Curved surface grinding device and grinding method thereof

Abstract

The invention provides a curved surface polishing device and a polishing method thereof.The curved surface polishing device is provided with a first platform and a second platform, the first platform and the second platform are oppositely arranged, and the first platform and the second platform are fixedly connected based on at least three hinge assemblies; a grinding wheel driving part and an external controller are arranged on the surface, close to the first platform, of the second platform, the external controller is arranged above the grinding wheel driving part, at least three laser induction sensors and a grinding wheel are arranged on the surface, away from the first platform, of the second platform, and the laser induction sensors are arranged around the grinding wheel. Further, the ground curved surface can be sensed in real time based on the dot matrix laser induction sensor, the controller controls stretching and retracting of the hinge assembly in an online closed-loop mode, self-adaptive adjustment of the curved surface contact angle is guaranteed, and the problems that machining is difficult and quality is poor for different positions and different curvatures of the curved surface in a traditional grinding mode are solved; and meanwhile, universality of multiple machining occasions is achieved, and the machining precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of rail transit vehicles and automobile parts processing, and in particular to a curved surface grinding device and a grinding method thereof. Background Art

[0002] During the manufacturing process of rail transit vehicles and automobiles, a large number of curved parts need to be polished to reduce surface burrs. Curved parts include large parts of rail transit vehicle side walls (arcs), driver's cabs and masks, car doors, crankshafts, engine covers, cylinder blocks, etc. With the development of the economy and the innovation of industrial technology, the polishing method of curved workpieces has changed from traditional manual polishing to robot automatic polishing. The end of the polishing robot manipulator is rigidly connected to the polishing tool through a flange.

[0003] Among the existing technologies, most current robot automatic grinding has high efficiency but poor effect; and the current robot grinding procedure is: mark the grinding points that can represent the entire curved surface path on the target workpiece, perform path planning according to these marked grinding points, use certain motion instructions and control instructions, and command the robot actuator to perform the grinding operation according to the grinding path. However, in the current robot grinding process, the change of curvature is basically not considered, and the grinding points or the normal lines of the grinding surface are not identified, so that the grinding tool cannot be accurately aligned with the workpiece, resulting in problems such as uneven grinding thickness and poor grinding surface accuracy. Summary of the invention

[0004] The main purpose of the embodiment of the present invention is to propose a curved surface grinding device and a grinding method thereof, which can sense the surface of the grinding curved surface in real time based on a dot matrix laser sensing sensor, and the controller controls the extension and retraction of the telescopic rod in an online closed-loop manner, thereby ensuring the adaptive adjustment of the curved surface contact angle, thereby improving the problems of difficult processing and poor quality of surfaces with different curvatures at different positions under traditional grinding methods, and at the same time has the versatility of multiple processing occasions, thereby improving the processing accuracy.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention provides a curved surface grinding device, comprising: First platform; The second platform is arranged opposite to the first platform and the second platform is fixedly connected to the first platform based on at least three sets of hinge components; A grinding wheel driving member and an external controller are provided on the surface of the second platform close to the first platform, and the external controller is arranged above the grinding wheel driving member. At least three laser sensing sensors and a grinding wheel are provided on the surface of the second platform away from the first platform, and the laser sensing sensors are arranged around the grinding wheel. Among them, the grinding wheel is used to grind the workpiece to be processed, the laser sensing sensor is used to obtain the distance between the laser sensing sensor and the surface of the workpiece to be processed, and the external controller is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground.

[0006] Preferably, four sets of hinge components are provided between the first platform and the second platform, and four laser sensing sensors are provided on the surface of the second platform away from the first platform.

[0007] Preferably, the hinge assembly includes an upper Hooke's hinge mounting seat, an upper Hooke's hinge, a telescopic rod, a lower Hooke's hinge and a lower Hooke's hinge mounting seat which are connected in sequence, the upper Hooke's hinge mounting seat is fixedly connected to the first platform, and the lower Hooke's hinge mounting seat is fixedly connected to the second platform.

[0008] Preferably, the edge of the first platform is provided with a plurality of first mounting protrusions adapted to the hinge assembly, and the first mounting protrusions are fixedly connected to the upper Hooke's hinge mounting seat, and the edge of the second platform is provided with a plurality of second mounting protrusions adapted to the hinge assembly, and the second mounting protrusions are fixedly connected to the lower Hooke's hinge mounting seat.

