishing indicates, the plane after making the turn of bending possesses a certain gradient, and the pressure of polishing diminishes after lifting, the volume of polishing, the volume of getting rid of reduces, for the effect of polishing of the turn highway section that improves from this and bring, in this embodiment, in the horizontal direction, possess certain overlap volume between the adjacent subregion, and the snakelike path of polishing of adjacent subregion is relative, the path of polishing of same position is on same water flat line, the turn highway section on the same water flat line of adjacent subregion has the overlap area of polishing, make turn highway section department polish twice, with the balanced problem of the volume of getting rid of that polishes because the head of polishing lifts and lead to reduce. Because the centripetal force directions of the two turning road sections at the overlapped positions are opposite, the lifting angle directions of the polishing heads are opposite, so that two inclined planes formed by lifting the polishing heads during polishing are oppositely overlapped, and the plane effect is realized.
The overlapping amount of the two adjacent sub-areas can be obtained through calculation, and the overlapping amount is related to the grinding head diameter and the turning distance, as shown in fig. 1 and fig. 2, the distance from the point of the lifting angle to the turning point when the grinding head turns is D, the grinding head diameter is D, and the overlapping amount M is D + D. Through a large number of experiments, in the embodiment, the range of the distance d from the point of the lifting angle of the polishing head to the turning point is 10-60mm, the range of the overlapping amount M is 150-210mm, and the value of the distance d from the point of the lifting angle of the polishing head to the turning point is related to the diameter of the polishing head, so that excessive polishing during turning is avoided.
In the experimental process, it is found that the roughness of the polishing head is related to the polishing removal amount, the roughness of the polishing head is large, the removal amount is large, and the lifting angle of the polishing head during turning is also related to the removal amount, so that the value of the lifting angle alpha of the polishing head is related to the roughness of the polishing head during a turning road section, the greater the roughness of the polishing head is, the greater the removal amount during polishing is, and the greater the lifting angle alpha during turning is.
S2, according to the determined polishing path, respectively performing experiments on the polishing removal amount changing along with time under different polishing parameters, and recording experimental data;
in this embodiment, the polishing parameter that can influence the result of polishing is more, including but not limited to the pressure of polishing, the linear speed of polishing, the rotational speed of polishing, the interval between the route of polishing, use any polishing parameter wherein as the variable, other parameters of polishing are the definite value, the adjustment is as the experimental value of the parameter of polishing of variable, carry out the experiment respectively, the volume of getting rid of polishing when different polishing time quantum is measured respectively in every group experiment, and the record data, after accomplishing the experiment, change the polishing parameter type as the variable, the experiment is carried out repeatedly, all test as the variable one by one to all parameters of polishing:
the same polishing pressure, the same polishing linear speed and the same polishing rotating speed are used, the interval between horizontal polishing paths is taken as an experimental variable, the polishing removal amount is tested, in the embodiment, the interval between the horizontal polishing paths can be respectively 20mm, 25mm, 30mm, 35mm, 40mm, 45mm and 50mm, the test is respectively carried out at the intervals, the polishing sand paper in the test is 3M 80# purple cyclone sand paper, and the sand paper is replaced in each test (the same is used later). After the experiment is finished, the removal amount of the polishing time in 5min, 10min and 15min is measured in each group of experiments, N adjacent points are taken for recording in each group of data, and an average value is taken;
the same sanding pressure, the same sanding linear speed, the same horizontal sanding path interval, and sanding rotational speed as the test variable, in this example, 8000r/min, 8500r/min, and 9000r/min were used for the experiments, respectively. After the experiment is finished, the removal amount of the polishing time in 5min, 10min and 15min is measured in each group of experiments respectively, ten adjacent points are taken for recording in each group of data, and an average value is taken;
the same polishing pressure, the same polishing rotational speed, and the same horizontal polishing path interval were used, and the polishing removal amount was measured using the polishing linear velocity as an experimental variable, in this embodiment, the polishing linear velocities were 300mm/s, 350mm/s, and 400mm/s, respectively. After the experiment is finished, the removal amount of the polishing time in 5min, 10min and 15min is measured in each group of experiments, ten adjacent points are taken for recording in each group of data, and the average value is taken;
the same polishing rotational speed, the same polishing linear speed, and the same horizontal polishing path interval were used to perform the polishing removal amount experiment using the polishing pressure as the experimental variable, and in this embodiment, the polishing pressure was 50N, 60N, 70N, 80N, 90N, 100N, 110N, and 120N, respectively. After the experiment is finished, the removal amount of the polishing time in 5min, 10min and 15min is measured in each group of experiments, ten adjacent point records are taken for each group of data, and an average value is taken.
