Tool edge sharpening method for six-axis mechanical arm with force control function based on machine vision

Abstract

The invention provides a tool edge sharpening method for a six-axis mechanical arm with a force control function based on machine vision. The tool edge sharpening method comprises the steps that preparing work is conducted; a camera is calibrated; a tool is fixed to the tail end of a six-axis robot, the calibrated camera is used for shooting a tool image and structure light projection information,point cloud data of the tool in a camera coordinate system are obtained, data of a point cloud subset is subjected to smoothing treatment, and the point cloud data obtained after smoothing treatmentare mapped into a tail end coordinate system of the six-axis robot; a grinding tool coordinate system is defined and calibrated, the relative posture relation when the point cloud data make contact with a grinding tool is determined, then, the posture relation is converted into the robot tail end coordinate system, the track of the six-axis robot is generated, the six-axis robot is used for starting force control and running the above generated track according to the set force control parameters, and tool edge sharpening is achieved. According to the tool edge sharpening method, the achievingcost is low, the error between the tool and a CAD file of the tool can be well offset, and a stable and good edge sharpening effect is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a tool sharpening method based on machine vision and a six-axis mechanical arm with a force control function. Background technique [0002] At present, most of the sharpening work of knives still relies on manual labor, especially when sharpening has special technical requirements for grinding methods and tools. However, with the rise of labor costs, the demand for automatic cutting tools is also increasing. In order to realize automatic sharpening, the sharpening trajectory is an important step that must be realized. Here the sharpening track refers to the contact mode between the tool and the grinding tool during the sharpening process. [0003] At present, there are mainly three kinds of automatic sharpening systems for specific knives and grinding processes: [0004] 1. The blade-sharpening mechanism for specific knives, for example, patent CN106271915A proposes ...

AI Technical Summary

Problems solved by technology

However, this method mainly has the following disadvantages: 1. The offline programming software is expensive and the cost is relatively high

2. The actual tool and the tool described in the CAD file are not exactly the same due to the machining error. When the error is greater than a certain range, it is impossible to achieve precise cutting

3. When the robot does not have force control, the contact force between the tool and the grinding tool cannot be controlled, so that stable cutting cannot be achieved

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