Force-controlled cutting control method and system for environmentally friendly robot that saves grinding consumables

Abstract

The present invention discloses a force-controlled cutting control method and system for an environmentally friendly robot that saves grinding consumables, which relates to the field of water-saving control technology, including: obtaining the initial shape of a workpiece and constructing an initial three-dimensional model of the workpiece; constructing a target three-dimensional model of the workpiece; determining the workpiece grinding path based on the initial three-dimensional model of the workpiece and the target three-dimensional model of the workpiece; obtaining the position of the grinding tool during grinding in real time, and judging whether the grinding tool is on the grinding path, and if so, intelligently adjusting the grinding coolant flow rate based on the grinding amount at the next moment of grinding, and regulating the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment. The advantage of the present invention is that the force control model of this scheme can accurately regulate the grinding force control parameters, so that the error between the actual pressure of the grinding tool and the workpiece and the grinding required pressure is reduced, thereby effectively ensuring the accuracy of the grinding force control and improving the grinding efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of water-saving control, and in particular to a force-controlled cutting control method and system for an environmentally friendly robot that saves grinding consumables. Background Art

[0002] Grinding is a machining process that uses abrasive tools, such as grinding wheels and oilstones, to grind the surface of a workpiece. The basic principle is to remove material from the workpiece surface through friction, scoring, and scraping between the abrasive tool and the workpiece surface to achieve the desired size, shape, and surface quality.

[0003] During the grinding process, the pressure on the workpiece will directly affect its surface quality. If the pressure is too high, it will cause defects such as excessive wear, deformation or cracks on the workpiece surface, thereby reducing the accuracy and surface roughness of the workpiece. On the contrary, if the pressure is too low, it may lead to reduced grinding efficiency and increased loss of grinding consumables such as coolant and grinding tools. Due to the lack of adaptive and precise control of the grinding process in traditional grinding processes, there are problems such as unstable workpiece surface quality and low processing efficiency caused by improper pressure control. Therefore, designing an efficient and precise grinding force control system is of great significance for improving grinding quality, increasing production efficiency and reducing costs. Summary of the Invention

[0004] In order to solve the above technical problems, a force-controlled cutting control method and system for an environmentally friendly robot that saves grinding consumables is provided. This technical solution solves the problems of unstable workpiece surface quality and low processing efficiency caused by improper pressure control in the above-mentioned traditional grinding process due to the lack of adaptive and precise control of the grinding process.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] A force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables comprises:

[0007] Obtain the initial shape of the workpiece and construct an initial three-dimensional model of the workpiece;

[0008] Obtain the final shape of the workpiece after grinding and construct a three-dimensional model of the workpiece target;

[0009] Determining a workpiece grinding path based on the initial three-dimensional model of the workpiece and the target three-dimensional model of the workpiece, wherein the workpiece grinding path includes a grinding line and a grinding amount at each point on the grinding line;

[0010] The position of the grinding tool during grinding is obtained in real time, and it is determined whether the grinding tool is on the grinding path. If so, the grinding coolant flow is intelligently adjusted based on the grinding amount at the next moment, and the grinding force control parameters are adjusted based on the grinding coolant flow and the grinding amount at the next moment. If not, a termination signal is output to the central control system.

[0011] Preferably, determining the workpiece grinding path based on the initial three-dimensional model of the workpiece and the target three-dimensional model of the workpiece specifically includes:

[0012] The polished 3D model is obtained by subtracting the initial 3D model of the workpiece from the target 3D model of the workpiece;

[0013] The polished three-dimensional model is divided into equal intervals on a horizontal plane to obtain at least one polished slice;

[0014] Each grinding slice corresponds to a grinding path;

[0015] Get the height of each polished slice;

[0016] Fitting the edge of the polished slice to obtain a slice fitting function, and pairing the slice fitting function with the height of the polished slice;

[0017] According to the slice fitting function, the first tangent equation of each point on the edge of the polished slice is obtained;

[0018] Obtaining a first normal line equation for each point on the edge of the polished slice according to the first tangent line equation, wherein the straight line corresponding to the first normal line equation is perpendicular to the straight line corresponding to the first tangent line equation;