[0009] Preferably, a linear motor driver is provided in the telescopic rod, and the linear motor driver is used to drive the telescopic rod to extend or compress. One end of the telescopic rod is hinged to the upper Hooke's hinge, and the other end of the telescopic rod is hinged to the lower Hooke's hinge.

[0010] To achieve the above object, a second aspect of an embodiment of the present invention provides a curved surface grinding method, which is applied to the curved surface grinding device of the first aspect, comprising: Selecting three laser sensing sensors from at least three laser sensing sensors, respectively obtaining projected light spots of the three laser sensing sensors on the surface of the workpiece to be processed, and respectively calculating the projection distance between the laser sensing sensors and the surface of the workpiece to be processed based on each projected light spot; A tool coordinate system is constructed according to the spatial positions of the three selected laser sensing sensors, and the sensor position coordinates of the three laser sensing sensors in the tool coordinate system are determined; Based on the three sensor position coordinates and the three projection distances, the light spot position coordinates of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system are obtained; Acquire normal information of the curved surface area to be ground on the workpiece to be processed according to the position coordinates of the three light spots, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground; When the normal direction of the grinding wheel coincides with the normal direction of the surface area to be ground, the surface area to be ground is ground according to preset parameters.

[0011] Preferably, one of the projected light spots is in the coordinate plane of the tool coordinate system, which is recorded as a first projected light spot, and the laser sensing sensor corresponding to the first projected light spot is recorded as a first laser sensing sensor; The step of obtaining the light spot position coordinates of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system based on the three sensor position coordinates and the three projection distances includes: Acquire a first sensor position coordinate of the first laser sensing sensor in the tool coordinate system, and a first projection distance between the first laser sensing sensor and the first projection light spot; Acquire a first angle between a laser beam emitted by a first laser sensing sensor and a grinding wheel; The light spot position coordinates of the first projected light spot in the tool coordinate system are determined according to the first sensor position coordinates, the first projection distance and the first angle.

[0012] Preferably, the other two laser sensing sensors are respectively recorded as the second laser sensing sensor and the third laser sensing sensor, the projected light spot corresponding to the second laser sensing sensor is recorded as the second projected light spot, and the projected light spot corresponding to the third laser sensing sensor is recorded as the third projected light spot; The step of obtaining the light spot position coordinates of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system based on the three sensor position coordinates and the three projection distances also includes: Acquire a first laser ray intersection point between the first laser sensing sensor and the second laser sensing sensor, and a second laser ray intersection point between the first laser sensing sensor and the third laser sensing sensor; Calculating a second angle between the first laser sensing sensor, the second laser sensing sensor and the intersection point of the first laser ray, and calculating a third angle between the first laser sensing sensor, the third laser sensing sensor and the intersection point of the second laser ray; Acquire the second sensor position coordinates of the second laser sensing sensor in the tool coordinate system, and determine the light spot position coordinates of the second projected light spot in the tool coordinate system according to the first sensor position coordinates, the second sensor position coordinates and the second angle; The third sensor position coordinates of the third laser sensing sensor in the tool coordinate system are acquired, and the light spot position coordinates of the third projected light spot in the tool coordinate system are determined according to the first sensor position coordinates, the third sensor position coordinates and the third angle.

[0013] Preferably, the normal information of the curved surface area to be ground on the workpiece to be processed is obtained according to the position coordinates of the three light spots, and the hinge assembly is controlled to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground, including: The normal information of the surface area to be ground is obtained according to the position coordinates of the three light spots, and the deflection direction of the grinding wheel is determined according to the normal information; According to the deflection direction, the corresponding telescopic lengths of the multiple telescopic rods are calculated, and the multiple telescopic rods are controlled to be telescoped accordingly, so as to adjust the angle of the grinding wheel so that the normal direction of the grinding wheel coincides with the normal direction of the surface area to be ground.

[0014] Preferably, when the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground, before the step of grinding the curved surface area to be ground according to preset parameters, the curved surface grinding method further includes: Obtain the normal information of the surface area to be ground after the corresponding extension and contraction of multiple telescopic rods. Determine whether the grinding wheel is still deflected based on the normal information after the multiple telescopic rods are correspondingly extended and retracted; If the grinding wheel does not deflect, it is determined that the normal direction of the grinding wheel coincides with the normal direction of the surface area to be ground; If the grinding wheel is deflected, continue to adjust the telescopic length of the telescopic rod and re-judge whether the grinding wheel is still deflected until the grinding wheel is no longer deflected.

