CN112318226A - Method for polishing surface of circular workpiece - Google Patents
Method for polishing surface of circular workpiece Download PDFInfo
- Publication number
- CN112318226A CN112318226A CN202011205152.7A CN202011205152A CN112318226A CN 112318226 A CN112318226 A CN 112318226A CN 202011205152 A CN202011205152 A CN 202011205152A CN 112318226 A CN112318226 A CN 112318226A
- Authority
- CN
- China
- Prior art keywords
- robot
- workpiece
- polishing
- data
- vision sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/02—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work
- B24B5/04—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces externally
-
- 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
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a method for polishing the surface of a round workpiece, which comprises the following steps: s1, teaching a scanning track; s2, calibrating the robot and the vision sensor; s3, collecting data: when the robot carries the visual sensor to scan the workpiece, the robot and the visual sensor transmit data to a computer in the same time period, and the data transmitted by the visual sensor comprises the currently scanned workpiece contour data; s4, acquiring edge points of the workpiece; s5, reconstructing a three-dimensional point cloud of the workpiece; and S6, grinding. According to the method for polishing the surface of the circular workpiece, disclosed by the invention, the linear structured light sensor is used for scanning, the nonlinear reconstruction of the surface of the curve contour is realized, each contour line is used for calculating and positioning the edge contour point, and the accurate positioning and polishing of the workpiece contour can be realized through point cloud reconstruction, so that the workpiece polishing quality is improved.
Description
Technical Field
The invention belongs to the technical field of polishing, and particularly relates to a method for polishing the surface of a circular workpiece.
Background
Various special-shaped parts are often polished in an industrial field, if manual polishing is adopted, the process is time-consuming and labor-consuming, and the polishing precision can not be guaranteed. Thus, the prior art has emerged as a fully automated sanding system based on machine vision.
The linear structured light vision sensor adopted by the existing full-automatic grinding system can only position the outline position of a workpiece, and the outline posture of the workpiece cannot be given.
When the linear structured light type vision sensor scans a workpiece, the time axis direction of the linear structured light type vision sensor cannot be the same as the actual movement direction, and when the linear structured light type vision sensor is fixed in point cloud reconstruction, the appearance shape of the workpiece in the point cloud has certain distortion (deformation exists in the shape). The line structured light vision sensor can only transmit one group of data each time, the scanning result is N groups of linear data combinations, each group of data has no necessary relation, in order to reconstruct three-dimensional information, accurate interval relation needs to be established between each group of data and other data, and if the interval relation is established incorrectly, a certain error exists in the size of a workpiece in the reconstructed point cloud (the size of the workpiece has a large error). And the robot moves along an arc line, so that the feeding depth, the polishing height and the polishing posture are difficult to control when the workpiece is polished.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a method for polishing the surface of a round workpiece, and aims to improve the polishing quality of the workpiece.
In order to achieve the purpose, the invention adopts the technical scheme that: the method for polishing the surface of the round workpiece comprises the following steps:
s1, teaching a scanning track: the vision sensor is arranged at the tail end of the robot, the scanning motion track of the vision sensor is taught in a robot base coordinate system, and the vision sensor is a linear structured light sensor;
s2, calibrating the robot and the vision sensor;
s3, collecting data: when the robot carries the visual sensor to scan the workpiece, the robot and the visual sensor transmit data to a computer in the same time period, and the data transmitted by the visual sensor comprises the currently scanned workpiece contour data;
s4, acquiring edge points of the workpiece;
s5, reconstructing a three-dimensional point cloud of the workpiece;
and S6, grinding.
In step S1, a scanning motion trajectory of which a straight line or an arc is a visual sensor is taught in the robot base coordinate system.
In step S2, when the robot is in a fixed posture, a set of points P ═ P is obtained from the laser profile plane emitted by the vision sensor1，p2，p3，Λ，pnSequentially teaching and acquiring a coordinate position Q (Q) of the group of points under a robot base coordinate system by the robot1，q2，q3，Λ，qnThen passes through a calibration formula
Solve to obtain a transformation matrix
In step S3, the robot and the vision sensor transmit data to the computer at the same interval Δ t, and the data transmitted by the robot includes the position and the posture of the current flange tool coordinate system of the robot at each interval Δ t.
