CN105643399A - Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method - Google Patents
Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method Download PDFInfo
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- CN105643399A CN105643399A CN201511007495.1A CN201511007495A CN105643399A CN 105643399 A CN105643399 A CN 105643399A CN 201511007495 A CN201511007495 A CN 201511007495A CN 105643399 A CN105643399 A CN 105643399A
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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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
- B24B45/00—Means for securing grinding wheels on rotary arbors
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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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
- B24B49/16—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 taking regard of the load
- B24B49/165—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 taking regard of the load for grinding tyres
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to an automatic lapping and polishing system for a complex surface of a compliant control-based robot and a machining method. The automatic lapping and polishing system comprises an industrial robot, a worktable, a force sensor, a flexible lapping and polishing cutter, a signal conversion amplifier, a computer and a robot controller; the method comprises the following steps: performing machining trace planning before lapping and polishing a complex surface workpiece to obtain cutter contact point trace of the lapping and polishing cutter to obtain a surface machining cutter location point trace; converting the surface machining cutter location point trace into a code format program file which can be identified by the robot controller, and inputting the code format program file into the robot controller; positioning and clamping the workpiece to complete coordinate labeling and unification of a process system; and driving the robot to move according to a machining trace planning program file to drive the lapping and polishing cutter arranged on an end executor of the robot to perform contact machining on a machined surface. According to the automatic lapping and polishing system and the machining method disclosed by the invention, manual operation at a finish machining stage of the complex surface workpiece, especially a large-sized complex surface workpiece, can be replaced; labor strength and machining cost are reduced; and quality stability and quality consistency of a machined molded surface are increased.
Description
Technical field
The present invention relates to a kind of industrial robot processed and applied technical field, the specifically complex-curved automatic grinding-polishing system of a kind of robot based on Shared control and working method.
Background technology
In complex surface machining process, generally all will first through roughing, half essence and precision work, then carries out polishing high-precision (light is whole) processing, could obtain satisfactory workpiece surface. A few days ago, along with the develop rapidly of high-end intelligence automated control technology, take numerically-controlled machine as the automatization processing that the Flexible Manufacture of platform realizes complex curved surface part substantially, but Polishing machining mainly still depends on workman's manual operations. The complex-curved manual Polishing machining time accounts for the 1/3 of total time in advanced industrial countries such as the U.S., then reaches more than 80% in China. Cause production efficiency low unstable with processing quality, it is difficult to meet low cost, short period and high-quality modern processing and manufacturing requirement, so the intellectuality of complex-curved skin processing and automatization, as realizing manufacture important step high-quality, efficient, low cost, day by day it is subject to the attention of industry and academia. The distinctive flexible characteristic of industrial robot so that it is very suitable for complex-curved automatization Polishing machining.
In Polishing machining process, the polishing pressure between polishing cutter and workpiece surface is the principal element affecting processing quality, but not polishing power. Polishing pressure can along with the change of complex-curved radius-of-curvature, the polishing power being applied to curved surface, polishing location attitude of the cutter (pose and attitude) real-time change. Want to obtain high curved surface processing quality, it is desired to the polishing cutter in automatic polishing system platform, except having good cutting power, also should have certain kindliness. Kindliness is generally divided into active compliance and passive compliance two class. Active Compliance Control is power control, feedback information according to force transducer adopts certain control strategy, automatically attitude and the position of polishing cutter is adjusted, remove ACTIVE CONTROL polish pressure, make robot polishing pressure can be produced real-time feedback and adjusted by the pressure produced, it is achieved the mixture control of position, attitude and power, it is ensured that reasonable, stable contact force, so that robot can initiatively comply with the change of external environment, reach the requirement of processing tasks. Passive compliance control is that grinding cutter relies on some auxiliary compliant mechanisms (primarily of absorbing or mechanical devices such as spring, the damping etc. of storage power are formed), enable it when contacting with environment, applied external force be produced nature to be obedient to, in the course of processing, change according to curvature of curved surface, grinding tool forms passive compliance by the Flexible change of self different positions.
Based on former theoretical analysis, industrial robot, with its distinctive flexible characteristic, is very suitable for complex-curved automatization Polishing machining. And at present based on the robot automatic grinding-polishing system of complex-curved realization of Shared control and working method, there is not been reported.
