CN116237855B - Processing method of anodic oxide layer at edge of rocket storage tank annular part - Google Patents
Processing method of anodic oxide layer at edge of rocket storage tank annular part Download PDFInfo
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- 239000010407 anodic oxide Substances 0.000 title claims description 11
- 238000003672 processing method Methods 0.000 title claims description 8
- 238000003860 storage Methods 0.000 title abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 70
- 238000005259 measurement Methods 0.000 claims abstract description 59
- 238000012545 processing Methods 0.000 claims abstract description 50
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- 238000004364 calculation method Methods 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 5
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 230000003647 oxidation Effects 0.000 abstract description 5
- 238000007254 oxidation reaction Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000007743 anodising Methods 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
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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
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
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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
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Abstract
The invention provides a method for processing an anodic oxidation layer at the edge of an annular part of a rocket tank, and belongs to the technical field of mechanical processing of industrial robots. Aiming at the deformation error of a rocket storage tank annular part with large size and thin wall, the problem that the characteristics to be processed cannot be extracted well and the precise robot track planning cannot be performed in the prior art is solved. The invention adopts a whole-week measuring-whole-week processing mode; and (3) taking a linear equation as a model of the RANSAC method, solving the long edge points of each single measurement point set, reconstructing an edge point coordinate system under a robot base coordinate system, removing the influence of interference factors on the workpiece edge point result by adopting a density analysis method, finally obtaining a processing path reference point, generating a robot processing path, and processing the annular workpiece edge. The method can ensure the accuracy, the high efficiency and the stability of measurement, robot path generation and processing.
Description
Technical Field
The invention relates to the technical field of mechanical processing of industrial robots, in particular to a method for processing an anodic oxidation layer at the edge of an annular part of a rocket storage tank.
Background
At present, the carrier rockets have the advantages of multiple model numbers, abundant product types, large delivery batch, short development period, high quality requirement, difficult resource guarantee and strict cost control requirement, the production work is required to be greatly promoted, the product resources are optimized, the most model demands are met by the least product types, the scientific research production quality and efficiency benefit is improved, and the development requirements of high quality, high efficiency and high benefit are realized. The storage box structure is an important component of the arrow body structure, is not only the key of lightening the structure, but also the core of cost control and efficiency improvement. In recent years, along with the increasing number of models under study, the increasing shortening of the development period, the increasing shortage of production resources, the difficult allocation of human resources, the problems of multiple design states, complex process, low automation degree, high production cost and the like of various types of structural systems are prominent, and the improvement of the storage tank processing method becomes a new focus.
Under the existing condition, the processing method of the anodic oxide layer at the edge of the annular part of the rocket storage tank generally carries out automatic welding through a tooling corresponding to each type of workpiece design, but related processing technologies mainly comprise the steps of manually holding the workpiece to cut and process on a trimming machine, manually holding tools such as a pneumatic milling cutter, an air spindle tool, a manual scraper and the like to carry out milling, polishing, chamfering and the like, and adopting a polishing mode of a manual hammer shovel and an angle grinder. The manual mode has high labor intensity and low efficiency, and has great harm to the physical health of workers due to great dust and noise in the processing process. Compared with the existing manual processing mode, the robot system has the advantages that the robot system is adopted, the robot processing efficiency is high, and workers can be replaced to work in the environment with high pollution and high noise. Compared with a numerical control machine tool, the robot has the advantages of large working space, high flexibility and the like, meanwhile, the flexible processing system of the robot is stronger in adaptability and accords with the guiding ideas of flexible manufacturing and intelligent manufacturing in consideration of various types and sizes of processed workpieces. Therefore, the intelligent and automatic processing of the rocket tank annular part by adopting the robot system has important significance. However, due to the large size of the workpiece, the robot working space is difficult to cover; because the workpiece has the thin-wall characteristic, the deformation of the workpiece causes errors on the measurement result, the traditional method can not obtain and extract better characteristics to be processed, and the precise robot track planning can not be performed.
Disclosure of Invention
The invention aims to solve the technical problems that:
aiming at the deformation errors of rocket tank annular parts with large size and thin wall, the prior art cannot better extract the characteristics to be processed and cannot accurately plan the robot track.