[0019] The distance between the two intersection points of the straight line corresponding to the first normal equation and the polished slice is used as a preset cutting depth, and the radius of the first cutting range circle generated by the rotation of the polishing tool is obtained. The radius of the first cutting range circle is subtracted from the preset cutting depth to obtain a first cutting distance between the center of the first cutting range circle and the cutting surface, wherein the cutting surface is a plane passing through the first tangent equation and parallel to the edge point of the polished slice;

[0020] On the straight line corresponding to the first normal line equation, a point whose distance from the straight line corresponding to the first tangent line equation is the first cutting spacing is obtained as a grinding path fitting point;

[0021] According to at least one grinding path fitting point, a grinding path fitting function is obtained by fitting, the grinding path fitting function is paired with the height of the grinding slice, the grinding slice thickness of each point on the grinding path is determined, and the grinding amount at each point position on the grinding line is determined based on the thickness of the grinding three-dimensional model.

[0022] Preferably, the intelligent adjustment of the grinding coolant flow rate based on the grinding amount at the next grinding moment specifically includes:

[0023] Construct the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time;

[0024] Acquire grinding data of the machine tool, and determine a standard grinding pressure of the machine tool based on the grinding data of the machine tool;

[0025] Based on the standard grinding pressure of the machine tool, determine the standard grinding amount per unit time of the machine tool;

[0026] Determine the correlation function between grinding volume and flushing flow rate;

[0027] Determine the standard coolant flow rate based on the standard grinding amount per unit time of the machine tool;

[0028] Determine the polishing slice corresponding to the current polishing stage, which is recorded as the real-time polishing slice;

[0029] Determine whether the real-time remaining thickness of the grinding slice at the position of the grinding tool is greater than the standard grinding amount per unit time of the machine tool. If so, flushing is performed for the next unit time according to the standard coolant flow rate. If not, the real-time remaining thickness of the grinding slice is substituted into the correlation function between the grinding amount and the flushing flow rate to inversely solve the real-time coolant flow rate, and flushing is performed for the next unit time according to the real-time coolant flow rate.

[0030] Preferably, the construction of the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time specifically includes:

[0031] Select a sample workpiece;

[0032] Grinding a sample workpiece with a grinding tool using different pressing pressures to obtain several sets of pressing pressure-unit time grinding amount arrays;

[0033] Divide several groups of pressing pressure-unit time grinding amount arrays into sample groups and verification groups;

[0034] A plane rectangular coordinate system is constructed with the grinding amount per unit time as the vertical axis and the pressing pressure as the horizontal axis;

[0035] Marking a sample group in a plane rectangular coordinate system and calling at least one sample function for fitting;

[0036] Calculate the regression coefficient of determination for each sample function based on the validation group, and determine the sample function with the smallest regression coefficient of determination as the correlation function between the pressing pressure of the grinding tool and the grinding amount per unit time;

[0037] The calculation formula of the regression determination coefficient is: ,

[0038] Where, is the regression determination coefficient;

[0039] RSS is the residual sum of squares of the sample function;

[0040] TSS is the total sum of squares of the sample function.

[0041] Preferably, the correlation function between the grinding amount and the flushing flow rate specifically includes:

[0042] The grinding powder generated by each grinding amount is simulated on the sample workpiece, and the grinding powder on the sample workpiece is flushed using different flushing flow rates. The minimum flushing flow rate that completely flushes away the grinding powder is determined and recorded as the standard flushing flow rate corresponding to the grinding amount;

[0043] Based on the standard flushing flow rates corresponding to multiple grinding amounts, the correlation function between the grinding amount and the flushing flow rate is fitted and trained.

[0044] Preferably, the control of the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment specifically includes:

[0045] Obtain the angle between the coolant nozzle and the normal of the workpiece grinding area;

[0046] Substitute the grinding amount at the next moment into the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time to obtain the normal grinding positive pressure at the next moment;

[0047] Based on the angle between the coolant nozzle and the normal direction of the workpiece grinding area, the grinding coolant flow rate and the normal grinding positive pressure at the next moment, the grinding force control parameters at the next moment are obtained through the force control model;

[0048] The force control model is specifically: ,

[0049] Where, is the angle between the coolant nozzle and the normal of the workpiece grinding area, Polishing positive pressure for the next moment, is the density of the coolant, To adjust the coolant flow rate, is the inner diameter of the coolant nozzle, is the grinding force in the grinding force control parameter, It is the grinding force angle in the grinding force control parameters.

