Robot path generation method for hub hole deburring machining

A path generation and processing path technology, applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of large number of path points, unfavorable modification, poor processing effect, etc., achieve smooth attitude transition, reduce collisions, and pose Optimized effect

Pending Publication Date: 2022-04-12
哈尔滨工业大学芜湖机器人产业技术研究院
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Problems solved by technology

[0002] When the robot deburrs the wheel hole, since the processing surface is mostly an irregular surface, manual teaching is difficult and the teaching accuracy is low; offline teaching can be performed by the offline programming system, and the processing path can be automatically generated; mature The wheel deburring processing path generated by the offline programming system has poor processing effect and is difficult to modify
[0003] The application number is

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  • Robot path generation method for hub hole deburring machining
  • Robot path generation method for hub hole deburring machining
  • Robot path generation method for hub hole deburring machining

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Embodiment Construction

[0021] The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

[0022] figure 1 It is a flowchart of a robot path generation method for wheel hub hole deburring provided by an embodiment of the present invention. The method specifically includes the following steps:

[0023] S1. Import the hub image into the OpenCASCADE software, select the hub hole to be deburred, generate the deburring processing path corresponding to the side of the wheel hole, put it into the path set {P}, and generate a deburring process for each side of the wheel hole The deburring processing path and the deburring processing path are composed of discrete path point sequences;

[0024] S2. Segment the deburring processin...

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Abstract

The invention discloses a robot path generation method for hub wheel hole deburring machining, which comprises the following steps: S1, importing a hub image into OpenCASCADE software, selecting a hub wheel hole to be deburred, generating a deburring machining path corresponding to the side surface of the hub wheel hole, and putting the deburring machining path into a path set {P}; s2, a deburring machining path in the path set {P} is segmented into a plurality of road sections, and the road sections are sequentially put into a road section set {Pn}; and S3, sequentially extracting road sections in the road section set {Pn}, and performing pose optimization on the discrete waypoint sequence of the extracted road sections. By means of the path optimization method, the finally obtained hub hole side face machining points can be well attached to the surface of the model, the posture transition is smooth, the number of the machining points is relatively small, in addition, the poses of the path points (machining points) are optimized, and the situation that an end executor of a robot collides with the machining face is greatly reduced.

Description

technical field [0001] The invention belongs to the technical field of path generation, and more specifically, the invention relates to a robot path generation method for deburring processing of hub wheel holes. Background technique [0002] When the robot deburrs the wheel hole, since the processing surface is mostly an irregular surface, manual teaching is difficult and the teaching accuracy is low; offline teaching can be performed by the offline programming system, and the processing path can be automatically generated; mature The wheel deburring process path generated by the offline programming system has poor processing effect and is difficult to modify. [0003] The application number is 201911395836.5, which is a production method of robot hub deburring teaching point coordinates, based on the discrete deburring processing path points directly generated by the hub wheel hole model. In order to make the trajectory better fit the model surface, the path is measured Th...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/16
Inventor 刘志恒曹雏清赵立军
Owner 哈尔滨工业大学芜湖机器人产业技术研究院
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