The invention adopts the technical scheme for solving the technical problems:
the invention provides a processing method of an anodic oxide layer at the edge of an annular part of a rocket tank, which comprises the following steps:
s1, measuring the edge of an annular workpiece: placing an annular workpiece to be processed on a turntable, performing whole-circle measurement on the edge of the workpiece by adopting a line laser sensor through rotation of the turntable at a specific measurement frequency, and corresponding each single measurement point set to the angle of the turntable;
s2, extracting the edge of the annular part: calculating the long-side edge points of each single measurement point set by adopting a linear equation as a model of the RANSAC method, reconstructing an obtained long-side edge point coordinate system to a robot base coordinate system, calculating the density of each part of the point cloud by adopting a density analysis method, marking the point with the density value larger than a preset threshold value as a workpiece edge point, and taking the vertex of the workpiece edge point as a processing path reference point;
s3, generating a machining path of the annular part machining robot: acquiring a corresponding robot attitude value according to the obtained vertex coordinates of the edge points of the workpiece, converting the angle of the turntable into time, and corresponding the robot attitude value to the rotation time of the turntable to obtain a robot processing path in the whole-cycle complete processing process;
s4, machining the edge of the annular workpiece according to the generated robot machining path.
Further, the specific process of the RANSAC method in S2 is as follows: adopting a linear equation as a model of the RANSAC method, randomly sampling a single measurement point set for a plurality of times, performing cyclic calculation, performing linear fitting on all sampling points calculated each time by adopting a least square method, calculating the distance from all measurement points to a fitted line, and marking the distance as an inner point when the distance value is smaller than a threshold value, otherwise marking the distance as an outer point; recording the number of the inner points sampled each time, taking the calculation result of the largest inner point number as a fitting straight line, and taking the inner points of the result as long-side edge points.
Further, the calculation method for reconstructing the coordinate system in the S2 is as follows:
wherein p is ri For the edge points relative to the robot coordinate system after reconstruction, A s The gesture of the robot is measured, and X is a hand-eye matrix.
Further, the density calculating method of the density analyzing method in S2 is as follows:
in the den i For the ith point p ri The density value of k is the number of the adjacent points, p rq Is a near point.
Further, the angle of the turntable of the ith measurement result is converted into a corresponding time t in S3 i The calculation method of (1) is as follows:
wherein h is s For the sensor frequency, w c The rotating speed of the turntable.
Compared with the prior art, the invention has the beneficial effects that:
according to the method for processing the anodic oxide layer at the edge of the annular part of the rocket storage tank, a whole-circle measuring-whole-circle processing mode is adopted, in the measuring process, a linear laser sensor is adopted to finish the measurement of the whole-circle edge of a workpiece through the whole rotation of a rotary table, the edge of the workpiece is extracted from each measuring point set, and finally the processing path of the whole workpiece is obtained; and removing a measurement result on one side of the short side of the thin wall by a RANSAC method in the process of extracting the edge points, reconstructing a long-side edge point coordinate system to a robot base coordinate system, and removing influences of factors such as dust on a processing site on the edge point vertex measurement result by adopting a density analysis method. In the machining process, the robots are all at fixed positions on one side of the workpiece, and the machining of the whole circumference workpiece is realized by means of rotation of a turntable below the workpiece. The method can ensure the accuracy, the high efficiency and the stability of measurement, robot path generation and processing.
Drawings
FIG. 1 is a flow chart of a method for processing an anodic oxide layer on the edge of a rocket tank annular part in an embodiment of the invention;
FIG. 2 is a schematic diagram of a measurement mode of an annular part according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method for generating a path of a ring-shaped part according to an embodiment of the present invention;
FIG. 4 is a diagram of an experimental platform in an embodiment of the invention;
FIG. 5 is a graph of a single measurement result in an embodiment of the present invention, where a) is a graph of a line laser original measurement result, a RANSAC fitting result, and an interior point result, and b) is a graph of a point cloud density of edge points;
FIG. 6 is a robot path result graph in which a) is an elliptical ring workpiece processing path result graph and a) is a cylindrical ring workpiece processing path result graph;
FIG. 7 is a schematic view of a de-anodizing tool according to an embodiment of the present invention;
FIG. 8 is a view showing the anodic oxidation process of an elliptical ring-shaped workpiece according to an embodiment of the present invention, wherein a) is a view showing the anodic oxidation process of an elliptical ring-shaped workpiece; b) Processing a figure of an anodic oxide layer of a cylindrical annular workpiece;
fig. 9 is a graph showing polishing effect of an anodized layer according to an embodiment of the present invention.