[0015] The embodiments of the present invention have the following beneficial effects: on the one hand, the curved surface grinding device provided by the present invention breaks through the limitations of traditional rigid contact grinding applications, and is provided with a first platform and a second platform, the first platform and the second platform are arranged relative to each other, and the first platform and the second platform are fixedly connected based on at least three sets of hinge components; a grinding wheel driving part and an external controller are provided on the surface of the second platform close to the first platform, and the external controller is arranged above the grinding wheel driving part; at least three laser sensing sensors and a grinding wheel are provided on the surface of the second platform away from the first platform, and the laser sensing sensors are arranged around the grinding wheel; wherein the grinding wheel is used to grind the workpiece to be processed, and the laser sensing sensor is used to In order to obtain the distance between the laser sensing sensor and the surface of the workpiece to be processed, the external controller is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information, so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground, and then the surface of the grinding curved surface can be sensed in real time based on the dot matrix laser sensing sensor. The controller controls the extension and retraction of the telescopic rod in an online closed-loop manner, ensuring the adaptive adjustment of the contact angle of the curved surface, improving the problems of difficult processing and poor quality of surfaces with different curvatures at different positions under traditional grinding methods, and at the same time having the versatility of multiple processing occasions, thereby improving the processing accuracy.

[0016] On the other hand, the surface grinding method provided by the present invention selects three laser sensing sensors from at least three laser sensing sensors, respectively obtains the projected light spots of the three laser sensing sensors on the surface of the workpiece to be processed, and respectively calculates the projection distances between the laser sensing sensors and the surface of the workpiece to be processed based on each projection light spot; constructs a tool coordinate system according to the spatial positions of the three selected laser sensing sensors, and determines the sensor position coordinates of the three laser sensing sensors in the tool coordinate system; obtains the light spot positions of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system based on the three sensor position coordinates and the three projection distances. Coordinates; obtain the normal information of the curved surface area to be ground on the workpiece to be processed according to the coordinates of the three light spot positions, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information, so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground; when the normal of the grinding wheel coincides with the normal of the curved surface area to be ground, the curved surface area to be ground is ground according to preset parameters, and then the grinding point or the normal of the grinding surface can be accurately determined in the curved surface area based on the projection positions of the light spots of multiple projected light spots, thereby improving the grinding accuracy of the curved surface, fundamentally solving the problem of uneven surface after conventional grinding of the curved surface, ensuring the consistency of the curved surface after grinding, and facilitating subsequent painting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a curved surface grinding device provided by an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the mid-curve grinding device during forward grinding; Figure 3 for Figure 1 Schematic diagram of the structure of the mid-curve grinding device during lateral grinding; Figure 4 A schematic diagram of an optional flow chart of a curved surface grinding method provided in an embodiment of the present invention; Figure 5 A schematic diagram of the laser sensing sensor and the corresponding projected light spot position provided by an embodiment of the present invention; Figure 6 for Figure 5 Schematic diagram of the three laser sensing sensors selected and the corresponding projected light spot positions; Figure 7 for Figure 6 Schematic diagram of the position of the laser sensing sensor in the tool coordinate system; Figure 8 for Figure 7 Schematic diagram of the position of the extended intersection constructed by the laser sensing sensor; Fig. 9 for Figure 8 A schematic diagram of the structure for calculating the position coordinates of the projected light spot; Fig.10 for Fig. 9 Schematic diagram of the structure of the tool coordinate system transformation relationship.

[0018] Figure numerals: first platform 10, first mounting protrusion 11, second platform 20, grinding wheel driving member 21, external controller 22, laser sensing sensor 23, grinding wheel 24, second mounting protrusion 25, hinge assembly 30, upper Hooke's hinge mounting seat 31, upper Hooke's hinge 32, telescopic rod 33, lower Hooke's hinge 34, lower Hooke's hinge mounting seat 35, workpiece to be processed 40. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technical staff in the technical field of the present invention. The terms used herein are only for the purpose of describing embodiments of the present invention and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0022] Among the existing technologies, most current robot automatic grinding has high efficiency but poor effect; and the current robot grinding procedure is: mark the grinding points that can represent the entire curved surface path on the target workpiece, perform path planning according to these marked grinding points, use certain motion instructions and control instructions, and command the robot actuator to perform the grinding operation according to the grinding path. However, in the current robot grinding process, the change of curvature is basically not considered, and the grinding points or the normal lines of the grinding surface are not identified, so that the grinding tool cannot be accurately aligned with the workpiece, resulting in problems such as uneven grinding thickness and poor grinding surface accuracy.