Summary of the invention
Workman's manual operations is depended on for Polishing machining in prior art, cause that production efficiency is low and processing quality unstable and is difficult to meet the deficiencies such as low cost, short period and high-quality modern processing and manufacturing requirement, the technical problem to be solved in the present invention is to provide a kind of homogeneity and the consistence that ensure to process removal amount, improve working (machining) efficiency and processing quality, effectively reduce the complex-curved automatic grinding-polishing system of the robot based on Shared control and the working method of processing hand labor intensity and production cost.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The present invention is based on the complex-curved automatic grinding-polishing system of robot of Shared control, comprise: industrial robot, worktable, force transducer, flexible polishing cutter, signal conversion amplifier, computer and robot controlling device, industrial robot is wherein installed flexible polishing cutter, computer carries out two-way communication by robot communication interface and robot controlling device and is connected, robot controlling device control industrial machine human action, implements Polishing machining by flexible polishing cutter to the workpiece being fixed on worktable; The polishing force data of collection is delivered to computer disposal as closed loop feedback signal by force transducer.
Described flexible polishing cutter comprises L-type support, polishing head, elasticity tapering chuck and motor, wherein polishing head is installed on elasticity tapering chuck by clamping elastic caoutchouc dish, elasticity tapering chuck is connected with the main shaft of motor, motor is installed in L-type support, and L-type support is connected with the operation arm end effector of industrial robot by joint flange again.
Described flexible polishing cutter also has right angle trapezoidal frame, and right angle trapezoidal frame upper bottom surface supports motor, and the thrust surface of bottom surface and force transducer, to connecing, is installed in L-type support bottom force transducer.
Described clamping elastic caoutchouc is tried to get to the heart of a matter face bonding back of the body suede emery cloth or sand paper.
The present invention, based on the working method of the complex-curved automatic grinding-polishing system of robot of Shared control, comprises the following steps:
Carry out the Toolpath Generation before polishing for complex curved surface part, to determine tool sharpening track and pose parameter, obtain polishing cutter cutter-contact point trace, obtain processing curve cutter location track further;
Processing curve cutter location track is converted into the code form program file that robot controlling device can identify, machine entered people's controller;
Trade union college to, on worktable, carrying out location and the clamping of workpiece, the coordinate completing process system is demarcated unified;
The Toolpath Generation program file that robot inputs according to controller, the program file motion that driven machine people is formed according to trajectory planning, drives the polishing cutter being arranged on end effector of robot to contact processing with finished surface.
Carry out the Toolpath Generation before polishing for complex curved surface part, to determine tool sharpening track and pose parameter, obtain polishing cutter cutter location track, obtain processing curve cutter location track further and comprise the following steps:
Robot and table positions block tool setting location, complete robot basis coordinates and stage coordinates is demarcated, it is achieved coordinate is demarcated unified;
Complex curved surface part three-dimensional model is imported the coordinates measurement software of native system, setting concave surface feed or convex surface feed mode; Under workpiece coordinate system, software automatically calculates work center line according to three-dimensional model and demarcates; Then the symmetrical line cutting processing feed path generation method of application obtains that process tool is capable cuts path;
Rule according to Hilbert curve, capable for the process tool of acquisition path three-dimensional model of cutting is carried out discretize, Surface tessellation is become a series of control point set, point these disperse nodes of division are a series of point sets, and by recombinate and deletion operation these point sets are reset, mapped by parameter, obtain the contact of the cutter in real number field path point set;
Processing curve cutter location track is obtained according to polishing cutter cutter location track acquisition methods.
Symmetrical line cutting processing feed path generation method is: adopt row to cut tool path pattern under workpiece coordinate system, complex-curved three-dimensional model is carried out medullary ray choose, row according to setting cuts feed line space, take work center line as symmetry axis, according to setting feed line space zygomorphy extension, until whole curved surface completes, process tool is capable cuts coordinates measurement.
Obtaining processing curve cutter location track according to polishing cutter cutter location track acquisition methods is:
Represent the position vector of point of contact and cutter location respectively with vector A and vector O, generating tool axis vector can be expressed asDistance between cutter contact point to cutter cutter location is R-W, expresses the direction from A point to O point with unit vector v, then v is expressed asThen the position vector O of cutter location be expressed as O=A+ (R-W) v generate cutter spacing track vector comprise cutter
Position vector O and generating tool axis vector a, it is expressed as CO=(Oa);
Wherein, a is the generating tool axis vector direction of polishing cutter, n be Surface Method to direction vector, u is tool feeding direction, �� be the generating tool axis vector direction a of polishing cutter relative to Surface Method to the inverse direction deflection angle angle value of direction vector n at feeding direction u, a, n, u are all unit vector.
