CN114049331A - Method for polishing surface of complex workpiece - Google Patents
Method for polishing surface of complex workpiece Download PDFInfo
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- CN114049331A CN114049331A CN202111358891.4A CN202111358891A CN114049331A CN 114049331 A CN114049331 A CN 114049331A CN 202111358891 A CN202111358891 A CN 202111358891A CN 114049331 A CN114049331 A CN 114049331A
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- 238000005498 polishing Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000003754 machining Methods 0.000 claims abstract description 12
- 238000001914 filtration Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000007517 polishing process Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/20—Image enhancement or restoration using local operators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Mechanical Engineering (AREA)
- Quality & Reliability (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a method for polishing the surface of a complex workpiece, which adopts an Eye _ to _ hand layout form to fix a vision sensor, and a calibration tip is arranged at the tail end of a robot to calibrate the robot and the vision sensor; clamping a machined workpiece by using a clamp, and scanning to obtain initial set point cloud data; clamping a workpiece to be processed by using the same position of the clamp, and scanning to obtain point cloud data to be processed; carrying out the same filtering operation on the two groups of point clouds; slicing the two groups of point clouds at the same position and the same interval by using a point cloud slicing method, and determining a polishing track; calculating the difference of the two groups of tracks, and determining the machining allowance of each position point of each track; and (5) polishing the workpiece. According to the invention, the point cloud data of the surface of the workpiece is acquired by using the 3D camera, and accurate polishing of each polishing position point is realized by specifically detecting the machining allowance of each polishing trajectory line, so that compared with the traditional method, the workpiece polishing quality is improved, and the method is suitable for surface polishing of different complex workpieces.
Description
Technical Field
The invention relates to a method for polishing the surface of a complex workpiece, belonging to the technical field of polishing.
Background
In the industrial processing process, the polishing of complex surfaces often appears, the polishing work of most complex surfaces is still accomplished by the manual work, the process can produce a large amount of dust, seriously endangers the health of workers, and the error of manual polishing is great moreover, and the quality of polishing is difficult to guarantee. A small part of grinding work is realized by a machine tool, the grinding quality is high, equipment is relatively expensive, the adaptability of the equipment to different workpieces is poor, and the requirement for industrial production diversity is difficult to meet.
The industrial multi-degree-of-freedom robot is widely applied to various industrial manufacturing occasions due to the characteristics of high flexibility, easiness in control and the like. At present, most of existing robot polishing scenes adopt a laser scanner to acquire point clouds on the surfaces of workpieces, then the workpieces are polished according to set processing allowance, accurate control over all position points on the surfaces of the workpieces in different batches is difficult to achieve, point cloud data processing time is prolonged through multiple times of scanning, and processing efficiency is reduced.
Disclosure of Invention
The invention provides a complicated workpiece surface polishing method aiming at the problem that different position points on the surface of a complicated workpiece are difficult to polish accurately in the polishing process of a robot, and each track in the polishing process is controlled independently, so that the polishing quality is improved.
The purpose of the invention is realized by the following technical scheme:
a method for polishing the surface of a complex workpiece comprises the following steps:
the method comprises the following steps that firstly, a vision sensor is fixed in an Eye _ to _ hand calibration layout mode, a calibration center is installed at the tail end of a robot, and the robot and the vision sensor are calibrated;
clamping the machined workpiece by using a clamp, and scanning to obtain initial set point cloud data;
step three, clamping the workpiece to be processed in the same position of the processed workpiece in the step two by using a clamp, and scanning to obtain point cloud data to be processed;
step four, carrying out the same filtering operation on the two groups of point clouds obtained in the step two and the step three, and removing outliers and irrelevant noise;
fifthly, slicing the two groups of point clouds filtered in the step four at the same position and the same interval by using a point cloud slicing method, and determining a polishing track;
step six, calculating the difference of the two groups of tracks determined in the step five, and determining the machining allowance of each position point of each track;
and step seven, polishing the workpiece.
Further, in the first step, the robot and the vision sensor are calibrated by a multipoint calibration method:
installing a visual sensor at a proper position which does not affect polishing and meets the requirement on the precision of the acquired workpiece point cloud; a calibration center is arranged at the tail end of the robot, and the calibration center at the tail end of the robot is taught to reach a certain set of preset space fixed points; conversion matrix of calibration acquisition robot tool coordinate system under robot base coordinate system
Recording the coordinate Q of the group of space fixed points under the robot base coordinate system; acquiring the space fixed point coordinate P in a vision sensor; according to a calibration formula
Solving a transformation matrix of a sensor coordinate system and a robot tool coordinate system
And completing calibration.
Further, the robot is a six-axis robot; the visual sensor is a 3D camera sensor.
Furthermore, in the second step and the third step, it is required to ensure that the positioning and clamping manners of the processed workpiece and the workpiece to be processed on the fixture are consistent.
Further, in the fourth step, outliers are removed according to the distance based on a KNN algorithm, the point cloud is filtered by adopting median filtering, irrelevant noise is eliminated, and the appearance of the original point cloud data is kept.
