CN107081677B - A kind of robot technique for grinding optimization method based on laser detection - Google Patents
A kind of robot technique for grinding optimization method based on laser detection Download PDFInfo
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- CN107081677B CN107081677B CN201710476295.3A CN201710476295A CN107081677B CN 107081677 B CN107081677 B CN 107081677B CN 201710476295 A CN201710476295 A CN 201710476295A CN 107081677 B CN107081677 B CN 107081677B
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- robot
- polishing
- point
- laser detection
- milling tools
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Classifications
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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
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/002—Machines or devices using grinding or polishing belts; Accessories therefor for grinding edges or bevels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides a kind of robot technique for grinding optimization method based on laser detection, which comprises the following steps: S1, pass through polishing workpiece surface needed for laser detection with respect to the dimensional discrepancy of milling tools radial direction；S2, robot are according to the dimensional discrepancy operation polishing track detected.Robot technique for grinding optimization method of the present invention based on laser detection is able to maintain robot polishing size safety cabinet stock removal devious unanimously, and this method reduce robot automatically grinding systems to the requirement of client's workpiece size precision, improves robot and polishes the degree of automation.
Description
Technical field
The invention belongs to robot grinding technology fields, more particularly, to a kind of robot polishing work based on laser detection
Skill optimization method.
Background technique
Safety cabinet generates technique: from welding fabrication after the board material splice of blanking, need to the weld seam of safety cabinet outer surface into
Row grinding process.
Because of manual polishing safety cabinet large labor intensity, working environment is severe, therefore is replaced manually carrying out polishing work with robot
Industry.Safety cabinet after the completion of industrial robot crawl welding goes polishing welding seams at belt sander, and workpiece positioning relies on robot clamp
It clamps and positions, robot polishing program repeats same track and carries out polishing workpiece.
In the prior art, the preceding working procedure of safety cabinet is artificial assembly, therefore the dimensional uniformity of workpiece is poor.If pressing
According to traditional robot grinding method, can exist some grinding workpieces less than or grinding excessively cause surface polishing that cannot reach
The requirement of client.
Summary of the invention
In view of this, the present invention is directed to propose a kind of robot technique for grinding optimization method based on laser detection, with solution
Certainly existing manual polishing great work intensity, working environment is severe, is manually often difficult to be competent at and existing robot polishes
Intelligence degree is low, the underproof situation of technique.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of robot technique for grinding optimization method based on laser detection, comprising the following steps:
S1, pass through the dimensional discrepancy of the opposite milling tools radial direction of polishing workpiece surface needed for laser detection；
S2, robot are according to the dimensional discrepancy operation polishing track detected；
In the step S1, the specific method is as follows for detecting size deviation:
Workpiece teaching robot's program point is grabbed by S101, robot, and robot program's point includes polishing starting point machine
People position, polishing end point robot location, dot laser benchmaring point robot location；
The positional value of S102, polished by function etc. point starting point and end point of polishing, are used to increase starting of polishing automatically
Several robots polishing program point between point and polishing end point；
S103, pass through function instruction, multiple robots polishing program point in step S102 is passed through into program and calculates offset
It obtains multiple laser detection positions, multiple values is detected by laser detection position respectively；
The value that S104, basis detect calculates deviation compared with the detected value of dot laser benchmaring point.
Further, the robot polishing program point in the step S103 is identical with the quantity of laser detection position.
Further, in the step S104, the calculated deviation is more than the threshold value of setting, and robot will call the police
And it stops working.
It further,, can be according to the mill of milling tools when robot polishing program point is deviated in the step S103
Damage compensates the loss of milling tools.
Further, the loss of the migration milling tools, the specific method is as follows:
When polishing is depleted to the limit, the size of milling tools thickness is inclined for one S201, test measurement new milling tools
The total quantity N of poor D and polishing workpiece；
S202, one workpiece consumption milling tools amount of every polishing is obtained；
S203, the position coordinates that robot polishing point is deviated by offset commands, to be mended to milling tools loss
It repays.
Further, the milling tools is belt sander, and the belt sander is that fixed be driven by a motor on the ground connects master
Abrasive band on driving wheel and driven wheel is driven to be ground the mechanism of object.
Compared with the existing technology, the robot technique for grinding optimization method of the present invention based on laser detection have with
Lower advantage:
Robot technique for grinding optimization method of the present invention based on laser detection has robot polishing size partially
The safety cabinet stock removal of difference is able to maintain unanimously, and this method reduce robot automatically grinding systems to client's workpiece size essence
Degree requires, and improves robot and polishes the degree of automation.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the robot technique for grinding optimization method flow chart based on laser detection described in the embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Robot technique for grinding optimization method based on laser detection, belt sander are mounted below robot, and robot is grabbed
Workpiece is taken, teaching is first carried out, then the welded radial vertical height of measurement workpiece surface weld is examined with dot laser benchmark
The datum level of measuring point measurement compares, and calculates deviation, and compensate according to the abrasion loss of milling tools, robot is set
Determine running track, finally polishes.