[0023] Based on this, a first platform and a second platform are provided, the first platform and the second platform are arranged opposite to each other, and the first platform and the second platform are fixedly connected based on at least three sets of hinge components; a grinding wheel driving part and an external controller are provided on the surface of the second platform close to the first platform, and the external controller is arranged above the grinding wheel driving part; at least three laser sensing sensors and a grinding wheel are provided on the surface of the second platform away from the first platform, and the laser sensing sensors are arranged around the grinding wheel; wherein the grinding wheel is used to grind the workpiece to be processed, and the laser sensing sensor is used to obtain the space between the laser sensing sensor and the surface of the workpiece to be processed. Distance, the external controller is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information, so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground, and then the surface of the polished curved surface can be sensed in real time based on the dot matrix laser sensing sensor. The controller controls the extension and retraction of the hinge assembly in an online closed-loop manner, ensuring the adaptive adjustment of the contact angle of the curved surface, improving the problems of difficult processing and poor quality of surfaces with different curvatures at different positions under traditional grinding methods, and at the same time having the versatility of multiple processing occasions and high processing accuracy.

[0024] The curved surface grinding device and the grinding method thereof provided in the embodiments of the present invention are specifically described through the following embodiments. First, the curved surface grinding device in the embodiments of the present invention is described.

[0025] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0026] like Figures 1 to 3 As shown, Figure 1 A schematic diagram of the structure of a curved surface grinding device provided in an embodiment of the present invention. Figure 2 for Figure 1 Schematic diagram of the structure of the mid-curve grinding device during forward grinding. Figure 3 for Figure 1 A schematic diagram of the structure of a curved surface grinding device during lateral grinding, a curved surface grinding device provided by an embodiment of the present invention, comprising a first platform 10 and a second platform 20, the first platform 10 and the second platform 20 are arranged opposite to each other, and the first platform 10 and the second platform 20 are fixedly connected based on at least three sets of hinge components 30; a surface of the second platform 20 close to the first platform 10 is provided with a grinding wheel driver 21 and an external controller 22, the external controller 22 is arranged above the grinding wheel driver 21, and a surface of the second platform 20 away from the first platform 10 is provided with at least three laser sensing sensors 23 and a grinding wheel 24, and the laser sensing sensor 23 is arranged around the grinding wheel 24; Among them, the grinding wheel 24 is used to grind the workpiece 40 to be processed, the laser sensing sensor 23 is used to obtain the distance between the laser sensing sensor 23 and the surface of the workpiece 40 to be processed, and the external controller 22 is used to calculate the normal information of the curved surface area to be ground on the workpiece 40 to be processed according to the distance obtained by each laser sensing sensor 23, and control the hinge assembly 30 to adjust the angle of the grinding wheel 24 according to the normal information so that the normal of the grinding wheel 24 coincides with the normal of the curved surface area to be ground.

[0027] It should be noted that the hinge assembly 30 includes an upper Hooke's hinge mounting seat 31, an upper Hooke's hinge 32, a telescopic rod 33, a lower Hooke's hinge 34 and a lower Hooke's hinge mounting seat 35 which are connected in sequence. The upper Hooke's hinge mounting seat 31 is fixedly connected to the first platform 10, and the lower Hooke's hinge mounting seat 35 is fixedly connected to the second platform 20.

[0028] Optionally, in this embodiment, the first platform 10 is an upper platform, which is connected to the end of the robot, and the second platform 20 is a lower platform. The first platform 10 and the second platform 20 are provided with four groups of hinge assemblies 30, and four laser sensing sensors 23 are provided on the surface of the second platform 20 away from the first platform 10. The four groups of hinge assemblies 30 are arranged at the edge positions of the two platforms, and the hinge assembly 30 can change its length by extending and retracting the middle telescopic rod 33; four laser sensing sensors 23 are provided on the lower platform, and the four laser sensing sensors 23 are arranged around the grinding wheel 24. The four laser sensing sensors 23 are used to perform active dot matrix data measurement, and measure the distance from the surface of the workpiece 40 to be processed below in real time.

[0029] Optionally, the workpiece 40 to be processed may be a large component (arc) of a rail transit vehicle side wall, a driver's cab and a mask, or a car door, a crankshaft, an engine cover, a cylinder block, etc., which is not specifically limited in this application.