The Toolpath Generation program file that robot inputs according to controller, the program file motion that driven machine people is formed according to trajectory planning, drives the polishing cutter being arranged on end effector to contact processing with finished surface and comprises:
Polishing cutter and processed curved surface contact with each other and add man-hour, gather monitor strain signal by power/moment sensing device, transform and amplification, filtering process through signal, export the digital signal transfers that can identify to computer;
The numerary signal collected is processed by computer, carries out weight compensating calculating according to weight compensating algorithm, and measuring result is converted to actual polishing power Fc;
Computer is by the polishing power F of realitycWith the polishing power F of settingdCompare calculating, obtain force compensating value �� F; Force compensating value �� F is converted to position compensation value �� X, by adjustment compensation value �� X and lapping path planning value XpCompensate conversion, obtain actual Polishing machining position XdValue, same treatment method obtains Yd��ZdValue, Xd��Yd��ZdIt is respectively at basis coordinates system OBUnder X, Y, Z tri-coordinate directions position value.
Computer is by the X after feedback adjustmentd, Yd��ZdIt is transferred to robot controlling device with three place's polishing workpiece posture angular datas, robot controlling device control does feedback adjustment, robot motion with polishing workpiece do the adjustment of corresponding position and attitude, it is achieved the constant magnitude of the polishing power in the course of processing and controlled.
Carry out weight compensating calculating according to weight compensating algorithm to comprise:
At system robot basis coordinates system OBUnder, polishing cutter gravity represents and is:BFg=[00-G], power/moment sensing device measures the expression formula of polishing cutter negative carrying force and isSFg=[FgXFgYFgZ], transformational relation therebetween isIn formula,For end effector coordinate system OETo basis coordinates system OBTransformation matrix, determine by robot body;For sensor coordinate system OSTo end effector coordinate system OETransformation matrix, by the end effector of sensor and robot, mode is installed and determines,For sensor coordinate system OSTo basis coordinates system OBConversion square, FgXFor the gravity sizes values of cutter X-direction under sensor coordinate system, FgYFor the gravity sizes values of cutter Y-direction under sensor coordinate system, FgZFor the gravity sizes values of cutter Z-direction under sensor coordinate system.
Converted by coordinates matrix, obtain system robot basis coordinates system OBUnder polishing power
The numerical value measured under force transducer system of coordinates is transformed into basis coordinates system, eliminates gravity to the interference of polishing power, obtain basis coordinates OBThe polishing power of lower realityBFc=BFm-BFg;
Wherein,BFmFor polishing power under system robot basis coordinates system,sFmFor the polishing power under sensor coordinate system,BFgFor the gravity of polishing cutter under basis coordinates system itself,BFiFor the mass force of generation is moved in feeding.
The present invention has following useful effect and advantage:
1. the present invention can substitute the manual operation in complex curved surface parts skin processing stage, especially large complicated carved workpiece, it is possible to reduce artificial intensity, reduces tooling cost, it is to increase processing profile quality stability and consistence.
2. the present invention is based on the automatic Polishing machining system of robot of Shared control, polishing cutter and processing work surface contact region polishing power can be controlled, the position of effective compensation and adjustment polishing cutter and attitude accuracy, polishing pressure is applied corresponding control by the change according to complex-curved curvature, ensure that rational polishing pressure and constant force processing, realize homogeneity and the consistence of workpiece removal amount, it is to increase work pieces process quality.
3. the polishing cutter in system of the present invention contacts angle of inclination with curve surface of workpiece, it is possible to obtain high working (machining) efficiency, and avoids zero rotating speed Polishing machining, is beneficial to heat radiation and the chip removal of area to be machined.
4. system of the present invention designs the flexible polishing cutter selected, it is achieved that with the passive compliance of processing curve, ensure the consistence of contact process zone polishing pressure, it is achieved the controllability of removal amount and continuity; Artificial operation can be imitated, overcome the contradiction between robot rigidity and flexibility.
5. in the inventive method, symmetrical line cutting processing feed path generates and side feed order working method, it is possible to the sky reducing machining path walks stroke, it is to increase working (machining) efficiency.
Accompanying drawing explanation
Fig. 1 is system and device overall structure schematic diagram of the present invention;
Fig. 2 is flexible polishing cutter structure block diagram in system of the present invention;
Fig. 3 is communication scheme figure in system of the present invention;
Fig. 4 is polishing cutter and processing curve contact angle schematic diagram in system of the present invention;
Fig. 5 is that in system of the present invention, sensor measure force analyzes schematic diagram;
Fig. 6 is that in system of the present invention, row cuts feed path schematic diagram;
Fig. 7 is the location diagram that in system of the present invention, cutter-contact point is corresponding with cutter location;
Fig. 8 is the power outer loop control method conceptual scheme of position-based in the inventive method;
Fig. 9 is automatic Polishing machining process schematic diagram in the inventive method.