And S3, analyzing the change relationship between the polishing removal amount and each polishing parameter in different polishing time periods according to the recorded experimental data, wherein the data analysis shows that the polishing removal amount and each polishing parameter in different polishing time periods can be fitted into a linear relationship, the interval between horizontal polishing paths in the polishing parameters, the polishing linear speed and the polishing removal amount are in a negative correlation relationship, the polishing rotation speed, the polishing pressure and the polishing removal amount are in a positive correlation relationship, and the removal amount is gradually reduced along with the increase of the polishing time.
Further, between the amount of sanding removal and the horizontal sanding path spacing at different time periodsThe curves of the variation relations can be fitted into a linear relation, as shown in FIG. 3, when the polishing pressure is 100N, the polishing rotation speed is 8000r/min, and the polishing linear speed is 300mm/s, the horizontal path interval data is adjusted, when the time periods are respectively 5mm, 10min and 15min, three curves can be obtained, and the three curves can be fitted and summarized as yFitting 1＝k1x1+b1Wherein, yFitting 1Is a theoretical grinding removal amount x when the horizontal grinding path interval is taken as a variable1K is an independent variable for confirming the polishing removal amount when the horizontal polishing path interval is taken as an experimental variable1Is an independent variable coefficient, negative number, in this example, k is confirmed by data analysis1Can take the value of-0.0094, b1The values are constant, depending on the sanding time, and when the sanding time is 5min, 10min, 15min, the b values are 0.78, 0.75, 0.71, respectively. Namely, the change of the polishing time has a large influence on the constant term value of the linear relation and a small influence on the independent variable coefficient, and the longer the polishing time is, the smaller the constant term value of the linear relation is, and the smaller the influence of the polishing time on the removal amount is. Wherein the error alpha1＝yPractice 1-yFitting 1，yPractice 1The error alpha depends on the deviation between the actual working condition and the theoretical working condition and the measurement error and other comprehensive factors for the actual grinding removal amount in the experimental process. When the change relationship curves between the polishing removal amount and the horizontal polishing path interval in different time periods can be fitted into a linear relationship, R2The reliability is high and the fitting degree is high, which is close to 1;
the curves of the change relationship between the removal amount of polishing and the polishing rotational speed in different time periods can be fitted into a linear relationship, as shown in fig. 4, when the polishing pressure is 100N, the horizontal path interval is 25mm, and the polishing linear speed is 300mm/s, the polishing rotational speed is adjusted, and when the time periods are respectively 5mm, 10min and 15min, three curves can be obtained, and the three fitted curves can be summarized and summarized as yFitting 2＝k2x2+b2Wherein y isFitting 2Is a theoretical grinding removal amount x when the grinding rotating speed is taken as a variable2For determining the independent variable of polishing removal amount by using polishing rotation speed as variable，k2Is an independent variable coefficient, is a positive number, and can take the value of 0.00009 or 0.0001, b2Is constant depending on the sanding time. Because the independent variable value is large, the small change of the independent variable coefficient can not be ignored, so that the k value and the b value are both determined by the polishing time, and when the polishing time is 5min, 10min and 15min, the b values are-0.21, -0.17 and-0.29 respectively. Wherein the error alpha2＝yPractice 2-yFitting 2，yPractice 2Error alpha of actual polishing removal amount in experimental process2The size depends on the deviation between the actual working condition and the theoretical working condition and the comprehensive factors such as measurement error and the like. The change relation curves between the removal amount and the polishing rotating speed in different time periods can be fitted into a linear relation, R2 is close to 1, the reliability is high, and the fitting degree is high;
curves of the change relationship between the removal amount and the polishing linear speed in different time periods can be fitted into a linear relationship, as shown in fig. 5, when the polishing pressure is 100N, the horizontal path interval is 25mm, and the rotation speed is 8000r/min, the polishing linear speed is adjusted, when the time periods are respectively 5mim, 10min and 15min, three curves can be obtained, and the three fitting curves can be summarized and summarized as: y isFitting 3＝k3x3+b3Wherein y isFitting 3Is a theoretical removal amount of grinding with linear speed of grinding as variable, x3K is an independent variable for confirming the polishing removal amount with the polishing linear speed as a variable3Is independent variable coefficient, is negative number, and can be respectively-0.001, -0.0011, -0.0012, b3Is constant depending on the sanding time, in this example, b3The values are 0.85, 0.86, 0.82, respectively. Wherein the error alpha3＝yFact 3-yFitting 3，yFact 3Error alpha of actual polishing removal amount in experimental process3The size depends on the deviation between the actual working condition and the theoretical working condition, measurement errors and other comprehensive factors. The change relation curves between the removal amount and the polishing linear speed in different time periods are fitted into a linear relation R2The reliability is high and the fitting degree is high, which is close to 1;
between the grinding removal amount and the grinding pressure in different time periodsThe curve of the variation relationship can be fitted into a linear relationship, as shown in FIG. 6, when the linear speed is 300mm/s, the horizontal path interval is 25mm, and the rotation speed is 8000r/min, three curves can be obtained at time periods of 5mm, 10min and 15min respectively, and the three fitted curves can be summarized to yFitting 4＝k4x4+b4Wherein y isFitting 4A theoretical removal amount of polishing, x, when the polishing pressure is a variable4K is an independent variable for confirming the polishing removal amount with the polishing pressure as a variable4Is an independent variable coefficient, is a positive number, where k4The values can be respectively 0.0041, 0.0042 and 0.0043, and when the grinding time is 5min, 10min and 15min, the b values are respectively 0.14, 0.10 and 0.01. Wherein the error alpha4＝yFact 4-yFitting 4，α4The size depends on the deviation between the actual working condition and the theoretical working condition, measurement errors and other comprehensive factors. The change relationship curve between the polishing removal amount and the polishing linear speed in different time periods can be fitted into a linear relationship, R2And the reliability is high and the fitting degree is high, which is close to 1.