Further, in the fifth step, the step of slicing the two groups of point clouds at the same position and the same interval is as follows: firstly, selecting proper slice thickness d, and taking section plane C and two planes C with the distance d/2 between two sides and C1And C2(ii) a If the equation of the plane C is ax + by + cz + m is 0, the plane C is1And C2Are 0 and 0, ax + by + cz + m-d/2, respectively, and find a set of points, i.e. points (x + by + cz + m + d/2), that fall between the two planesi,yi,zi) Satisfy axi+byi+czi+m-d/2<0 and axi+byi+czi+m+d/2>0; and (3) calculating the projection of the point set on the C plane, and then performing curve fitting on the projection points, wherein the fitting adopts a least square fitting mode.
Further, in the sixth step, the two groups of tracks obtained in the fifth step are subjected to longitudinal difference calculation of the tracks at the same position, and the machining allowance z of each position point of the polishing track is obtainedi。
Further, the seventh step includes: and (3) installing a polishing tool at the tail end of the robot, controlling the robot according to the polishing track and the machining allowance of each point, and polishing the surface of the workpiece until the size of the surface of the workpiece is within the error allowable range.
The invention has the following advantages:
the invention provides a complex workpiece surface polishing method, which is characterized in that a 3D camera is used for collecting point cloud data of a workpiece surface, accurate polishing of each polishing position point is realized through detecting the machining allowance of each polishing trajectory line, compared with the traditional method, the workpiece polishing quality is improved, and the method is suitable for surface polishing of different complex workpieces.
Drawings
FIG. 1 is a flow chart of a complex workpiece surface polishing method according to the present invention;
FIG. 2 is a schematic diagram of a point cloud slicing method;
FIG. 3 is a schematic diagram of polishing track fitting and longitudinal differencing.
Detailed Description
In order to enable a person skilled in the art to better understand the present invention, the method of the present invention is further described in detail below with reference to the following examples and the accompanying drawings.
As shown in fig. 1, the present invention provides a method for polishing a surface of a complex workpiece, comprising the following steps:
s1, fixing a vision sensor to a proper position by adopting an Eye _ to _ hand calibration layout mode, ensuring that the polishing process is not influenced and the workpiece position is within the working range of the 3D camera, installing a calibration center at the tail end of the robot, calibrating the robot and the vision sensor, wherein the robot is a six-axis robot, and the vision sensor is a 3D camera sensor;
s2, clamping the machined workpiece by using a clamp, and scanning to obtain initial set point cloud data;
s3, clamping the workpiece to be processed in the same position as the workpiece clamped in the step S2 by using a clamp, and scanning to obtain point cloud data to be processed;
s4, carrying out the same filtering operation on the two groups of point clouds obtained in the steps S2 and S3, and removing outliers and irrelevant noise;
s5, slicing the two groups of point clouds subjected to the filtering operation in the step S4 at the same position and the same distance by using a point cloud slicing method, and determining a polishing track;
s6, calculating the difference of the two groups of tracks determined in the step S5, and determining the machining allowance of each position point of each track;
and S7, grinding the workpiece.
Specifically, in step S1, the robot and the vision sensor are calibrated by a multipoint calibration method: installing a visual sensor at a proper position which does not affect polishing and meets the acquired workpiece point cloud precision requirement, installing a calibration center at the tail end of the robot, and teaching that the calibration center at the tail end of the robot reaches a certain preset group of space holdersFixed point, calibration to obtain the transformation matrix of the robot tool coordinate system under the robot base coordinate system
Recording the coordinate Q of the group of space fixed points under the robot base coordinate system, acquiring the coordinate P of the group of fixed points in the vision sensor, and calibrating according to a calibration formula
Solving a transformation matrix of a sensor coordinate system and a robot tool coordinate system
And completing calibration.
In the steps S2 and S3, it is required to ensure that the positioning and clamping modes of the processed workpiece and the workpiece to be processed on the fixture are consistent, so as to ensure that the clamping poses are consistent;
in the step S4, outliers are removed according to distances based on a KNN algorithm, and the point cloud is filtered by using median filtering, so that irrelevant noise is eliminated and the original point cloud data morphology is maintained.
As shown in fig. 2, in step S5, the two groups of point clouds are sliced at the same position and the same distance: firstly, selecting proper slice thickness d, and taking section plane C and two planes C with the distance d/2 between two sides and C1And C2(ii) a If the equation of the plane C is ax + by + cz + m is 0, the plane C is1And C2Are 0 and 0, ax + by + cz + m-d/2, respectively, and find a set of points, i.e. points (x + by + cz + m + d/2), that fall between the two planesi,yi,zi) Satisfy axi+byi+czi+m-d/2<0 and axi+byi+czi+
m + d/2> 0. And (3) calculating the projection of the point set on the C plane, and then performing curve fitting on the projection points, wherein the fitting adopts a least square fitting mode.