Wherein, 1 is industrial robot, and 2 is preset pieces, 3 is the sextuple sensor of six-dimensional force/moment, and 4 is flexible polishing cutter, and 41 is joint flange, 42 is L-type support, and 43 is motor, and 44 is elasticity tapering chuck, 45 is clamping elastic caoutchouc dish, and 46 is emery cloth, and 47 is right angle rack, 5 is worktable, and 6 is signal conversion amplifier, and 7 is computer, 8 is robot controlling device, and 9 is work pieces process curved surface.
Embodiment
Below in conjunction with Figure of description, the present invention is further elaborated.
The present invention is the complex-curved automatic grinding-polishing system device of the robot based on Shared control and working method, for the permanent polishing power processing realized in complex-curved automatization Polishing machining process, ensures the homogeneity that processing is removed and stability. The present invention mainly comprise integrated system device composition and based on the active and passive control mode of submissive processing. Carry out the compensation calculation of polishing cutter gravity, eliminate polishing cutter gravity to the interference of polishing power; The description having carried out polishing cutter and contact form and state during work pieces process, ensures Full connected and the chip removal heat radiation in processing contact region; Describe process and the content of cutter trajectory planning, it is achieved that workpiece three-dimensional model is automatically converted to robot can identify work program file; Describe the power control close-loop control mode of position-based control, it is achieved that the uneoupled control of position-attitude-Li in the course of processing, describes the signalling methods between integral part and form, it is achieved the control of system and device and the closed-loop control of feedback.
As shown in Figure 1, the complex-curved automatic grinding-polishing system of a kind of robot based on Shared control of the present invention, comprise: industrial robot 1, worktable 5, force transducer 3, flexible polishing cutter 4, signal conversion amplifier 6, computer 7 and robot controlling device 8, industrial robot 1 is wherein installed flexible polishing cutter 4, computer 7 carries out two-way communication by robot communication interface with robot controlling device 8 and is connected, robot controlling device 8 controls industrial robot 1 action, by flexible polishing cutter 4, the workpiece being fixed on worktable 5 is implemented Polishing machining; The polishing contact force data of collection are delivered to calculating 7 as closed loop feedback signal by force transducer 3. In the present embodiment, industrial robot 1 is six axles, and force transducer 3 is the sextuple sensor of six-dimensional force/moment.
As shown in Figure 2, flexible polishing cutter 4 comprises L-type support 42, polishing 46, elasticity tapering chuck 44 and motor 43, wherein polishing 46 is installed on elasticity tapering chuck 44 by clamping elastic caoutchouc dish 45, elasticity tapering chuck 44 is connected with the main shaft of motor 43, motor 43 is installed in L-type support 42, and L-type support 42 is connected with the operation arm end effector of industrial robot 1 by joint flange 41 again; Flexible polishing cutter 4 also has right angle trapezoidal frame 47, and right angle trapezoidal frame 47 upper bottom surface supports motor 43, and the thrust surface of bottom surface and force transducer 3, to connecing, is installed in bottom force transducer 3 in L-type support 42.
In the present embodiment, flexible polishing cutter forms primarily of 7 parts, wherein joint flange 41 is for the connection of L-type support and 42 robot end's axles, L-type switching support 42 is for joint flange 41 and sensor 3, right angle rack 47 connecting sensor 3 and pneumatic motor 43, pneumatic motor 43 is fastened on right angle rack 47, and (open holes installing pneumatic motor 43 on right angle rack 47 is cross strip hole, mounting and adjusting pneumatic motor spindle centerline overlaps with robot the 6th axle medullary ray), pneumatic motor main shaft connects elasticity tapering chuck 44, chuck connects clamping elastic caoutchouc dish 45, rubber disc bottom surface can bond and carry on the back suede emery cloth (or sand paper) 46. the present embodiment adopts six-shaft industrial robot.