And respectively analyzing the influences of the interval of the horizontal polishing path, the polishing pressure, the polishing rotating speed and the polishing linear speed on the removal amount of different polishing time periods. The conclusion is reached: the grinding pressure has the greatest influence on the grinding removal amount, and has no influence on the grinding efficiency; the polishing linear speed has little influence on the polishing removal amount and has great influence on the polishing efficiency; the grinding rotating speed has little influence on the grinding removal amount and has no influence on the grinding efficiency; the grinding path has great influence on the grinding removal amount and the grinding efficiency; the removal amount of polishing is gradually reduced under different conditions as polishing progresses.
And S4, combining the polishing removal amount in different polishing time periods and the change relation between each polishing parameter, performing an optimization experiment on the planar putty robot polishing method by taking the polishing removal amount as a processing purpose, establishing the correlation between the polishing parameters and the polishing results along with the change of time, and establishing a planar putty robot polishing database.
After comprehensively considering the four parameters, combining the variation relationship between the removal amount and the single independent variable, in order to ensure the consistency of the quality before and after the removal, the following steps are required to be confirmed:
y＝k1x1+b1+α1＝k2x2+b2+α2＝k3x3+b3+α3＝…，
and k, b and alpha are the independent variable coefficient, the constant term and the error value of the linear fitting relation corresponding to each time period respectively. The automatic grinding method of the putty robot for the plane of the high-speed rail car body is optimized and tested, when certain grinding efficiency is ensured, the stable grinding removal amount is controlled, the grinding efficiency is not influenced by grinding pressure and grinding rotating speed, therefore, the experimental process is simplified, only time and grinding pressure are considered in the embodiment, the combination relation between two independent variables of the time and the grinding rotating speed is considered, namely, the grinding process is in a process, the same grinding removal amount is ensured by adjusting the grinding pressure or the grinding rotating speed, definitely, in the optimization experiment, the grinding pressure or the grinding rotating speed is gradually increased through the passing, the consistent grinding removal amount is ensured, and meanwhile, the machining efficiency is not influenced. By synthesizing the derivation of the relational expressions, in order to ensure consistent polishing removal, when only the polishing rotation speed is changed:
y＝0.00009x1-0.2117＝0.00009x2-0.1747+α＝0.0001x3-0.2875+α1＝ …，
when only the sanding pressure was changed:
y＝0.0041x1+0.1436＝0.0042x2+0.1003+α＝0.0043x3+0.0099+α1… where x1、x2、x3… are argument values for different time periods. As shown in fig. 7, namely when the polishing time is 0-5 min, on the basis of the initial parameters, the polishing pressure is increased by 0-8N, or the polishing rotation speed is increased by 0-300 r/min; when the polishing time is 5-10 min, on the basis of initial parameters, the polishing pressure is increased by 8-20N, or the polishing rotating speed is increased by 300-600 r/min; when the polishing time is 10-15 min, on the basis of initial parameters, the polishing pressure is increased by 20-40N, or the polishing rotating speed is increased by 600-1000 r/min, and the polishing removal amount is relatively constant.
And taking the polishing removal amount as a reference for processing, dividing the polishing quality and the polishing efficiency of other comprehensive parameter sets, establishing correlation between polishing conditions and polishing results, and establishing a polishing database of the plane putty robot of the high-speed rail car body, wherein the correlation is used for meeting different working conditions and processing requirements.
In summary, compared with the prior art, the method for establishing the polishing database of the planar putty robot provided by the invention has the following technical advantages:
1. the relation between the polishing parameters and the polishing quality can be determined, and the work of repeatedly polishing the plane putty of the high-speed rail car body can be efficiently carried out on the premise of meeting the polishing quality;
2. the variable parameters are few, the database establishing method is simple and convenient, and the applicable range is wide.