[0050] Furthermore, a force-controlled cutting control system for an environmentally friendly robot that saves grinding consumables is proposed, which is used to implement the force-controlled cutting control method for the environmentally friendly robot that saves grinding consumables as described above, including:

[0051] A workpiece initial simulation module, which is used to obtain the initial shape of the workpiece and construct an initial three-dimensional model of the workpiece;

[0052] A workpiece target simulation module, which is used to obtain the final shape of the workpiece after grinding and construct a three-dimensional model of the workpiece target;

[0053] a grinding path planning module, the grinding path planning module being electrically connected to the workpiece initial simulation module and the workpiece target simulation module, the grinding path planning module being configured to determine a workpiece grinding path based on the workpiece initial three-dimensional model and the workpiece target three-dimensional model;

[0054] A force control module is electrically connected to the grinding path planning module. The force control module is used to obtain the position of the grinding tool during grinding in real time and determine whether the grinding tool is on the grinding path. If so, the grinding coolant flow rate is intelligently adjusted based on the grinding amount at the next moment, and the grinding force control parameters are regulated based on the grinding coolant flow rate and the grinding amount at the next moment. If not, a termination signal is output to the central control system.

[0055] Optionally, the force control module includes:

[0056] A path monitoring unit, which is used to obtain the position of the grinding tool during grinding in real time and determine whether the grinding tool is on the grinding path;

[0057] A grinding analysis unit configured to intelligently adjust the flow rate of a grinding coolant based on the grinding amount to be removed at the next grinding moment when the grinding tool is on the grinding path;

[0058] A force control analysis unit is used to adjust the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] The present invention proposes a force-controlled cutting control scheme for an environmentally friendly robot that saves grinding consumables. The scheme dynamically calculates the grinding path of a workpiece during grinding, generates a standardized grinding amount based on the properties of each machine tool, dynamically predicts the grinding amount in the next unit time based on the grinding path of the workpiece during grinding, and outputs a corresponding coolant cleaning flow rate based on the predicted grinding amount, thereby achieving precise control of the grinding coolant flow rate, thereby achieving a flushing effect that matches the grinding amount while reducing coolant loss, effectively saving grinding consumables, and reducing resource waste.

[0061] This solution also introduces coolant flow to regulate the grinding pressure. Since the coolant will apply a backward thrust to the grinding component when it is sprayed out, this thrust will cause the actual pressure between the grinding tool and the workpiece to be less than the grinding pressure required for the workpiece, resulting in reduced grinding efficiency of the workpiece and increased grinding time of the workpiece. In this process, the loss of coolant and grinding tool will increase. The force control model of this solution can accurately regulate the grinding force control parameters, so that the error between the actual pressure between the grinding tool and the workpiece and the grinding pressure required is reduced, thereby effectively ensuring the accuracy of grinding force control and improving grinding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a flow chart of the force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables proposed in this solution;

[0063] Figure 2 This is a flow chart of a method for determining a workpiece grinding path based on an initial three-dimensional model of the workpiece and a target three-dimensional model of the workpiece in this solution;

[0064] Figure 3 This is a flow chart of the method for intelligently adjusting the grinding coolant flow rate based on the grinding amount at the next grinding moment in this solution;

[0065] Figure 4 A flow chart of the method for constructing a correlation function between the downward pressure of a grinding tool and the amount of grinding per unit time in this solution;

[0066] Figure 5 A flow chart of a method for determining a correlation function between grinding volume and flushing flow rate in this solution;

[0067] Figure 6 This is a flow chart of the method for regulating the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment in this solution;

[0068] Figure 7 This is a diagram of the architecture of the electronic equipment in this solution;

[0069] Figure 8 This is a schematic diagram of the computer-readable storage medium structure in this solution. DETAILED DESCRIPTION

[0070] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0071] Reference Figure 1 As shown, a force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables includes:

[0072] Obtain the initial shape of the workpiece and construct an initial three-dimensional model of the workpiece;

[0073] Obtain the final shape of the workpiece after grinding and construct a three-dimensional model of the workpiece target;

[0074] Determining a workpiece grinding path based on the initial three-dimensional model of the workpiece and the target three-dimensional model of the workpiece, wherein the workpiece grinding path includes a grinding line and a grinding amount at each point on the grinding line;

[0075] The position of the grinding tool during grinding is obtained in real time, and it is determined whether the grinding tool is on the grinding path. If so, the grinding coolant flow is intelligently adjusted based on the grinding amount at the next moment, and the grinding force control parameters are adjusted based on the grinding coolant flow and the grinding amount at the next moment. If not, a termination signal is output to the central control system.