Detailed Description
In the description of the present invention, it should be noted that the terms "first," "second," and "third" mentioned in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or a third "may explicitly or implicitly include one or more such feature.
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
The invention provides a processing method of an anodic oxide layer at the edge of a rocket tank annular part, which is shown in figure 1 and comprises the following steps:
s1, measuring the edge of an annular workpiece: placing an annular workpiece to be processed on a turntable, performing whole-circle measurement on the edge of the workpiece by adopting a line laser sensor through rotation of the turntable at a specific measurement frequency, and corresponding each single measurement point set to the angle of the turntable;
s2, extracting the edge of the annular part: calculating the long-side edge points of each single measurement point set by adopting a linear equation as a model of the RANSAC method, reconstructing an obtained long-side edge point coordinate system to a robot base coordinate system, calculating the density of each part of the point cloud by adopting a density analysis method, marking the point with the density value larger than a preset threshold value as a workpiece edge point, and taking the vertex of the workpiece edge point as a processing path reference point;
s3, generating a machining path of the annular part machining robot: acquiring a corresponding robot attitude value according to the obtained vertex coordinates of the edge points of the workpiece, converting the angle of the turntable into time, and corresponding the robot attitude value to the rotation time of the turntable to obtain a robot processing path in the whole-cycle complete processing process;
s4, machining the edge of the annular workpiece according to the generated robot machining path.
The dimension of the rotary workpiece and the coordinate direction shown in fig. 2 is generally more than 2.5m in diameter, and the bus is generally a straight line or an arc line. In general, in order to improve the utilization rate of a robot system, a tool is generally required to adapt to various workpiece types or sizes, and meanwhile, due to the fact that the workpiece is large in size and has thin-wall characteristics, it is difficult to design a proper tool, and precise positioning is difficult to achieve during clamping. The invention adopts a whole-circle measuring-whole-circle machining mode, namely, the first circle rotation is used for measuring the edge vertex of the annular part and planning a machining path, and the second circle rotation is used for machining along the path planned by the measuring result. In the measuring process, a robot line-holding laser sensor is adopted to move to a fixed position on one side of a workpiece, a laser line points to the rotation center of the workpiece, and the whole circumference measurement of the edge of the workpiece is realized by means of rotation of a turntable below the workpiece. In the machining process, the robots are all at fixed positions on one side of the workpiece, and the machining of the whole circumference workpiece is realized by means of rotation of a turntable below the workpiece. By adopting the method, the high efficiency and stability of measurement, robot path generation and processing can be ensured.
In the measuring method of the invention, in each measurement, the measuring result of the line laser sensor comprises at most n points which are X/Z coordinate values. The number of n is related to the sensor hardware, wherein the Z value of the invalid measurement point is 0, and can be directly eliminated according to the Z value. Thus, each measurement can be described as a three-dimensional point set { p } si And the coordinates of each point are relative to a sensor measurement coordinate system, the Y value of each point is 0, and the X/Z value is a measurement result. The measurement results comprise the measurement results of the thin wall part (short side) at the edge of the workpiece and the edge surface (long side) of the part, and the short side result occupies a small proportion of the measurement result and is not easy to extract because the workpiece is thin. In consideration of the fact that the size of the part is large and the curvature change is small, the measurement result of the line laser sensor can be approximately regarded as a straight line, so that the invention adopts a straight line equation as a model of a RANSAC method, and the measurement result of the short side is removed through the RANSAC method. On the other hand, due to interference of factors such as dust on the processing site, a measurement point outside the workpiece may be measured even on the fitting line, and thus be erroneously recognized as an edge point vertex. Such false detection may cause a robot trajectory error, which may create a hazard. Therefore, the influence of the interference point needs to be removed. Considering that the distribution of the interference points is obviously different from that of the edge points, the measuring points of the edge of the workpiece are relatively flat and are uniformly and tightly arranged, and the interference points are generally distributed in a discrete manner. Therefore, the invention adopts a density analysis method to extract the edge points so as to remove the influence of the interference points.