In step S6, the two sets of trajectories obtained in step S5 are subjected to a same-position trajectory longitudinal difference calculation to obtain a machining allowance z of each position point of the polishing trajectoryiAs shown in fig. 3.
In the step S7, a polishing tool is installed at the end of the robot, and the robot is controlled to polish the surface of the workpiece according to the polishing track and the machining allowance of each point until the size of the surface of the workpiece is within the error allowable range.
The above-described embodiments are illustrative of the method of the present invention, and it should be understood that the above-described embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A method for polishing the surface of a complex workpiece is characterized by comprising the following steps:
the method comprises the following steps that firstly, a vision sensor is fixed in an Eye _ to _ hand calibration layout mode, a calibration center is installed at the tail end of a robot, and the robot and the vision sensor are calibrated;
clamping the machined workpiece by using a clamp, and scanning to obtain initial set point cloud data;
step three, clamping the workpiece to be processed in the same position of the processed workpiece in the step two by using a clamp, and scanning to obtain point cloud data to be processed;
step four, carrying out the same filtering operation on the two groups of point clouds obtained in the step two and the step three, and removing outliers and irrelevant noise;
fifthly, slicing the two groups of point clouds filtered in the step four at the same position and the same interval by using a point cloud slicing method, and determining a polishing track;
step six, calculating the difference of the two groups of tracks determined in the step five, and determining the machining allowance of each position point of each track;
and step seven, polishing the workpiece.
2. A method for polishing the surface of a complex workpiece according to claim 1, wherein in the first step, the calibration of the robot and the vision sensor is performed by a multipoint calibration method:
mounting a vision sensorThe device is arranged at a proper position which does not affect polishing and the precision of the obtained workpiece point cloud meets the requirement; a calibration center is arranged at the tail end of the robot, and the calibration center at the tail end of the robot is taught to reach a certain set of preset space fixed points; conversion matrix of calibration acquisition robot tool coordinate system under robot base coordinate system
Recording the coordinate Q of the group of space fixed points under the robot base coordinate system; acquiring the space fixed point coordinate P in a vision sensor; according to a calibration formula
Solving a transformation matrix of a sensor coordinate system and a robot tool coordinate system
And completing calibration.
3. A method of burnishing a surface of a complex workpiece as in claim 1, wherein the robot is a six-axis robot; the visual sensor is a 3D camera sensor.
4. A method for polishing the surface of a complex workpiece as recited in claim 1, wherein in said second step and said third step, the positioning and clamping manner of the processed workpiece and the workpiece to be processed on the fixture are consistent.
5. The method for polishing the surface of the complex workpiece according to claim 1, wherein in the fourth step, outliers are removed according to distances based on a KNN algorithm, and the point cloud is filtered by adopting median filtering, so that irrelevant noise is eliminated and the appearance of original point cloud data is maintained.
6. The method of claim 1, wherein in the fifth step, two sets of point clouds are collocatedThe slicing at the same interval comprises the following steps: firstly, selecting proper slice thickness d, and taking section plane C and two planes C with the distance d/2 between two sides and C1And C2(ii) a If the equation of the plane C is ax + by + cz + m is 0, the plane C is1And C2Are 0 and 0, ax + by + cz + m-d/2, respectively, and find a set of points, i.e. points (x + by + cz + m + d/2), that fall between the two planesi,yi,zi) Satisfy axi+byi+czi+ m-d/2 < 0 and axi+byi+czi+ m + d/2> 0; and (3) calculating the projection of the point set on the C plane, and then performing curve fitting on the projection points, wherein the fitting adopts a least square fitting mode.
7. The method for polishing the surface of a complex workpiece according to claim 1, wherein in the sixth step, the two groups of tracks obtained in the fifth step are subjected to longitudinal difference of tracks at the same position, and the machining allowance z of each position point of the polishing track is obtainedi。
8. A method of polishing a surface of a complex workpiece as defined in claim 1 wherein said seventh step comprises: and (3) installing a polishing tool at the tail end of the robot, controlling the robot according to the polishing track and the machining allowance of each point, and polishing the surface of the workpiece until the size of the surface of the workpiece is within the error allowable range.
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| CN202111358891.4A CN114049331A (en) | 2021-11-17 | 2021-11-17 | Method for polishing surface of complex workpiece |
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| CN116237855A (en) * | 2023-03-13 | 2023-06-09 | 哈尔滨工业大学 | Processing method of anodic oxide layer at edge of rocket storage tank annular part |
| CN117381553A (en) * | 2023-12-08 | 2024-01-12 | 创新奇智(青岛)科技有限公司 | Workpiece polishing method and device, electronic equipment and storage medium |
| CN117921708A (en) * | 2024-03-19 | 2024-04-26 | 中船黄埔文冲船舶有限公司 | Robot polishing cutter feeding and retracting method and device based on visual guidance |
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| CN117921708A (en) * | 2024-03-19 | 2024-04-26 | 中船黄埔文冲船舶有限公司 | Robot polishing cutter feeding and retracting method and device based on visual guidance |
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