[0076] The present invention proposes to save grinding consumables through a force-controlled cutting control scheme. The scheme dynamically calculates the workpiece grinding path and generates a standardized grinding amount based on the characteristics of the machine tool. At the same time, it can predict the grinding amount in the next unit time and output the corresponding coolant cleaning flow accordingly, thereby realizing precise control of the grinding coolant flow. This not only ensures that the grinding amount matches the flushing effect, but also reduces the waste of coolant, effectively saves grinding consumables, and reduces resource consumption. In addition, the scheme also optimizes the grinding pressure by regulating the coolant flow. Since the coolant jet will generate a reverse thrust on the grinding component, this may cause the actual pressure between the grinding tool and the workpiece to be lower than the pressure required for grinding, thereby reducing the grinding efficiency and prolonging the processing time. This increases the loss of coolant and grinding tools. Through the force control model of this scheme, the grinding force control parameters can be accurately adjusted, and the error between the actual pressure and the required pressure can be significantly reduced, thereby effectively ensuring the accuracy of the grinding force control and improving the grinding efficiency.

[0077] Reference Figure 2 As shown, determining the workpiece grinding path based on the workpiece initial three-dimensional model and the workpiece target three-dimensional model specifically includes:

[0078] The polished 3D model is obtained by subtracting the initial 3D model of the workpiece from the target 3D model of the workpiece;

[0079] The polished three-dimensional model is divided into equal intervals on a horizontal plane to obtain at least one polished slice;

[0080] Each grinding slice corresponds to a grinding path;

[0081] Get the height of each polished slice;

[0082] Fitting the edge of the polished slice to obtain a slice fitting function, and pairing the slice fitting function with the height of the polished slice;

[0083] According to the slice fitting function, the first tangent equation of each point on the edge of the polished slice is obtained;

[0084] Obtaining a first normal line equation for each point on the edge of the polished slice according to the first tangent line equation, wherein the straight line corresponding to the first normal line equation is perpendicular to the straight line corresponding to the first tangent line equation;

[0085] The distance between the two intersection points of the straight line corresponding to the first normal equation and the polished slice is used as a preset cutting depth, and the radius of the first cutting range circle generated by the rotation of the polishing tool is obtained. The radius of the first cutting range circle is subtracted from the preset cutting depth to obtain a first cutting distance between the center of the first cutting range circle and the cutting surface, wherein the cutting surface is a plane passing through the first tangent equation and parallel to the edge point of the polished slice;

[0086] On the straight line corresponding to the first normal line equation, a point whose distance from the straight line corresponding to the first tangent line equation is the first cutting spacing is obtained as a grinding path fitting point;

[0087] According to at least one grinding path fitting point, a grinding path fitting function is obtained by fitting, the grinding path fitting function is paired with the height of the grinding slice, the grinding slice thickness of each point on the grinding path is determined, and the grinding amount at each point position on the grinding line is determined based on the thickness of the grinding three-dimensional model.

[0088] Since normal grinding requires repeated grinding layer by layer, this solution is based on this. The three-dimensional grinding model is divided into equal intervals on the horizontal plane to obtain at least one grinding slice. Each grinding slice corresponds to the grinding amount of one layer. Based on each grinding slice and the radius of the grinding tool, the standard grinding path for each layer is dynamically generated. The grinding amount is determined based on the thickness of the grinding slice corresponding to the grinding path. Grinding according to this grinding path can obtain the highest grinding processing level.