3. In a turning section of a grinding path, the grinding head is lifted at a certain angle, and a necessary centripetal force is provided for the grinding head rotating at a high speed during turning, so that the grinding head does not need to be decelerated during turning;
4. the turning path has a certain overlapping amount, and the grinding area at the turning position is repeatedly ground, so that the grinding quality is improved;
5. the polishing head is lifted at a certain angle, so that the polishing amounts of two sides of the polishing head are different, the light polishing amounts of two times of polishing at the overlapped part are reversely overlapped, excessive polishing is avoided, and the polishing quality is further improved.
Similar solutions can be derived as described above in connection with the given solution content. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention, unless the content of the technical solution of the present invention is departed from.
Claims (10)
1. A method for establishing a polishing database of a planar putty robot is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
s1, determining a grinding path;
s2, according to the determined polishing paths, respectively testing the polishing removal amount changing along with time under different polishing parameters, and recording test data;
s3, respectively analyzing the change relations between the polishing removal amount and each polishing parameter in different polishing time periods according to the recorded test data;
and S4, combining the change relations between the polishing removal amount in different polishing time periods and each polishing parameter, performing an optimization experiment on the planar putty robot polishing method by taking the polishing removal amount as a processing purpose, establishing the correlation between the polishing parameters and the polishing results along with the change of time, and establishing a planar putty robot polishing database.
2. The method of building a database of planar robotic putty polishes as defined in claim 1 wherein: in step S2, adjusting test values of the polishing parameters as variables in sequence with one of the polishing parameters as a variable and the other polishing parameters as fixed values, and performing tests respectively, where each group of tests measures polishing removal amounts at different polishing time periods, and each group of data takes N adjacent point record data.
3. The method of building a database of planar robotic putty polishes as defined in claim 1 wherein: in step S3, the polishing removal amount and the polishing parameters at different time periods are analyzed and determined to be in a linear relationship according to the recorded test data.
4. A method of building a database of planar robotic putty polishes as defined in claim 3 wherein: in the polishing parameters, the interval of polishing paths, the polishing linear speed and the polishing removal amount are in a negative correlation relationship, the polishing rotating speed, the polishing pressure and the polishing removal amount are in a positive correlation relationship, and the polishing removal amount is gradually reduced along with the increase of polishing time.
5. A method of building a database of planar robotic putty polishes as defined in claim 3 wherein: the change relation curve between the grinding removal amount and the grinding path interval in different time periodsThe lines can be fitted to yFitting 1＝k1x1+b1Wherein, yFitting 1The theoretical removal amount, x, is increased along with the polishing time under the condition that the polishing path interval is variable and other polishing parameters are constant values1Independent variable, k, for varying the interval of the grinding path1Is an independent variable coefficient, negative number, b1Is a constant related to the sanding time.
6. A method of building a database of planar robotic putty polishes as defined in claim 3 wherein: the change relation curve between the polishing removal amount and the polishing rotation speed in different time periods can be fitted into yFitting 2＝k2x2+b2Wherein, yFitting 2The grinding speed is taken as a variable, and the theoretical removal amount, x, is increased along with the grinding time under the condition that other grinding parameters are constant values2Independent variable, k, for grinding speed as variable2Is an independent variable coefficient, positive number, b2Is a constant related to the sanding time.
7. A method of building a database of planar robotic putty polishes as defined in claim 3 wherein: the change relation curve between the polishing removal amount and the polishing linear speed in different time periods can be fitted into yFitting 3＝k3x3+b3Wherein, yFitting 3The theoretical removal amount, x, is increased along with the polishing time under the condition that the polishing linear velocity is variable and other polishing parameters are constant values3Independent variable, k, for polishing line speed as a function of variable3Is an independent variable coefficient, negative number, b3Is a constant related to the sanding time.
8. A method of building a database of planar robotic putty polishes as defined in claim 3 wherein: the change relation curve between the polishing removal amount and the polishing line pressure in different time periods can be fitted into yFitting 4＝k4x4+b4Wherein, yFitting 4For the condition that the grinding pressure is variable and other grinding parameters are constant valuesTheoretical removal, x, increasing with sanding time4Is independent variable, k, of grinding pressure as a variable4Is an independent variable coefficient, positive number, b4Is a constant related to the sanding time.
9. A method of building a database for the sanding of a planar putty robot as set forth in any one of claims 1 to 8 wherein: in step S3, the influence of the polishing parameters on the polishing removal amount for different polishing time periods is analyzed by using the recorded experimental data.
10. The method of building a database of planar robotic putty polishes as defined in claim 9 wherein: in step S4, according to the influence of the acquired polishing parameters on the polishing removal amounts in different polishing time periods, an optimization test is performed in consideration of only polishing parameters having no influence on the polishing efficiency.
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