It is illustrated in figure 3 the communication scheme figure that the present invention adopts, the communication control scheme of the present invention comprises two portions worker thread: control computer-motion planning and robot control device worker thread and control computer-working sensor thread, the real-time communication being used for realizing between three connects, simultaneously on-line Control polishing power and realize robot off-line path planning. Robot controlling device is communicated by Ethernet form with computer, adopt TCP/IP (TransmissionControlProtocol/InternetProtocol) communication protocol of high reliability, therebetween real-time communication is higher, the mode of data stream is adopted to communicate, communicate with xml document, polishing workpiece surface TRAJECTORY CONTROL instruction is gone out to be defeated by robot controlling device by every 12ms, and the track instruction that robot plans according to upper computer CAD/CAM system performs corresponding Polishing machining. Signalling methods between force transducer and computer uses ethernet communication, adopts UDP (UserDatagramProtocol) agreement of high-speed transfer to communicate, it is provided that up to the transmission frequency of 7000Hz.
The present invention, based on the working method of the complex-curved automatic grinding-polishing system of robot of Shared control, comprises the following steps:
Carry out the Toolpath Generation before polishing for complex curved surface part, to determine tool sharpening track and pose parameter, obtain polishing cutter cutter-contact point trace, obtain processing curve cutter location track further;
Processing curve cutter location track is converted into the code form program file that robot controlling device can identify, machine entered people's controller 8;
Trade union college to, on worktable 5, carrying out location and the clamping of workpiece, the coordinate completing process system is demarcated unified;
The Toolpath Generation program file that robot inputs according to controller, the program file motion that driven machine people is formed according to trajectory planning, drives the polishing cutter 4 being arranged on end effector of robot to contact processing with finished surface.
Carry out the Toolpath Generation before polishing for complex curved surface part, to determine tool sharpening track and pose parameter, obtain polishing cutter cutter location track, obtain processing curve cutter location track further and comprise the following steps:
A1. robot the 6th shaft end centre hole and table positions block 2 tool setting location, completes robot 1 basis coordinates and worktable 5 coordinate is demarcated, it is achieved coordinate is demarcated unified;
A2. complex curved surface part three-dimensional model is imported the coordinates measurement software of native system, setting concave surface feed or convex surface feed mode; Under workpiece coordinate system, software automatically calculates work center line according to three-dimensional model and demarcates; Then the symmetrical line cutting processing feed path generation method of application obtains that process tool is capable cuts path;
A3. according to the rule of Hilbert curve, capable for the process tool of acquisition path three-dimensional model of cutting is carried out discretize, Surface tessellation is become a series of control point set, point these disperse nodes of division are a series of point sets, and by recombinate and deletion operation these point sets are reset, mapped by parameter, obtain the contact of the cutter in real number field path point set;
In rapid A2, symmetrical line cutting processing feed path generation method is: adopt row to cut tool path pattern under workpiece coordinate system, complex-curved three-dimensional model is carried out medullary ray choose, row according to setting cuts feed line space, take work center line as symmetry axis, according to setting feed line space zygomorphy extension, until whole curved surface completes, process tool is capable cuts coordinates measurement.
As shown in Figure 6. Actual add man-hour, from the generation pass feed of side (setting), according to the feed path order processing formed.
The inventive method relate to polishing cutter and curve surface of workpiece contact angle method. During Polishing machining, the generating tool axis vector direction a of polishing cutter deflects an angle to direction vector n in the inverse direction of feeding direction u relative to Surface Method, and a, n, u are all unit vector. As shown in Figure 4,9 is work pieces process curved surface.
Processing curve cutter location track is obtained as shown in Figure 7 according to polishing cutter cutter location track acquisition methods; A point represents that the cutterhead of cutter starts the contacting points position (cutter-contact point) contacted with machined surface; O point is cutter cutter location position; B point is cutterhead outermost points; R is cutter radius, and W is passive compliance deformation length. For convenience of description, the position vector of point of contact and cutter location is represented respectively with vector A and vector O. Generating tool axis vector can be expressed asDistance between cutter-contact point to cutter location is R-W, the direction from A point to O point is expressed with unit vector v, a is the generating tool axis vector direction of polishing cutter, n is that Surface Method is to direction vector, u is tool feeding direction, the generating tool axis vector direction a that �� is polishing cutter deflects an angle to direction vector n in the inverse direction of feeding direction u relative to Surface Method, and a, n, u are all unit vector;
V can be expressed asThen the position vector O of cutter location can be expressed as O=A+ (R-W) v, generates cutter spacing track vector and comprises cutter position vector O and generating tool axis vector a, and it is expressed as CO=(Oa).