[0089] Reference Figure 3 As shown, the intelligent adjustment of the grinding coolant flow rate based on the grinding amount at the next grinding moment specifically includes:

[0090] Construct the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time;

[0091] Acquire grinding data of the machine tool, and determine a standard grinding pressure of the machine tool based on the grinding data of the machine tool;

[0092] Based on the standard grinding pressure of the machine tool, determine the standard grinding amount per unit time of the machine tool;

[0093] Determine the correlation function between grinding volume and flushing flow rate;

[0094] Determine the standard coolant flow rate based on the standard grinding amount per unit time of the machine tool;

[0095] Determine the polishing slice corresponding to the current polishing stage, which is recorded as the real-time polishing slice;

[0096] Determine whether the real-time remaining thickness of the grinding slice at the position of the grinding tool is greater than the standard grinding amount per unit time of the machine tool. If so, flushing is performed for the next unit time according to the standard coolant flow rate. If not, the real-time remaining thickness of the grinding slice is substituted into the correlation function between the grinding amount and the flushing flow rate to inversely solve the real-time coolant flow rate, and flushing is performed for the next unit time according to the real-time coolant flow rate.

[0097] Due to the different properties of grinding equipment, different grinding equipment has different maximum grinding amounts per unit time. Therefore, in this solution, when the remaining thickness of the real-time grinding slice is greater than the standard grinding amount per unit time of the machine tool, the standard coolant flow rate corresponding to the standard grinding amount per unit time of the machine tool is used as the flushing flow rate for the next unit time. When the remaining thickness of the real-time grinding slice is less than the standard grinding amount per unit time of the machine tool, the machine tool needs to adjust the grinding force and use the flushing flow rate corresponding to the remaining thickness as the flushing flow rate for the next unit time.

[0098] Reference Figure 4 As shown, the construction of the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time specifically includes:

[0099] Select a sample workpiece;

[0100] Grinding a sample workpiece with a grinding tool using different pressing pressures to obtain several sets of pressing pressure-unit time grinding amount arrays;

[0101] Divide several groups of pressing pressure-unit time grinding amount arrays into sample groups and verification groups;

[0102] A plane rectangular coordinate system is constructed with the grinding amount per unit time as the vertical axis and the pressing pressure as the horizontal axis;

[0103] Marking a sample group in a plane rectangular coordinate system and calling at least one sample function for fitting;

[0104] Calculate the regression coefficient of determination for each sample function based on the validation group, and determine the sample function with the smallest regression coefficient of determination as the correlation function between the pressing pressure of the grinding tool and the grinding amount per unit time;

[0105] The calculation formula of the regression determination coefficient is: ,

[0106] Where, is the regression determination coefficient;

[0107] RSS is the residual sum of squares of the sample function;

[0108] TSS is the total sum of squares of the sample function.

[0109] Reference Figure 5 As shown, the correlation function between the grinding amount and the flushing flow rate specifically includes:

[0110] The grinding powder generated by each grinding amount is simulated on the sample workpiece, and the grinding powder on the sample workpiece is flushed using different flushing flow rates. The minimum flushing flow rate that completely flushes away the grinding powder is determined and recorded as the standard flushing flow rate corresponding to the grinding amount;

[0111] Based on the standard flushing flow rates corresponding to multiple grinding amounts, the correlation function between the grinding amount and the flushing flow rate is fitted and trained.

[0112] Reference Figure 6 As shown, the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment specifically include:

[0113] Obtain the angle between the coolant nozzle and the normal of the workpiece grinding area;

[0114] Substitute the grinding amount at the next moment into the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time to obtain the normal grinding positive pressure at the next moment;

[0115] Based on the angle between the coolant nozzle and the normal direction of the workpiece grinding area, the grinding coolant flow rate and the normal grinding positive pressure at the next moment, the grinding force control parameters at the next moment are obtained through the force control model;

[0116] The force control model is specifically: ,

[0117] Where, is the angle between the coolant nozzle and the normal of the workpiece grinding area, Polishing positive pressure for the next moment, is the density of the coolant, To adjust the coolant flow rate, is the inner diameter of the coolant nozzle, is the grinding force in the grinding force control parameter, It is the grinding force angle in the grinding force control parameters.