Because the error direction is orthogonal radial direction and height direction, the invention adopts the two-dimensional linear laser sensor to acquire the contour information of the edge of the part, and further acquires the displacement deviation information of the part.
The specific process of the RANSAC method in S2 is as follows: using linear equation as model of RANSAC method, for single measurement point set { p } si Performing random sampling for multiple times and performing cyclic calculation on X/Z values in the process, performing straight line fitting on all sampling points calculated each time by adopting a least square method, calculating the distance from all measuring points to the fitted straight line, and marking the distance as an inner point when the distance value is smaller than a threshold value dt, or else, marking the distance as an outer point; recording the number n of inner points of each sampling in Taking the number n of interior points in The largest calculation result is a fitting straight line, and the inner point of the calculation result is taken as the long-side edge point.
The calculation method for reconstructing the coordinate system in the S2 comprises the following steps:
wherein p is ri For the edge points relative to the robot coordinate system after reconstruction, A s The gesture of the robot is measured, and X is a hand-eye matrix. The hand-eye matrix and the measured pose of the robot are both known, and are determined at the time of robot installation, and are not changed in the running process of the robot, and are fixed quantities.
The density calculating method of the density analyzing method in S2 comprises the following steps: will reconstruct the point set { p } ri The points in the measurement point cloud are sequenced from small to large according to the Z value, and the average distance of adjacent points is calculated for the sequenced points in sequence, so that the density of each part of the measurement point cloud can be obtained, and the calculation formula is as follows:
in the den i For the ith point p ri The density value of k is the number of the adjacent points, p rq Is a near point. The near point is a value set.
S3, acquiring a corresponding robot attitude value according to the obtained vertex coordinates of the edge points of the workpiece, wherein the specific process is as follows: as shown in fig. 3, the vertex coordinate system is exclusively converted into the robot tool coordinate system. The robot tool coordinate system is defined as: the X axis is upward along the edge, the Z axis is directed to the direction of the processing point along the rotation center of the workpiece, and the Y axis is perpendicular to the measuring plane of the linear laser sensor. Therefore, the X axis can be obtained by RANSAC fitting straight line direction in the measurement result; the Y axis can be obtained according to the measured gesture of the robot and the hand-eye matrix, and the Z axis can be obtained through vector cross multiplication.
After the pose at the single measurement is calculated, all measured results can be used for robot trajectory calculation in the complete machining process. Because the turntable can ensure the same movement in the measuring process and the processing process, the measuring result and the track generation time refer to the turntable movement time. In order to ensure that the feed speed in the machining process is approximately consistent, the turntable needs to be ensured to keep constant motion during machining. Thus, the turret movement starts from-10 ° and stops to 370 °; the processing time is between 0 and 360 degrees of the turntable so as to ensure that the turntable speed is accelerated to the set speed and starts to rotate at a constant speed. When the turntable is moved to approximately 0 DEG, a proximity switch on the turntable triggers the measurement of the line laser sensor, after which the line laser sensor starts at a frequency h s Until the measurement stops after the turret has moved to 360 deg.. Thus, the time corresponding to each measurement can be obtained.
S3, converting the angle of the turntable of the ith measurement result into corresponding time t i The calculation method of (1) is as follows:
wherein h is s For the sensor frequency, w c The rotating speed of the turntable.
Example 1
As shown in fig. 4, representative elliptical ring-shaped workpieces and cylindrical ring-shaped workpieces were selected, and the method of the present invention was used to measure the edges of the two parts separately and process them along a planned path.
Two workpieces are respectively installed on a specific flexible tool of a test bed, a turntable is arranged at the bottom of each tool, the whole circle rotation of the workpiece can be realized, in the measuring process, the robot holds a linear laser sensor and the position is kept unchanged, the turntable rotates for two times in the whole circle, and the edge of the workpiece is measured and processed along a planned path.