In the step S4, the vision sensor transmits N sets of data to the computer, the workpiece profile of each set of data only has x and z axial data amounts, linear or curve fitting of xz plane points is performed on each set of data, and the fitting manner adopts a least square manner; and performing intersection calculation by using the straight line or the curve obtained by fitting, and saving real edge points and removing useless intersection points under the condition of comparing with the actual condition.
In the step S5, the three-dimensional point cloud is reconstructed according to the data transmitted to the computer by the robot and the vision sensor, the normal directions of the points on each group of contours are calculated after reconstruction, the calculated edge points are used as positioning points, and the two positioning normal directions are used as the local postures of the workpiece, so as to calculate the feed amount of the grinding tool.
In step S6, the number of the scanning profiles of the vision sensor is the same each time, and after polishing once, the data before polishing is compared with the data after polishing, and the error generated during polishing is determined, and meanwhile, corresponding correction is made on the basis of the existing error.
According to the method for polishing the surface of the circular workpiece, disclosed by the invention, the linear structured light sensor is used for scanning, the appearance contour reconstruction of the workpiece can be realized, each contour line is used for calculating and positioning the edge contour point, and the accurate positioning and polishing of the contour of the workpiece can be realized through reconstructing point cloud, so that the polishing quality of the workpiece is improved.
Drawings
The description includes the following figures, the contents shown are respectively:
FIG. 1 is a flow chart of the method of polishing the surface of a circular workpiece according to the present invention;
FIG. 2 is a schematic diagram of a calibration process;
FIG. 3 is a schematic diagram of the difference between the direction of motion and the sensor time axis;
FIG. 4 is a schematic diagram of the acquisition profile fitting;
fig. 5 is a schematic view of the attitude orientation of the profile.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
As shown in fig. 1, the present invention provides a method for polishing the surface of a circular workpiece, comprising the following steps:
s1, teaching a scanning track: the vision sensor is arranged at the tail end of the robot, the scanning motion track of the vision sensor is taught in a robot base coordinate system, and the vision sensor is a linear structured light sensor;
s2, calibrating the robot and the vision sensor;
s3, collecting data: when the robot carries the visual sensor to scan the workpiece, the robot and the visual sensor transmit data to a computer in the same time period, and the data transmitted by the visual sensor comprises the currently scanned workpiece contour data;
s4, acquiring edge points of the workpiece;
s5, reconstructing a three-dimensional point cloud of the workpiece;
and S6, grinding.
Specifically, in step S1, a scanning movement locus in which a straight line or an arc is a visual sensor is taught in the robot coordinate system.
In the above step S2, when the robot is in a fixed posture, a set of points P ═ P is obtained from the laser profile plane emitted from the vision sensor1，p2，p3，Λ，pnSequentially teaching and acquiring a coordinate position Q (Q) of the group of points under a robot base coordinate system by the robot1，q2，q3，Λ，qnThen passes through a calibration formula
Solve to obtain a transformation matrix
(
The method comprises the following steps of (1) solving a conversion relation between a vision sensor and a robot flange tool coordinate system; for the translation relationship between the robot flange tool coordinate system and the robot base coordinate system, which can read the relevant parameters in the robot teach pendant).
In step S3, when the robot scans with the vision sensor, the robot and the vision sensor transmit data to the computer in the same time period, where the intervals Δ t of the transmitted data are the same, the data transmitted by the robot includes the position and the posture of the current flange tool coordinate system of the robot at each interval Δ t, and the data transmitted by the vision sensor includes the contour data of the workpiece currently scanned.
In the step S4, the vision sensor transmits N sets of data to the computer, where the workpiece profile of each set of data has only x and z axial data amounts, and performs a straight line or curve fitting of xz plane points for each set of data, where the fitting manner adopts a least square manner; and performing intersection calculation by using the straight line or the curve obtained by fitting, and saving real edge points and removing useless intersection points under the condition of comparing with the actual condition.