[0118] Since the coolant will apply a backward thrust to the grinding assembly when it is sprayed out, this thrust will cause the actual pressure between the grinding tool and the workpiece to be less than the grinding pressure required for the workpiece, resulting in reduced grinding efficiency of the workpiece and increased grinding time of the workpiece. In this process, the loss of coolant and grinding tool will increase. In this solution, the coolant flow rate is introduced into the force control system to regulate the grinding pressure. The error in grinding pressure caused by changes in coolant flow rate is fully considered. The constructed force control model can accurately regulate the grinding force control parameters, so that the error between the actual pressure between the grinding tool and the workpiece and the grinding pressure required is reduced, thereby effectively ensuring the accuracy of grinding force control and improving grinding efficiency.

[0119] Furthermore, based on the same inventive concept as the above-mentioned force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables, this solution also proposes a force-controlled cutting control system for an environmentally friendly robot that saves grinding consumables, comprising:

[0120] A workpiece initial simulation module, which is used to obtain the initial shape of the workpiece and construct an initial three-dimensional model of the workpiece;

[0121] A workpiece target simulation module, which is used to obtain the final shape of the workpiece after grinding and construct a three-dimensional model of the workpiece target;

[0122] a grinding path planning module, the grinding path planning module being electrically connected to the workpiece initial simulation module and the workpiece target simulation module, the grinding path planning module being configured to determine a workpiece grinding path based on the workpiece initial three-dimensional model and the workpiece target three-dimensional model;

[0123] A force control module is electrically connected to the grinding path planning module. The force control module is used to obtain the position of the grinding tool during grinding in real time and determine whether the grinding tool is on the grinding path. If so, the grinding coolant flow rate is intelligently adjusted based on the grinding amount at the next moment, and the grinding force control parameters are regulated based on the grinding coolant flow rate and the grinding amount at the next moment. If not, a termination signal is output to the central control system.

[0124] The force control module includes:

[0125] A path monitoring unit, which is used to obtain the position of the grinding tool during grinding in real time and determine whether the grinding tool is on the grinding path;

[0126] A grinding analysis unit configured to intelligently adjust the flow rate of a grinding coolant based on the grinding amount to be removed at the next grinding moment when the grinding tool is on the grinding path;

[0127] A force control analysis unit is used to adjust the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment.

[0128] The use process of the present invention is:

[0129] Step 1: The workpiece initial simulation module obtains the initial shape of the workpiece and constructs the initial 3D model of the workpiece;

[0130] Step 2: The workpiece target simulation module obtains the final shape of the workpiece after grinding and constructs a three-dimensional model of the workpiece target;

[0131] Step 3: The grinding path planning module determines the workpiece grinding path based on the workpiece initial 3D model and the workpiece target 3D model;

[0132] Step 4: The path monitoring unit obtains the position of the grinding tool in real time during grinding, and determines whether the grinding tool is on the grinding path. If so, it outputs a feedback signal to the grinding analysis unit; if not, it outputs a termination signal to the central control system;

[0133] Step 5: When the grinding tool is on the grinding line, the grinding analysis unit intelligently adjusts the grinding coolant flow rate based on the grinding amount at the next moment;

[0134] Step 6: The force control analysis unit adjusts the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment.

[0135] Furthermore, the method according to the embodiment of the present application can also be used with the aid of Figure 7 The electronic device architecture shown in FIG. Figure 7 As shown, the electronic device 500 may include a bus 501, one or more CPUs 502, a read-only memory (ROM) 503, a random access memory (RAM) 504, a communication port 505 connected to a network, an input / output component 506, a hard disk 507, etc. The storage device in the electronic device 500, such as the ROM 503 or the hard disk 507, may store a force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables provided in the present application. The electronic device 500 may also include a user interface 508. Of course, Figure 7 The architecture shown is only exemplary and can be omitted according to actual needs when implementing different devices. Figure 7 One or more components of an electronic device are shown.

[0136] Figure 8 This is a schematic diagram of the computer-readable storage medium structure provided by an embodiment of the present application. Figure 8As shown, a computer-readable storage medium 600 according to an embodiment of the present application is shown. Computer-readable instructions are stored on the computer-readable storage medium 600. When the computer-readable instructions are executed by the processor, the force-controlled cutting control method of an environmentally friendly robot that saves grinding consumables according to an embodiment of the present application described with reference to the above figures can be executed. The storage medium 600 includes, but is not limited to, for example, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and cache memory (cache). Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc.