According to setting requirement, cutter track vector is converted to robot controlling device identifiable point collection value code (three displacements, three angles) program file, like this, all cutter-contact points on processing work three-dimensional model machining path are converted to the vector point set of the automatic Polishing machining track of robot, form work program file, be transferred to robot controlling device, control moves, and drives end cutter and workpiece to carry out Polishing machining.
The Toolpath Generation program file that robot inputs according to controller, the program file motion that driven machine people is formed according to trajectory planning, drives the polishing cutter being arranged on end effector to contact processing with finished surface and comprises:
A7. polishing cutter and processed curved surface contact with each other and add man-hour, monitor strain signal is gathered by six-dimensional force/moment sensing device, signal is under sensor coordinate system, carry out signal via signal conversion amplifier (NetF/T) 6 to transform and amplification, filtering process, the numerary signal that output can identify, passes to computer by Ethernet by information;
A8. the numerary signal collected is processed by computer, carries out weight compensating calculating according to weight compensating algorithm, and measuring result is converted to actual polishing power Fc;
A9. computer is by force controller module, the polishing power F that will measurecWith the polishing power F of settingdCompare calculating, it is compensated value �� F; By positioner modular algorithm, force compensating value �� F is converted to position compensation value �� X, adjustment compensation value �� X and lapping path planning value Xp is compensated conversion, obtain actual Polishing machining position XdValue; (what introduce is X-axis direction feedback adjustment methods herein, and Y-axis is identical with Z direction of principal axis).
A10. computer is by the X after feedback adjustmentd, Yd��ZdIt is transferred to robot controlling device 8 with three place's polishing workpiece posture angular datas, robot controlling device 8 control 1 does feedback adjustment, the move polishing workpiece 4 of band of robot 1 does the adjustment of corresponding position and attitude, it is achieved the constant magnitude of the polishing power in the course of processing and controlled.
Carry out weight compensating calculating according to weight compensating algorithm to comprise:
At system and device basis coordinates system OB(XB, YB, ZB)(XB��YB��ZBIt is respectively basis coordinates system OBThree coordinate axis) under, polishing force vectorBFmIt is made up of three parts: the polishing power of polishing cutter and workpieceBFc, the gravity of polishing cutter itselfBFgThe mass force of generation is moved with feedingBFi,BFm=BFc+BFg+BFi, as shown in Figure 5. Owing to robot is by the continuous motion path of planning, the speed of feed change of polishing cutter is very little, and the quality of cutter own is also relatively light, and the mass force caused by motion can be ignored, polishing force vectorBFmExpression is:BFm=BFc+BFg. Six-dimensional force/moment sensing device output value is at sensor coordinate system OS(XS, YS, ZS)(XS, YS, ZSIt is respectively sensor coordinate system OSThree coordinate axis) under observed value. Robot end's polishing cutter-orientation can change along with workpiece surface shape, sensor coordinate system OS(XS, YS, ZS) attitude change, make polishing cutter gravity Fg at sensor coordinate system OSOn component change, polishing cutter gravity is compensated. At basis coordinates system OBLower polishing cutter gravity represents:BFg=[00-G], force sensor measuring to the expression formula of polishing cutter negative carrying force reactive force isSFg=[FgXFgYFgZ], the transformational relation between them isIn formula,For end sensor system of coordinates OETo basis coordinates system OBTransformation matrix, determine by robot body;For sensor coordinate system OSTo end sensor system of coordinates OETransformation matrix, by the end of sensor and robot, mode is installed and determines. Converted by coordinates matrix, it is possible to obtain basis coordinates system OBUnder numerical value For sensor coordinate system OSTo basis coordinates system OBTransformation matrix. The numerical value of force sensor measuring is transformed into basis coordinates system, eliminates gravity to the interference of polishing power, polishing force vector actual under obtaining basis coordinatesBFc=BFm-BFg, wherein,BFmFor polishing force vector,sFmFor the polishing power observed value under sensor coordinate system,BFgFor the gravity of polishing cutter itself,BFiFor the mass force of generation is moved in feeding.
The inventive method is a kind of power outer shroud Active Compliance Control method of position-based. As shown in Figure 8, according to curve surface of workpiece material characteristic, according to the given polishing power F of processing requirementd, in Active Compliance Control system, by force sensor measuring valueSFc, compensate the gravity interference owing to polishing cutter causes, obtain current polishing power Fc, with given force FdRelatively, obtaining position correction amount �� X by force controller, positioner performs the position command X after revisingd, it is achieved that based on the position inner ring power outer shroud polishing power control of active compliance structure.
The whole Polishing machining process that the inventive method relates to is as shown in Figure 9.