From fig. 5 a), a set of line laser measurement data is shown in the measurement results; the points in the graph are all measurement results obtained by filtering invalid points with z=0, the dotted line is a RANSAC fitting straight line, the threshold value is 0.2mm, the round points in the graph are inner points, the square points are outer points, the measurement results are generally shown as straight lines, and the measurement points which are more generated by the thin wall part are obviously arranged on the right side and are sparsely distributed. As can be seen from fig. 5 b), the density of most points is around 3.5, which value is related to the resolution of the sensor; whereas a more pronounced drop occurs in the middle and right part of the graph, which is consistent with the results of fig. 5 a).
Combining the result with the robot measuring pose and the robot hand eye mark positioning pose, all points can be converted into a robot base coordinate system by adopting the method (1). The density threshold is set to 3.2, points with density value larger than 3.2 are marked as part edge points, and by combining the inner points, the point cloud density and the height value under the robot coordinate system, the edge vertex coordinates of the line laser data are points corresponding to the positions x= -14.97 and y= 268.68 in the graph, and meanwhile, the vector of the edge in the plane result can be calculated to be nx= [43.57, -1.8018]. The edge apex pose relative to the robot base coordinate system is:
from the above results, it can be seen that the method proposed by the present invention can correctly identify edges. The method is applied to each piece of data, and the processing path of the whole workpiece can be obtained.
As shown in fig. 6, the elliptical annular workpiece and the cylindrical annular workpiece obtained by the method of the invention obtain robot processing paths, each small coordinate system in the figure is the pose of a robot processing path point, and numbers near the small coordinate system are turntable angles corresponding to the pose. In the figure, the positive X-axis direction of the robot faces the center of the workpiece, and the positive Z-axis direction is the height direction. It can be seen that the path variation range of the elliptical ring-shaped workpiece is small, about 15 mm. The range of variation in the path of the cylindrical annular workpiece is large, about 70mm in the X direction, but less in the Z direction, about 5 mm. Further, in the attitude, the results of both the works were small in variation, and the value variation range of the angle p of both the works was 1.2042 ° and 1.2248 °, respectively, when expressed as ZYZ euler angles. The reasons for the above-mentioned distribution of the variation range are related to the way in which the annular thin-walled workpiece is placed and fixed. Ideally, the axis of the annular workpiece can be exactly coincident with the axis of the turntable, thereby keeping the machining path unchanged. For the elliptical annular workpiece, the mass is relatively smaller, and the accuracy is relatively higher by adopting a fixing method of combining manual hoisting and laser line assistance. However, since the bottom is ellipsoidal, there is no clear positioning reference, and thus it is difficult to precisely position in the height direction. Thus, the height direction path of such workpieces is approximately the same as the radial path variation and is relatively small. For the cylindrical annular workpiece, the invention adopts manual hoisting and combines a method of a bottom supporting seat scribing line and a manual clamping and adjusting device to align and fix. In the height direction, since the workpiece can be brought into contact with the bottom surface, relatively accurate positioning can be achieved. However, in the radial direction of the workpiece, the workpiece has the characteristics of large size, large weight and thin wall, is easy to deform during hoisting, and is difficult to accurately align the scribing line. Therefore, the cylindrical annular workpiece has small path variation in the height direction and large path variation in the radial direction.
The paths generated by the method of the invention are used for respectively removing the anodized layers at the edges of two parts, the purpose of anodizing is to form an oxide film on the surface of the workpiece, the surface is colored, and the effects of improving the corrosion resistance, enhancing the wear resistance and the hardness and protecting the surface of the workpiece are simultaneously achieved. But before the welding process, it is necessary to polish and remove the anodized layer of a certain width in the region to be welded.