[0137] To sum up, the advantages of the present invention are that the force control model of this scheme can accurately regulate the grinding force control parameters, so that the error between the actual pressure between the grinding tool and the workpiece and the grinding required pressure is reduced, thereby effectively ensuring the accuracy of the grinding force control and improving the grinding efficiency.

[0138] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables, characterized in that: include: Obtain the initial shape of the workpiece and construct an initial three-dimensional model of the workpiece; Obtain the final shape of the workpiece after grinding and construct a three-dimensional model of the workpiece target; Determining a workpiece grinding path based on the initial three-dimensional model of the workpiece and the target three-dimensional model of the workpiece, wherein the workpiece grinding path includes a grinding line and a grinding amount at each point on the grinding line; The position of the grinding tool during grinding is obtained in real time, and it is determined whether the grinding tool is on the grinding path. If so, the grinding coolant flow is intelligently adjusted based on the grinding amount at the next moment, and the grinding force control parameters are controlled based on the grinding coolant flow and the grinding amount at the next moment. If not, a termination signal is output to the central control system; The intelligent adjustment of the grinding coolant flow rate based on the grinding amount at the next grinding moment specifically includes: Construct the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time; Acquire grinding data of the machine tool, and determine a standard grinding pressure of the machine tool based on the grinding data of the machine tool; Based on the standard grinding pressure of the machine tool, determine the standard grinding amount per unit time of the machine tool; Determine the correlation function between grinding volume and flushing flow rate; Determine the standard coolant flow rate based on the standard grinding amount per unit time of the machine tool; Determine the polishing slice corresponding to the current polishing stage, which is recorded as the real-time polishing slice; Determine whether the real-time remaining thickness of the grinding slice at the position of the grinding tool is greater than the standard grinding amount per unit time of the machine tool. If so, flushing is performed for the next unit time according to the standard coolant flow rate. If not, the real-time remaining thickness of the grinding slice is substituted into the correlation function between the grinding amount and the flushing flow rate to inversely solve the real-time coolant flow rate, and flushing is performed for the next unit time according to the real-time coolant flow rate.

2. The force-controlled cutting control method of an environmentally friendly robot that saves grinding consumables according to claim 1 is characterized in that: Determining the workpiece grinding path based on the workpiece initial three-dimensional model and the workpiece target three-dimensional model specifically includes: The polished 3D model is obtained by subtracting the initial 3D model of the workpiece from the target 3D model of the workpiece; The polished three-dimensional model is divided into equal intervals on a horizontal plane to obtain at least one polished slice; Each grinding slice corresponds to a grinding path; Get the height of each polished slice; Fitting the edge of the polished slice to obtain a slice fitting function, and pairing the slice fitting function with the height of the polished slice; According to the slice fitting function, the first tangent equation of each point on the edge of the polished slice is obtained; Obtaining a first normal line equation for each point on the edge of the polished slice according to the first tangent line equation, wherein the straight line corresponding to the first normal line equation is perpendicular to the straight line corresponding to the first tangent line equation; The distance between the two intersection points of the straight line corresponding to the first normal equation and the polished slice is used as a preset cutting depth, and the radius of the first cutting range circle generated by the rotation of the polishing tool is obtained. The radius of the first cutting range circle is subtracted from the preset cutting depth to obtain a first cutting distance between the center of the first cutting range circle and the cutting surface, wherein the cutting surface is a plane passing through the first tangent equation and parallel to the edge point of the polished slice; On the straight line corresponding to the first normal line equation, a point whose distance from the straight line corresponding to the first tangent line equation is the first cutting spacing is obtained as a grinding path fitting point; According to at least one grinding path fitting point, a grinding path fitting function is obtained by fitting, the grinding path fitting function is paired with the height of the grinding slice, the grinding slice thickness of each point on the grinding path is determined, and the grinding amount at each point position on the grinding line is determined based on the thickness of the grinding three-dimensional model.