Robot based on Shared control can imitate artificial operation, when polishing cutter contacts with workpiece surface, cutter contacts the polishing pressure that region keeps stable all the time with workpiece surface, and can measure in real time and show the pressure surge between polishing cutter and workpiece, it is possible not only to improve active position and attitude accuracy, can also apply to control accordingly to polishing pressure according to the change of complex-curved curvature, ensure that rational polishing pressure, constant force processing is realized by control polishing pressure, realize homogeneity and the consistence of workpiece removal amount, in order to improve work pieces process quality.
Claims (10)
1. the complex-curved automatic grinding-polishing system of the robot based on Shared control, it is characterized in that comprising: industrial robot, worktable, force transducer, flexible polishing cutter, signal conversion amplifier, computer and robot controlling device, industrial robot is wherein installed flexible polishing cutter, computer carries out two-way communication by robot communication interface and robot controlling device and is connected, robot controlling device control industrial machine human action, implements Polishing machining by flexible polishing cutter to the workpiece being fixed on worktable; The polishing force data of collection is delivered to computer disposal as closed loop feedback signal by force transducer.
2. by the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 1, it is characterized in that: described flexible polishing cutter comprises L-type support, polishing head, elasticity tapering chuck and motor, wherein polishing head is installed on elasticity tapering chuck by clamping elastic caoutchouc dish, elasticity tapering chuck is connected with the main shaft of motor, motor is installed in L-type support, and L-type support is connected with the operation arm end effector of industrial robot by joint flange again.
3. by the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 2, it is characterized in that: described flexible polishing cutter also has right angle trapezoidal frame, right angle trapezoidal frame upper bottom surface supports motor, the thrust surface of bottom surface and force transducer, to connecing, is installed in L-type support bottom force transducer.
4. by the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 2, it is characterised in that: described clamping elastic caoutchouc is tried to get to the heart of a matter face bonding back of the body suede emery cloth or sand paper.
5. by the working method of the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 1, it is characterised in that comprise the following steps:
Carry out the Toolpath Generation before polishing for complex curved surface part, to determine tool sharpening track and pose parameter, obtain polishing cutter cutter-contact point trace, obtain processing curve cutter location track further;
Processing curve cutter location track is converted into the code form program file that robot controlling device can identify, machine entered people's controller;
Trade union college to, on worktable, carrying out location and the clamping of workpiece, the coordinate completing process system is demarcated unified;
The Toolpath Generation program file that robot inputs according to controller, the program file motion that driven machine people is formed according to trajectory planning, drives the polishing cutter being arranged on end effector of robot to contact processing with finished surface.
6. by the working method of the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 5, it is characterized in that: carry out the Toolpath Generation before polishing for complex curved surface part, to determine tool sharpening track and pose parameter, obtain polishing cutter cutter location track, obtain processing curve cutter location track further and comprise the following steps:
Robot and table positions block tool setting location, complete robot basis coordinates and stage coordinates is demarcated, it is achieved coordinate is demarcated unified;
Complex curved surface part three-dimensional model is imported the coordinates measurement software of native system, setting concave surface feed or convex surface feed mode; Under workpiece coordinate system, software automatically calculates work center line according to three-dimensional model and demarcates; Then the symmetrical line cutting processing feed path generation method of application obtains that process tool is capable cuts path;
Rule according to Hilbert curve, capable for the process tool of acquisition path three-dimensional model of cutting is carried out discretize, Surface tessellation is become a series of control point set, point these disperse nodes of division are a series of point sets, and by recombinate and deletion operation these point sets are reset, mapped by parameter, obtain the contact of the cutter in real number field path point set;
Processing curve cutter location track is obtained according to polishing cutter cutter location track acquisition methods.
7. by the working method of the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 6, it is characterized in that symmetrical line cutting processing feed path generation method is: adopt row to cut tool path pattern under workpiece coordinate system, complex-curved three-dimensional model is carried out medullary ray choose, row according to setting cuts feed line space, take work center line as symmetry axis, according to setting feed line space zygomorphy extension, until whole curved surface completes, process tool is capable cuts coordinates measurement.