In the step S5, the three-dimensional point cloud is reconstructed according to the data transmitted to the computer by the robot and the vision sensor, the normal directions of the points on each group of contours are calculated after reconstruction, the calculated edge points are used as positioning points, the two positioning normal directions are used as the local postures of the workpiece, and the feeding amount of the grinding tool is calculated.
In the step S6, the number of the scanning contours of the vision sensor is the same every time, and after the surface of the workpiece is polished once, the data before polishing is compared with the data after polishing, so as to determine the error generated during polishing, and correct the error correspondingly on the basis of the error.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (7)
1. The method for polishing the surface of the circular workpiece is characterized by comprising the following steps of:
s1, teaching a scanning track: the vision sensor is arranged at the tail end of the robot, the scanning motion track of the vision sensor is taught in a robot base coordinate system, and the vision sensor is a linear structured light sensor;
s2, calibrating the robot and the vision sensor;
s3, collecting data: when the robot carries the visual sensor to scan the workpiece, the robot and the visual sensor transmit data to a computer in the same time period, and the data transmitted by the visual sensor comprises the currently scanned workpiece contour data;
s4, acquiring edge points of the workpiece;
s5, reconstructing a three-dimensional point cloud of the workpiece;
and S6, grinding.
2. A method for grinding the surface of a circular workpiece according to claim 1, characterized in that in step S1, a linear or arc is taught as the scanning motion track of the vision sensor in the robot base coordinate system.
3. The method for polishing the surface of a circular workpiece according to claim 1 or 2, wherein in step S2, when the robot is in a fixed posture, a set of points P ═ { P } is obtained from the laser profile plane emitted from the vision sensor1，p2，p3，Λ，pnSequentially teaching and acquiring a coordinate position Q (Q) of the group of points under a robot base coordinate system by the robot1，q2，q3，Λ，qnThen passes through a calibration formula
Solve to obtain a transformation matrix
4. A method for polishing the surface of a circular workpiece according to any one of claims 1 to 3, wherein in step S3, the robot and the vision sensor transmit data to the computer at the same interval Δ t, and the data transmitted by the robot includes the position and attitude of the current flange tool coordinate system of the robot at each interval Δ t.
5. The method for polishing the surface of a circular workpiece according to any one of claims 1 to 4, wherein in the step S4, the vision sensor transmits N groups of data to the computer, the workpiece profile of each group of data only has data amount in x and z axial directions, and linear or curve fitting is performed on xz plane points for each group of data, and the fitting mode adopts a least square mode; and performing intersection calculation by using the straight line or the curve obtained by fitting, and saving real edge points and removing useless intersection points under the condition of comparing with the actual condition.
6. The method for polishing the surface of a circular workpiece according to claim 5, wherein in step S5, the reconstruction of the three-dimensional point cloud is performed according to the data transmitted to the computer by the robot and the vision sensor, the normal direction of the points on each set of contour is calculated after the reconstruction, the feed amount of the polishing tool is calculated by using the calculated edge point as the positioning point and the two positioning normal directions as the local pose of the workpiece.
7. The method for polishing the surface of a circular workpiece according to any one of claims 1 to 6, wherein in step S6, the number of the visual sensor scanning the contour is consistent every time, after polishing once, the data before polishing is compared with the data after polishing to judge the error generated during polishing, and meanwhile, corresponding correction is made on the basis of the error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011205152.7A CN112318226A (en) | 2020-11-02 | 2020-11-02 | Method for polishing surface of circular workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011205152.7A CN112318226A (en) | 2020-11-02 | 2020-11-02 | Method for polishing surface of circular workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112318226A true CN112318226A (en) | 2021-02-05 |
Family
ID=74324336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011205152.7A Pending CN112318226A (en) | 2020-11-02 | 2020-11-02 | Method for polishing surface of circular workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112318226A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115351708A (en) * | 2022-09-28 | 2022-11-18 | 江苏玖通印刷有限责任公司 | Polishing method for finish machining of workpiece |