Some keywords explanation of the invention:
Path: program point point.
Num: the abrasion loss for each grinding workpieces tool of polishing.
Grinding_start: polishing starting point robot location.
Grinding_end: polishing end point robot location.
Polish: dot laser benchmaring point robot location.
Laser: dot laser detects a reference value.
Laser_reference: the actually detected value of dot laser.
Offs_x.trans.x: the difference of dot laser actually detected value and a reference value.
Ncount: the quantity of milling tools polishing workpiece.
As shown in Figure 1, a kind of robot technique for grinding optimization method based on laser detection, comprising the following steps:
S1, pass through the dimensional discrepancy of the opposite milling tools radial direction of polishing workpiece surface needed for laser detection；
S2, robot are according to the dimensional discrepancy operation polishing track detected.
Wherein, in the step S1, the specific method is as follows for detecting size deviation:
Workpiece teaching robot's program point is grabbed by S101, robot, and robot program's point includes polishing starting point machine
People position, polishing end point robot location, dot laser benchmaring point robot location, grinding_start: polish
Initial point robot location；Grinding_end: polishing end point robot location；Polish: dot laser benchmaring point machine
People position (the location point laser detection value is recorded as laser)；
The positional value of S102, polished by function etc. point starting point and end point of polishing,
Grinding_p:=grinding_start；
Grinding_p.trans.x:=(grinding_end.trans.x-grinding_start.tran s.x)/4
+grinding_start.trans.x；
Grinding_p.trans.y:=(grinding_end.trans.y-grinding_start.tran s.y)/4
+grinding_start.trans.y；
Grinding_p.trans.z:=(grinding_end.trans.z-grinding_start.tran s.z)/4
+grinding_start.trans.z；It is beaten for increasing several robots between polishing starting point and polishing end point automatically
Grind program point；
S103, pass through function instruction,
Off_x:=polish.trans.x-grinding_start.trans.x；
Off_y:=polish.trans.y-grinding_start.trans.y；
Off_z:=polish.trans.z-grinding_start.trans.z；By multiple machines in step S102
People's polishing program point obtains multiple laser detection positions, such as the sky of robot starting polishing program point " P1 " by Program shift
Between value be (x1, y1, z1), relative to polishing starting point the dot laser test point spatial position " R1 " be (a1, b1, c1).Then this
Two relative position differences are exactly △ x, △ y, △ z.Such as according to my above-mentioned polishing starting point and the direct several points of terminal
" P2 (x2, y2, z2), P3 (x3, y3, z3), P4 (x4, y4, z4), P5 (x5, y5, z5) " can learn the other positions of detection
Point " R2 (x2- △ x, y2- △ x, z2- △ x), R3 (x3- △ x, y3- △ x, z3- △ x), R4 (x4- △ x, y4- △ x, z4- △
X), R5 (x5- △ x, y5- △ x, z5- △ x)；Multiple values are detected respectively by laser detection position.
S104, according to the value that detects compared with the detected value of dot laser benchmaring point, laser_reference1~
Laser_reference5, while compared with a reference value laser and calculating deviation offs_x.trans.x.
Difference offs_x.trans.x assignment to robot will be polished the seat of program point grinding_p according to the above method
It marks in data.All polishing program point grinding_p of robot carry out dot laser detection and offset correction.Robot operation
Polishing track will be according to the variation of the opposite milling tools radial direction in grinding workpieces surface, and generation changes accordingly, to make machine
The stock removal that device people is ground workpiece is consistent.
Wherein, the robot polishing program point in the step S103 is identical with the quantity of laser detection position.
Wherein, in the step S104, the calculated deviation be more than setting threshold value, robot will call the police and
It stops working.Whether in the reasonable scope to detect workpiece size variation: decision instruction: IF offs_x.trans.x > 5OR
Offs_x.trans.x < -5THEN, if workpiece size deviation is excessive (deviation can be set), program will inform robot alarm simultaneously
Stop.
Wherein, in the step S103, robot polishing program point is when being deviated, can according to the abrasion of milling tools into
The loss of row compensation milling tools.
Wherein, the loss of the migration milling tools, the specific method is as follows:
When polishing is depleted to the limit, the size of milling tools thickness is inclined for one S201, test measurement new milling tools
The total quantity N of poor D and polishing workpiece；
S202, one workpiece consumption milling tools amount of every polishing is obtained；
S203, the position coordinates that robot polishing point is deviated by offset commands, to be mended to milling tools loss
It repays.
The quantity ncount for defining milling tools polishing workpiece, disappears according to piece new milling tools of test measurement and polishing
The dimensional discrepancy D of the milling tools thickness of the limit and the total quantity N of polishing workpiece are consumed, show that one workpiece consumption of every polishing is beaten
Grinder tool amount num:=D/N.
Robot polishing point is deviated by offset commands " Offs (grinding_p, 0,0+ncount*num, 0) "
The position coordinates of grinding_p, to compensate to milling tools loss, (direction of compensation is workpiece with respect to milling tools
Radial direction).