[0030] Furthermore, it should be noted that the external controller 22 can sense the contact state between the grinding wheel 24 and the curved surface of the workpiece to be processed by identifying the parameter combination of four sets of laser sensing sensors and obtaining the normal direction of the curved surface of the workpiece to be processed; the external controller 22 drives the telescopic rod 33 to extend and retract to adjust the posture of the grinding wheel 24, thereby ensuring the grinding direction of the grinding wheel 24 in contact with the curved workpiece, thereby ensuring the quality and accuracy of the polished surface.

[0031] Optionally, in this embodiment, the edge of the first platform 10 is provided with a plurality of first mounting protrusions 11 adapted to the hinge assembly 30, and the upper Hooke's hinge mounting seat 31 is fixedly connected to the first mounting protrusion 11, for example, by bolts, and the edge of the second platform 20 is provided with a plurality of second mounting protrusions 25 adapted to the hinge assembly 30, and the lower Hooke's hinge mounting seat 35 is fixedly connected to the second mounting protrusion 25.

[0032] Optionally, a linear motor driver (not shown) is provided in the telescopic rod 33, and the linear motor driver is used to drive the extension or compression of the telescopic rod 33, so as to adjust the grinding posture, and one end of the telescopic rod 33 is hinged to the upper Hooke's hinge 32, and the other end of the telescopic rod 33 is hinged to the lower Hooke's hinge 34.

[0033] The curved surface grinding device provided by the present invention breaks through the limitations of traditional rigid contact grinding applications. It can sense the surface of the grinding curved surface in real time based on the dot matrix laser sensing sensor. The controller controls the extension and retraction of the telescopic rod in an online closed-loop manner, thereby ensuring adaptive adjustment of the curved surface contact angle. It improves the problems of difficult processing and poor quality of surfaces with different curvatures at different positions under traditional grinding methods, while having the versatility to be used in multiple processing occasions, thereby improving the processing accuracy.

[0034] like Figure 4 As shown, Figure 4 An optional flow chart of a curved surface polishing method provided in an embodiment of the present invention, the curved surface polishing method includes but is not limited to the following steps S10 to S40.

[0035] Step S10, selecting three laser sensing sensors from at least three laser sensing sensors, respectively obtaining the projected light points of the three laser sensing sensors on the surface of the workpiece to be processed, and respectively calculating the projection distance between the laser sensing sensors and the surface of the workpiece to be processed based on each projected light point.

[0036] Step S20, constructing a tool coordinate system according to the spatial positions of the three selected laser sensing sensors, and determining the sensor position coordinates of the three laser sensing sensors in the tool coordinate system.

[0037] Step S30, based on the three sensor position coordinates and the three projection distances, obtaining the light spot position coordinates of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system.

[0038] Step S40, obtaining normal information of the curved surface area to be ground on the workpiece to be processed according to the three light spot position coordinates, and controlling the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground.

[0039] Step S50, when the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground, the curved surface area to be ground is ground according to preset parameters.

[0040] Optionally, in this embodiment, if Figure 5 As shown, Figure 5 Schematic diagram of the laser sensor and the corresponding projected light spot position provided in an embodiment of the present invention. The curved surface polishing device includes four laser sensor sensors. The positions of the four laser sensor sensors are respectively denoted asE 1 , E 2 , E 3 , E 4 , the corresponding projected light spot on the workpiece to be processed is F l , F 2 , F 3 , F 4 , four laser sensing sensors measure E 1 and F l , E 2 and F 2 , E 3 and F 3 , E 4 and F 4 The distances between h l , h 2 , h 3 , h 4 ; You can select any three of the four laser sensing sensors to perform surface fitting and calculate the normal direction of the surface of the part to be polished of the workpiece to be processed.

[0041] Optionally, in this embodiment, select E 1 , E 2 , E 3 Three laser sensing sensors are used as data sources to perform surface normal analysis; F l , F 2 , F 3 The plane formed by three points F l F 2 F 3 The normal vector is , δThe angle represents the angle between the grinding wheel axis and the normal direction of the part to be ground on the workpiece to be processed; the normal direction of the grinding wheel coincides with the normal direction of the part to be ground on the curved surface of the workpiece to be processed, that is, δ =0° It is understandable that it is difficult to achieve complete overlap of the two normal directions. Therefore, in this embodiment, an approximation is made. δ When the angle is small enough and falls within the preset range, it is considered that the normal direction of the grinding wheel coincides with the normal direction of the part of the workpiece to be machined and ground, thereby ensuring that the accuracy meets the requirements.