8. by the working method of the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 6, it is characterised in that obtaining processing curve cutter location track according to polishing cutter cutter location track acquisition methods is:
Represent the position vector of point of contact and cutter location respectively with vector A and vector O, generating tool axis vector can be expressed asDistance between cutter contact point to cutter cutter location is R-W, expresses the direction from A point to O point with unit vector v, then v is expressed asThen the position vector O of cutter location is expressed as O=A+ (R-W) v, generates cutter spacing track vector and comprises cutter position vector O and generating tool axis vector a, and it is expressed as Co=(Oa);
Wherein, a is the generating tool axis vector direction of polishing cutter, n be Surface Method to direction vector, u is tool feeding direction, �� be the generating tool axis vector direction a of polishing cutter relative to Surface Method to the inverse direction deflection angle angle value of direction vector n at feeding direction u, a, n, u are all unit vector.
9. by the working method of the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 5, it is characterized in that the Toolpath Generation program file that robot inputs according to controller, the program file motion that driven machine people is formed according to trajectory planning, drives the polishing cutter being arranged on end effector to contact processing with finished surface and comprises:
Polishing cutter and processed curved surface contact with each other and add man-hour, gather monitor strain signal by power/moment sensing device, transform and amplification, filtering process through signal, export the digital signal transfers that can identify to computer;
The numerary signal collected is processed by computer, carries out weight compensating calculating according to weight compensating algorithm, and measuring result is converted to actual polishing power Fc;
Computer is by the polishing power F of realitycWith the polishing power F of settingdCompare calculating, obtain force compensating value �� F; Force compensating value �� F is converted to position compensation value �� X, by adjustment compensation value �� X and lapping path planning value XpCompensate conversion, obtain actual Polishing machining position XdValue, same treatment method obtains Yd��ZdValue, Xd��Yd��ZdIt is respectively at basis coordinates system OBUnder X, Y, Z tri-coordinate directions position value.
Computer is by the X after feedback adjustmentd, Yd��ZdIt is transferred to robot controlling device with three place's polishing workpiece posture angular datas, robot controlling device control does feedback adjustment, robot motion with polishing workpiece do the adjustment of corresponding position and attitude, it is achieved the constant magnitude of the polishing power in the course of processing and controlled.
10. by the working method of the complex-curved automatic grinding-polishing system of the robot based on Shared control according to claim 9, it is characterised in that carry out weight compensating calculating according to weight compensating algorithm and comprise:
At system robot basis coordinates system OBUnder, polishing cutter gravity represents and is:BFg=[00-G], power/moment sensing device measures the expression formula of polishing cutter negative carrying force and isSFg=[FgXFgYFgZ], transformational relation therebetween isIn formula,For end effector coordinate system OETo basis coordinates system OBTransformation matrix, determine by robot body;For sensor coordinate system OSTo end effector coordinate system OETransformation matrix, by the end effector of sensor and robot, mode is installed and determines,For sensor coordinate system OSTo basis coordinates system OBConversion square, FgXFor the gravity sizes values of cutter X-direction under sensor coordinate system, FgYFor the gravity sizes values of cutter Y-direction under sensor coordinate system, FgZFor the gravity sizes values of cutter Z-direction under sensor coordinate system.
Converted by coordinates matrix, obtain system robot basis coordinates system OBUnder polishing power
The numerical value measured under force transducer system of coordinates is transformed into basis coordinates system, eliminates gravity to the interference of polishing power, obtain basis coordinates OBThe polishing power of lower realityBFc=BFm-BFg;
Wherein,BFmFor polishing power under system robot basis coordinates system,SFmFor the polishing power under sensor coordinate system,BFgFor the gravity of polishing cutter under basis coordinates system itself,BFiFor the mass force of generation is moved in feeding.
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| CN114454060A (en) * | 2022-02-23 | 2022-05-10 | 无锡中车时代智能装备有限公司 | Robot self-adaptive curved surface tracking constant-force grinding and polishing method and system |
| CN114800500A (en) * | 2022-04-21 | 2022-07-29 | 无锡斯帝尔科技有限公司 | Flexible constant force control method and system for polishing robot |
| WO2024007702A1 (en) * | 2022-07-05 | 2024-01-11 | 湖南大学 | Workpiece and cutter pose calibration method based on robotic edge milling error tracking |
| CN115415886B (en) * | 2022-08-30 | 2023-09-26 | 天津大学 | Method for calculating polishing path of optical surface of inner wall |
| CN115415886A (en) * | 2022-08-30 | 2022-12-02 | 天津大学 | Inner wall optical surface polishing path calculation method |
| CN116967939A (en) * | 2023-09-22 | 2023-10-31 | 大儒科技(苏州)有限公司 | Special force control system for grinding and polishing |
| CN116967939B (en) * | 2023-09-22 | 2023-12-26 | 大儒科技(苏州)有限公司 | Special force control system for grinding and polishing |
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