Wherein, the milling tools is belt sander, and the belt sander is that fixation is driven by a motor connection driving wheel on the ground
The mechanism of object is ground with the abrasive band transmission on driven wheel.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of robot technique for grinding optimization method based on laser detection, which comprises the following steps:
S1, pass through the dimensional discrepancy of the opposite milling tools radial direction of polishing workpiece surface needed for laser detection；
S2, robot are according to the dimensional discrepancy operation polishing track detected；
In the step S1, by laser detection dimensional discrepancy, the specific method is as follows:
S101, robot grabbing workpiece, teaching robot's program point, robot program's point include polishing starting point robot
Position, polishing end point robot location, dot laser benchmaring point robot location；
S102, by the positional value of function etc. point polishing starting point and end point of polishing, be used to it is automatic increase polishing starting point and
Several robots polishing program point between end point of polishing；
S103, pass through function instruction, multiple robots polishing program point in step S102 is calculated into offset by program and is obtained
Multiple laser detection positions detect multiple values by laser detection position respectively；
The value that S104, basis detect calculates deviation compared with the detected value of dot laser benchmaring point.
2. the robot technique for grinding optimization method according to claim 1 based on laser detection, it is characterised in that: described
Robot polishing program point in step S103 is identical with the quantity of laser detection position.
3. the robot technique for grinding optimization method according to claim 1 based on laser detection, it is characterised in that: described
In step S104, the calculated deviation is more than the threshold value of setting, and robot will call the police and stop working.
4. the robot technique for grinding optimization method according to claim 1 based on laser detection, it is characterised in that: described
In step S103, when robot polishing program point is deviated, milling tools can be compensated according to the abrasion of milling tools
Loss.
5. the robot technique for grinding optimization method according to claim 4 based on laser detection, it is characterised in that: described
The loss of migration milling tools, the specific method is as follows:
One S201, test measurement new milling tools when polishing is depleted to the limit, the dimensional discrepancy D of milling tools thickness and
The total quantity N of polishing workpiece；
S202, one workpiece consumption milling tools amount of every polishing is obtained；
S203, the position coordinates that robot polishing point is deviated by offset commands, to be compensated to milling tools loss.
6. according to claim 1,4,5 any robot technique for grinding optimization method based on laser detection, feature
Be: the milling tools is belt sander, and the belt sander is that fixed be driven by a motor on the ground connects driving wheel and driven wheel
On abrasive band transmission be ground the mechanism of object.
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| CN108555779A (en) * | 2018-04-17 | 2018-09-21 | 武汉理工大学 | A kind of polished machine contact wheel of robot abrasive band polishing system makes a concession method automatically |
| CN109176305B (en) * | 2018-09-29 | 2024-04-16 | 照亮智能装备(江门)有限公司 | Robot three-dimensional deviation correcting and positioning equipment and method |
| DE102019101017A1 (en) * | 2019-01-16 | 2020-07-16 | Harting Electric Gmbh & Co. Kg | Method and device for monitoring the status of a crimping device |
| CN109664317B (en) * | 2019-01-24 | 2022-06-14 | 深圳勇艺达机器人有限公司 | Object grabbing system and method of robot |
| CN109633609A (en) * | 2019-01-26 | 2019-04-16 | 广东利迅达机器人***股份有限公司 | A kind of axle housing polishing intelligent laser range-measurement system and its control method |
| CN111604653B (en) * | 2020-05-19 | 2021-10-01 | 安庆帝伯格茨活塞环有限公司 | Piston ring integrated forming process |
| CN113199487B (en) * | 2021-03-30 | 2022-04-01 | 武汉数字化设计与制造创新中心有限公司 | Grinding and polishing unit pose sensing method, grinding method and grinding and polishing unit |
| CN114986265B (en) * | 2022-05-31 | 2022-11-18 | 嘉兴美旺机械制造有限公司 | Intelligent control blade grinding process method and system |
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| JPS63288658A (en) * | 1987-05-21 | 1988-11-25 | Mitsubishi Electric Corp | Robot device for removing burr |
| CN201040353Y (en) * | 2007-04-13 | 2008-03-26 | 孙德亮 | Welding seam grinding machine for radiator |
| CN101462248B (en) * | 2009-01-12 | 2011-09-07 | 廊坊智通机器人***有限公司 | Method for shaping, grinding and processing abrasive band based on standard workpiece |
| JP6289980B2 (en) * | 2014-04-04 | 2018-03-07 | 株式会社ディスコ | Processing method |
| CN104858748B (en) * | 2015-05-28 | 2016-08-17 | 华中科技大学 | A kind of blade intake and exhaust limit grinding machine people's automated arm |
| CN105382660B (en) * | 2015-12-23 | 2018-06-22 | 无锡三虹重工机械设备有限公司 | A kind of weld grinding device |
| CN205685190U (en) * | 2016-06-20 | 2016-11-16 | 苏州华徕光电仪器有限公司 | A kind of single head integrated laser location polisher |
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