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Optimal processing space selection method for three-dimensional stone carving processing

A stone carving and three-dimensional technology, which is applied in the new field of robotic stone carving and processing, can solve the problems affecting the processing efficiency and processing accuracy of stone carving, and achieve the effect of improving processing efficiency and processing accuracy.

Active Publication Date: 2019-11-26
HUAQIAO UNIVERSITY
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Problems solved by technology

As a result, processing errors are introduced, which affects the processing efficiency and processing accuracy of stone carvings.

Method used

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  • Optimal processing space selection method for three-dimensional stone carving processing
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  • Optimal processing space selection method for three-dimensional stone carving processing

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Embodiment Construction

[0026] The present invention will be further described below through specific embodiments.

[0027] An optimal processing space selection method for three-dimensional stone carving processing, which is applied in a three-dimensional stone carving robot processing system. The three-dimensional stone carving robot processing system is divided into three parts: KUKA KR240-2900 robot, HSD electric spindle and special diamond tool for stone carving. In actual processing, the three-dimensional stone carving robot processing system walks down the glyph trajectory layer by layer, which can be regarded as processing at different z-direction heights in the operating space.

[0028] Including the following steps:

[0029] 1) All joint axes are set as revolving joints, and the system kinematics parameter model is established by using the D-H parameter method. The coordinate system of each connecting rod of the robot is as follows: figure 1 shown, according to figure 1 The processing pos...

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Abstract

The invention relates to an optimal processing space selection method for three-dimensional stone carving processing. With the adoption of the method, processing efficiency and processing precision ofa three-dimensional stone carving robot processing system are improved. The method comprises steps as follows: a three-dimensional stone carving robot processing system kinematic model is establishedwith a D-H parameter method, and a jacobian matrix of the system is derived; a computing method of dexterity of any point in the work space of the system is derived on the basis of jacobian matrix Frobenius norms of the three-dimensional stone carving robot processing system; the work space for the three-dimensional stone carving robot with the optimal dexterity is selected with a Dijkstra algorithm according to the dexterity optimization principle, and theoretical guidance basis is provided for the placing location of a stone carving workpiece blank on a working table. According to the technical scheme in the embodiment of the invention, the processing efficiency and the processing precision of three-dimensional stone carving workpiece robot processing can be improved.

Description

technical field [0001] The invention relates to the field of new technologies for robot stone carving processing, in particular to a method for selecting an optimal processing space for three-dimensional stone carving processing. Background technique [0002] In recent years, the three-dimensional stone carving robot processing system with high-load robots as the main body, the end effector as the electric spindle, and diamond grinding tools for stone processing has become a new development trend of three-dimensional stone carving processing. Because the system can realize arbitrary transformation of position and posture in three-dimensional space, it has shown incomparable advantages in terms of workpiece size, processing efficiency and modeling flexibility, which are incomparable to existing stone CNC machining centers. For the three-dimensional stone carving robot processing system, due to the interference between the adjacent connecting rods of the robot, the reachable p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B44B1/00B44C3/06
CPCB44B1/00B44C3/06
Inventor 尹方辰王柴志余刘齐宋宁宁
Owner HUAQIAO UNIVERSITY
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