Path planning method and system of grinding and polishing robot based on curved surface repairing

Abstract

The invention provides a path planning method of a grinding and polishing robot based on curved surface repairing. The path planning method comprises the following steps that a complex curved surfaceis reconstructed to obtain a geometric model file of the complex curved surface; the curved surface is repaired to obtain a minimum quadrilateral curved surface capable of containing the curved surface; a path spacing value is selected according to the surface roughness requirement; a quadrilateral mapping grid is generated on the quadrilateral curved surface, and each grid node is taken as a polishing path point to generate a z-shaped polishing path; and deletion operation is performed on the grid nodes, and path points which belong to the quadrilateral curved surface but do not belong to theoriginal free curved surface are deleted to obtain a final polishing path schematic diagram. The invention further provides a path planning system of the grinding and polishing robot based on curvedsurface repairing.

Description

technical field [0001] The invention relates to the field of robot grinding and polishing, in particular to a path planning method and system for a grinding and polishing robot based on curved surface repair. Background technique [0002] Path planning in industrial settings is usually generated by operators using teaching methods based on experience. In recent years, with the further development of science and technology, a large number of parts with complex shapes have appeared in robot grinding and polishing applications. The increase in the complexity of parts has made it difficult for traditional manual teaching methods to ensure the roughness requirements of grinding and polishing. [0003] At present, most of the grinding and polishing applications in the industrial environment are programmed by manual teaching method, that is, the operator uses the teaching pendant to operate the polishing robot to reach multiple positions on the free-form surface in sequence, and re...

AI Technical Summary

Problems solved by technology

Since the manual teaching method cannot accurately know the position of the surface point of the free-form surface, the position of the point is usually estimated according to the experience of the operator in the process of manual teaching. This method of point selection lacks a mathematical basis and is likely to cause a large The deviation of the path curve leads to repeated grinding and missing grinding of the grinding equipment on the surface of complex curved parts, which seriously affects the surface roughness of the workpiece

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