3. The force-controlled cutting control method of an environmentally friendly robot that saves grinding consumables according to claim 2 is characterized in that: The construction of the correlation function between the pressing force of the grinding tool and the grinding amount per unit time specifically includes: Select a sample workpiece; Grinding a sample workpiece with a grinding tool using different pressing pressures to obtain several sets of pressing pressure-unit time grinding amount arrays; Divide several groups of pressing pressure-unit time grinding amount arrays into sample groups and verification groups; A plane rectangular coordinate system is constructed with the grinding amount per unit time as the vertical axis and the pressing pressure as the horizontal axis; Marking a sample group in a plane rectangular coordinate system and calling at least one sample function for fitting; Calculate the regression coefficient of determination for each sample function based on the validation group, and determine the sample function with the smallest regression coefficient of determination as the correlation function between the pressing pressure of the grinding tool and the grinding amount per unit time; The calculation formula of the regression determination coefficient is: , Where, is the regression determination coefficient; RSS is the residual sum of squares of the sample function; TSS is the total sum of squares of the sample function.

4. The force-controlled cutting control method of an environmentally friendly robot that saves grinding consumables according to claim 3 is characterized in that: The correlation function between the grinding amount and the flushing flow rate specifically includes: The grinding powder generated by each grinding amount is simulated on the sample workpiece, and the grinding powder on the sample workpiece is flushed using different flushing flow rates. The minimum flushing flow rate that completely flushes away the grinding powder is determined and recorded as the standard flushing flow rate corresponding to the grinding amount; Based on the standard flushing flow rates corresponding to multiple grinding amounts, the correlation function between the grinding amount and the flushing flow rate is fitted and trained.

5. The force-controlled cutting control method of an environmentally friendly robot that saves grinding consumables according to claim 4 is characterized in that: The grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment are specifically regulated as follows: Obtain the angle between the coolant nozzle and the normal of the workpiece grinding area; Substitute the grinding amount at the next moment into the correlation function between the downward pressure of the grinding tool and the grinding amount per unit time to obtain the normal grinding positive pressure at the next moment; Based on the angle between the coolant nozzle and the normal direction of the workpiece grinding area, the grinding coolant flow rate and the normal grinding positive pressure at the next moment, the grinding force control parameters at the next moment are obtained through the force control model; The force control model is specifically: , Where, is the angle between the coolant nozzle and the normal of the workpiece grinding area, Polishing positive pressure for the next moment, is the density of the coolant, To adjust the coolant flow rate, is the inner diameter of the coolant nozzle, is the grinding force in the grinding force control parameter, It is the grinding force angle in the grinding force control parameters.

6. A force-controlled cutting control system for an environmentally friendly robot that saves grinding consumables, characterized in that: A force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables as claimed in any one of claims 1 to 5 comprises: A workpiece initial simulation module, which is used to obtain the initial shape of the workpiece and construct an initial three-dimensional model of the workpiece; A workpiece target simulation module, which is used to obtain the final shape of the workpiece after grinding and construct a three-dimensional model of the workpiece target; a grinding path planning module, the grinding path planning module being electrically connected to the workpiece initial simulation module and the workpiece target simulation module, the grinding path planning module being configured to determine a workpiece grinding path based on the workpiece initial three-dimensional model and the workpiece target three-dimensional model; A force control module is electrically connected to the grinding path planning module. The force control module is used to obtain the position of the grinding tool during grinding in real time and determine whether the grinding tool is on the grinding path. If so, the grinding coolant flow rate is intelligently adjusted based on the grinding amount at the next moment, and the grinding force control parameters are regulated based on the grinding coolant flow rate and the grinding amount at the next moment. If not, a termination signal is output to the central control system.

7. The force-controlled cutting control system for an environmentally friendly robot that saves grinding consumables according to claim 6, characterized in that: The force control module includes: A path monitoring unit, which is used to obtain the position of the grinding tool during grinding in real time and determine whether the grinding tool is on the grinding path; A grinding analysis unit configured to intelligently adjust the flow rate of a grinding coolant based on the grinding amount to be removed at the next grinding moment when the grinding tool is on the grinding path; A force control analysis unit is used to adjust the grinding force control parameters based on the grinding coolant flow rate and the grinding amount at the next moment.

8. An electronic device, characterized in that: include: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the force-controlled cutting control method of an environmentally friendly robot that saves grinding consumables as described in any one of claims 1-5.

9. A computer-readable storage medium storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by a processor, a force-controlled cutting control method for an environmentally friendly robot that saves grinding consumables is implemented as described in any one of claims 1-5.

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