| CN117900917A (en) * | 2024-03-19 | 2024-04-19 | 中船黄埔文冲船舶有限公司 | Polishing track discretization method, polishing track discretization system, polishing track discretization terminal and readable storage medium |
| CN117900917B (en) * | 2024-03-19 | 2024-07-09 | 中船黄埔文冲船舶有限公司 | Polishing track discretization method, polishing track discretization system, polishing track discretization terminal and readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127755A (en) * | 2017-05-12 | 2017-09-05 | 华南理工大学 | A kind of real-time acquisition device and robot polishing method for planning track of three-dimensional point cloud |
| CN108182689A (en) * | 2016-12-08 | 2018-06-19 | 中国科学院沈阳自动化研究所 | The plate workpiece three-dimensional recognition positioning method in polishing field is carried applied to robot |
| KR20180078097A (en) * | 2016-12-29 | 2018-07-09 | 대우조선해양 주식회사 | Method for recognizing touch teaching point of workpiece using point cloud analysis |
-
2020
- 2020-11-02 CN CN202011205152.7A patent/CN112318226A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108182689A (en) * | 2016-12-08 | 2018-06-19 | 中国科学院沈阳自动化研究所 | The plate workpiece three-dimensional recognition positioning method in polishing field is carried applied to robot |
| KR20180078097A (en) * | 2016-12-29 | 2018-07-09 | 대우조선해양 주식회사 | Method for recognizing touch teaching point of workpiece using point cloud analysis |
| CN107127755A (en) * | 2017-05-12 | 2017-09-05 | 华南理工大学 | A kind of real-time acquisition device and robot polishing method for planning track of three-dimensional point cloud |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115351708A (en) * | 2022-09-28 | 2022-11-18 | 江苏玖通印刷有限责任公司 | Polishing method for finish machining of workpiece |
| CN117900917A (en) * | 2024-03-19 | 2024-04-19 | 中船黄埔文冲船舶有限公司 | Polishing track discretization method, polishing track discretization system, polishing track discretization terminal and readable storage medium |
| CN117900917B (en) * | 2024-03-19 | 2024-07-09 | 中船黄埔文冲船舶有限公司 | Polishing track discretization method, polishing track discretization system, polishing track discretization terminal and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107127755B (en) | Real-time acquisition device of three-dimensional point cloud and robot polishing track planning method | |
| CN110091333B (en) | Device and method for identifying and automatically grinding and polishing weld joint features on surface of complex curved surface | |
| CN112223293B (en) | Online grinding method of welding line grinding and polishing robot | |
| CN107378324B (en) | Welding system and method for special-shaped workpiece based on visual extraction | |
| CN110906863B (en) | Hand-eye calibration system and calibration method for line-structured light sensor | |
| CN105014679A (en) | Robot hand and eye calibrating method based on scanner | |
| CN112223294A (en) | Mechanical arm machining track correction method based on three-dimensional vision | |
| CN109781164B (en) | Static calibration method of line laser sensor | |
| CN109848989B (en) | Robot execution tail end automatic calibration and detection method based on ruby probe | |
| CN109648202B (en) | Additive manufacturing forming precision control method for non-flat surface autonomous recognition robot | |
| CN111496344B (en) | V-shaped groove information processing method based on laser sensor | |
| CN109623822B (en) | Robot hand-eye calibration method | |
| CN110171000B (en) | Groove cutting method, device and control equipment | |
| CN111085902B (en) | Workpiece polishing system for visual online detection and correction | |
| CN112223292A (en) | Online grinding system of structural member welding seam intelligent grinding and polishing robot | |
| CN110625590A (en) | Digital accurate scribing method for product to be processed | |
| CN116551048A (en) | Geometric self-adaptive machining equipment and method | |
| CN114115123A (en) | Parameterized numerical control machining method and system for large-scale aviation thin-wall non-rigid part | |
| CN111546330A (en) | Automatic calibration method for coordinate system of chemical part | |
| CN112318226A (en) | Method for polishing surface of circular workpiece | |
| CN110153582B (en) | Welding scheme generation method and device and welding system | |
| CN116276328A (en) | Robot polishing track optimization method based on digital twin and visual transmission technology | |
| CN109530984A (en) | Vision positioning welding and assembling method | |
| CN116402792A (en) | Space hole site butt joint method based on three-dimensional point cloud | |
| CN113223071B (en) | Workpiece weld joint positioning method based on point cloud reconstruction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210205 |
|
| RJ01 | Rejection of invention patent application after publication |