Grinding and polishing industrial robot offline programming method based on workpiece three-dimensional graph

Abstract

The invention relates to an off-line programming method for grinding and polishing industrial robots based on the three-dimensional graphics of workpieces. Through the workpiece calibration module, the homogeneous transformation matrix W of the spatial position and orientation of the workpiece coordinate system OW in the robot base coordinate system OBase is obtained through calibration; through the three-dimensional workpiece The graphics processing module discretizes the grinding and polishing path into several spatial points, outputs the three-dimensional coordinate information of each spatial point, and calculates several spatial pose homogeneous transformation matrices defined in the workpiece coordinate system OW on the grinding and polishing path of the workpiece surface R; through the tool calibration module, establish the tool end coordinate system OT at the contact position between the robot tool end and the workpiece, and calibrate to obtain the space pose homogeneous transformation matrix T of the tool end coordinate system OT in the robot base coordinate system OBase, to realize The robot is programmed offline. The invention has the beneficial effect of simplifying the off-line programming process of the grinding and polishing industrial robot without relying on off-line programming software of the robot.

Description

technical field [0001] The invention relates to the field of workpiece grinding and polishing control, in particular to an off-line programming method for grinding and polishing industrial robots based on three-dimensional graphics of workpieces. Background technique [0002] Currently, automation based on industrial robots is the best solution for both productivity and adaptability. It has been widely used in aerospace, automobile, mechanical processing and manufacturing, electronic and electrical, food production and other industrial fields. Among them, in mechanical processing and manufacturing, welding (including spot welding, arc welding), painting, assembly and handling have been studied for a long time. It has become very mature and plays an increasingly important role in practical applications. The application of robots in the field of grinding and polishing is emerging and developing rapidly. At present, it has been applied to aircraft windows made of plexiglass, t...

AI Technical Summary

Problems solved by technology

[0005] (1) Occupying the working hours of robots and automated production lines, production cannot be carried out until the program is finally compiled;

[0006] (2) The online programming takes a long time. Take the robot sand throwing system for grinding and polishing a certain type of faucet as an example. A skilled robot operator has written more than 800 programs in online programming, which takes about four working days, and the entire program runs in a cycle. The cycle only takes 2 minutes, and the programming time is about three thousand times the program running time;

[0007] (3) Uniformity and non-reusability: The obtained program is not easy to modify. Once the workpiece or any device in the work unit changes, the program is not applicable and needs to be reprogrammed, lacking flexibility

As for the variety of tools and the singleness of the working environment, the program obtained by online programming is only applicable to the working environment with a single variety and the same conditions;

[0008] (4) The quality of the program depends greatly on the operator, and the grinding and polishing effect mainly depends on visual inspection, which requires high grinding and polishing technology for the teaching staff;

[0009] (5) Online programming is independent of CAD, and it is not easy to realize automation and intelligence of manufacturing;

[0011] (7) Long-term experiments and tests are required;

This method needs to generate programs in the robot offline programming software, that is to say, the realization of this method needs to rely on the robot offline programming software. The offline programming software is divided into general offline programming software and robot manufacturer supporting offline programming software. Operators have certain requirements, and the off-line programming software provided by robot manufacturers is only for their own robots, which has certain limitations

Images