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An offline programming method for robotic free-form workpiece grinding based on vtk

An off-line programming, surface workpiece technology, applied in the direction of comprehensive factory control, instruments, simulators, etc., can solve the problems of unclear selection of grinding point spline curve, external import of grinding point data, and no support for other workpiece model formats. , to achieve the effect of good human-computer interaction, satisfying modeling versatility, and simple and practical operation.

Active Publication Date: 2022-07-08
NANJING INST OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Mao Lina and others published the article "Off-line Programming and Simulation System Design of Clamping Workpiece Grinding Robot" on Machine Tools and Hydraulics, 2017, 45(15): 60-63,112, which was based on MFC framework and OpenGL graphics library interface to build a robot offline programming simulation system. The robot grinding trajectory can be generated by layering and slicing based on the workpiece model STL file, but the disadvantage is that it does not yet support other workpiece model formats other than STL
[0008] To sum up, the first type of method has insufficient versatility, and the second type of method has inherent defects of poor human-computer interaction and insufficient flexibility of independent development
The third type of method adopts an open interactive simulation environment to realize independent research and development, which effectively overcomes the shortcomings of the first two types of methods. The model format is single, the grinding point data depends on external import, and the selection method of the grinding point spline curve is not clear, etc. Technical problems

Method used

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  • An offline programming method for robotic free-form workpiece grinding based on vtk
  • An offline programming method for robotic free-form workpiece grinding based on vtk
  • An offline programming method for robotic free-form workpiece grinding based on vtk

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Experimental program
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Effect test

Embodiment 1

[0096] In order to verify the specific implementation of the present invention, a grinding system constructed by a Guangzhou CNC GSK_RB20 six-degree-of-freedom industrial robot and an abrasive belt machine is used for experiments. The holding device is installed at the end of the industrial robot, and the industrial robot drives the workpiece to be ground on the grinding wheel working surface of the belt sander. The unit of each coordinate data shown below is mm.

[0097] According to the attached figure 1 Described implementation steps flow chart, implementation steps are as follows:

[0098] Step (1): Import the 3D model of the grinding system and lay it out in the offline programming environment. In order to complete the layout, the workpiece and tool are calibrated according to the actual pose relationship between the robot, the belt grinder and the workpiece. According to the calibration results, we get:

[0099] The position and attitude relationship matrix of the wor...

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Abstract

The invention discloses a VTK-based offline programming method for robotic free-form surface workpiece grinding, comprising the following steps: importing a three-dimensional model of a workpiece grinding system; determining the intersection curve of the surface to be ground; extracting the position and attitude of grinding planning nodes; grinding Trajectory planning; robot motion simulation; generating robot motion program code. The invention integrates the visual development library VTK technology into the robot offline programming system developed based on the VC++ platform of Visual Studio. The invention provides a VTK-based free-form surface grinding path node position and attitude extraction method. In this case, the grinding track can be generated only by the mouse pick operation, without the need for tedious external data calculation and import process, the human-computer interaction is good, and the required grinding robot program can be quickly generated.

Description

technical field [0001] The invention belongs to the technical field of industrial robot workpiece grinding, and in particular relates to a VTK-based offline programming method for robotic free-form surface workpiece grinding. Background technique [0002] In the field of industrial grinding, due to product quality and process requirements, a large number of workpieces such as steam turbine blades, sanitary ware, titanium alloy stationery and other surfaces often present free-form surfaces with irregular bending and twisting changes. The surface grinding process puts forward high requirements, so that neither manual grinding nor special mechanical methods can meet the demand. The working environment of manual grinding is harsh and labor-intensive, which seriously threatens the physical and mental health of personnel, and it is difficult to ensure the consistency of surface machining accuracy and product quality. However, special grinding machines are only suitable for mass p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/4093
CPCG05B19/40937G05B2219/32161Y02P90/02
Inventor 王保升单忠德洪磊潘婷邢红辉
Owner NANJING INST OF TECH
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