Existing workpieces generally can only machine one side of the workpiece. As shown in FIG. 7, to achieve efficient machining, the present invention is designed for a de-anodizing tool for thin-walled edges. The hook and the quick-change device are arranged above the workpiece, and when the robot performs processing of other processes, the robot can place the tool on the tool rack through the quick-change device. In the processing part, the tool adopts a passive flexible mode to ensure that the tool can keep fit with the workpiece in two directions in the processing process. On the one hand, the tool controls the movement of the two pneumatic spindles through the air cylinders at the left side and the right side so as to realize the opening and closing of the bottom steel wire brush. By controlling the air pressure of the two air cylinders, the steel wire brush can adapt to the deformation and measurement error of the workpiece in the machining process, and is always in constant-pressure contact with the workpiece in the machining process. On the other hand, in the height direction, the contact part with the workpiece is provided with the roller, so that smooth relative movement in the processing process can be ensured. A low friction cylinder and a guide rail are adopted to ensure the close contact with the workpiece in the height direction. It is emphasized that the position in the middle of the guide rail should be chosen in the setting of the centre point of the workpiece to ensure a proper adaptation of the tool in both directions. Therefore, under the condition that the edge is always attached in the processing process, the width of the anodized layer can be easily controlled by adjusting the upper and lower positions of the steel wire brush.
After the robot finishes scanning and measuring, the turntable also returns to the zero point. The robot grabs the anodising tool by a quick change device and processes according to the path planned by the measurement result.
As shown in fig. 8, the anodic oxidation layer processing of the edge of the part is performed according to the planned path, the processing tool can be completely attached to the workpiece in the processing process, meanwhile, the workpiece can be observed to be always positioned in the width range of the roller, the width of the roller is far smaller than the variation range of the previous path, and the accuracy of the edge measuring and analyzing method provided by the invention can ensure the processing of the edges of two thin-wall workpieces.
As shown in fig. 9, after polishing by a robot, the anodic oxide layer at the edge part of the workpiece is completely removed, so that the requirement of the subsequent welding process is met.
Although the present disclosure is disclosed above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and such changes and modifications would be within the scope of the disclosure.
Claims (2)
1. The processing method of the anodic oxide layer at the edge of the annular part of the rocket tank is characterized by comprising the following steps:
s1, measuring the edge of an annular workpiece: placing an annular workpiece to be processed on a turntable, performing whole-circle measurement on the edge of the workpiece by adopting a line laser sensor through rotation of the turntable at a specific measurement frequency, and corresponding each single measurement point set to the angle of the turntable;
s2, extracting the edge of the annular part: calculating the long-side edge points of each single measurement point set by adopting a linear equation as a model of the RANSAC method, reconstructing an obtained long-side edge point coordinate system to a robot base coordinate system, calculating the density of each part of the point cloud by adopting a density analysis method, marking the point with the density value larger than a preset threshold value as a workpiece edge point, and taking the vertex of the workpiece edge point as a processing path reference point;
s3, generating a machining path of the annular part machining robot: acquiring a corresponding robot attitude value according to the obtained vertex coordinates of the edge points of the workpiece, converting the angle of the turntable into time, and corresponding the robot attitude value to the rotation time of the turntable to obtain a robot processing path in the whole-cycle complete processing process;
s4, machining the edge of the annular workpiece according to the generated robot machining path;
the specific process of the RANSAC method in S2 is as follows: adopting a linear equation as a model of the RANSAC method, randomly sampling a single measurement point set for a plurality of times, performing cyclic calculation, performing linear fitting on all sampling points calculated each time by adopting a least square method, calculating the distance from all measurement points to a fitted line, and marking the distance as an inner point when the distance value is smaller than a threshold value, otherwise marking the distance as an outer point; recording the number of internal points sampled each time, taking a calculation result with the largest number of the internal points as a fitting straight line, and taking the internal points of the result as long-side edge points;
the density calculating method of the density analyzing method in S2 comprises the following steps:
in the den i For the ith point p ri The density value of k is the number of the adjacent points, p rq As a point of approach, p ri Is an edge point relative to a robot coordinate system after reconstruction;
s3, converting the angle of the turntable of the ith measurement result into corresponding time t i The calculation method of (1) is as follows:
wherein h is s For the sensor frequency, w c The rotating speed of the turntable.
2. The rocket tank annular part edge anodic oxide layer processing method according to claim 1, wherein the coordinate system reconstruction calculation method in S2 is as follows:
wherein p is ri For the edge points relative to the robot coordinate system after reconstruction, A s For the measurement gesture of the robot, X is the hand-eye matrix, { p si And is a single set of measurement points.
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