[0042] In this embodiment, if Figure 6 As shown, Figure 6 for Figure 5 The three laser sensing sensors selected and the corresponding projection light spot positions are used to construct the tool coordinate system. From the assembly relationship, it can be seen that E 1 , E 2 , E 3 The coordinates of the laser emission points of the three laser sensing sensors are E 1 ( x 1 ,y 1 ,z 1 ), E 2 ( x 2 ,y 2 ,z 2 ), E 3 ( x 3 ,y 3 ,z 3 ).

[0043] In this embodiment, the projected light spot F l In the coordinate plane of the tool coordinate system, it is recorded as the first projected light point. The laser sensing sensor corresponding to the first projected light point is E 1 Recorded as the first laser sensing sensor.

[0044] Further, in an optional embodiment, the above Figure 4 Step S30 includes but is not limited to the following steps S311 to S313.

[0045] Step S311: acquiring first sensor position coordinates of the first laser sensing sensor in the tool coordinate system, and a first projection distance between the first laser sensing sensor and the first projection light spot.

[0046] Step S312: obtaining a first angle between the laser beam emitted by the first laser sensing sensor and the grinding wheel.

[0047] Step S313: determining the light spot position coordinates of the first projected light spot in the tool coordinate system according to the first sensor position coordinates, the first projection distance and the first angle.

[0048] Specifically, Figure 7 As shown, Figure 7 for Figure 6 Schematic diagram of the position of the laser sensor in the tool coordinate system, obtain the first laser sensor E 1 The first sensor position coordinates in the tool coordinate system E 1 ( x 1 ,y 1 ,z 1 ) and its first projection distance from the first projection light point h l ; Obtain the first angle between the laser beam emitted by the first laser sensor and the grinding wheel axis θ ; According to the first sensor position coordinates E 1 ( x 1 ,y 1 ,z 1 ), the first projection distance h l and the first angle θ Determining the light spot position coordinates of the first projected light spot in the tool coordinate system; In this embodiment, it is assumed that the light spot position coordinates of the first projected light spot are F l ( x 1 ',y 1 ',z 1 ' ), then according to the position coordinates of the first sensor E 1 ( x 1 ,y 1 ,z1 ), the first projection distance h l and the first angle θ The coordinates of the light spot position of the first projected light spot in the tool coordinate system are determined as follows:

[0049] Further, in an optional embodiment, the remaining two laser sensing sensors are respectively recorded as second laser sensing sensors E 2 and the third laser sensing sensor E 3 , and the corresponding projected light points are respectively recorded as the second projected light points F 2 and the third projected light spot F 3 , the above Figure 4 Step S30 also includes but is not limited to the following steps S321 to S323: Step S321: acquiring a first laser ray intersection point between the first laser sensing sensor and the second laser sensing sensor, and a second laser ray intersection point between the first laser sensing sensor and the third laser sensing sensor.

[0050] Step S322: Calculate the second angle between the first laser sensing sensor, the second laser sensing sensor and the intersection point of the first laser ray, and calculate the third angle between the first laser sensing sensor, the third laser sensing sensor and the intersection point of the second laser ray.

[0051] Step S323: Acquire the second sensor position coordinates of the second laser sensing sensor in the tool coordinate system, and determine the light spot position coordinates of the second projected light spot in the tool coordinate system according to the first sensor position coordinates, the second sensor position coordinates and the second angle.

[0052] In a specific embodiment, the projected light spot F 2 and projected light spots F 3 The calculation process is similar to that of F 2 The calculation process is explained; Specifically, Figure 8 As shown, Figure 8 for Figure 7 Schematic diagram of the location of the extended intersection constructed by the laser sensing sensor. E 1 F 1 and E 2 F2 Intersects G 12 , the first laser sensing sensor E 1 , the second laser sensor E 2 The reading is H 1 , H 2 , H 1 for E 1 to G 12 The distance H 2 for E 2 to G 12 The distance E 1 to E 2 The distance is ,triangle E 1 E 2 G 12 The three interior angles α , β , γ, The calculation is as follows:

[0053]

[0054]

[0055] According to the triangle E 1 E 2 G 12 Computable F 1 F 2 The length is:

[0056] like Fig. 9 As shown, Fig. 9 for Figure 8 Schematic diagram of the structure for calculating the position coordinates of the projected light spot. E 1 E 2 F2 F 1 In the plane, F 1 do F 1 F 1 ' ⊥ E 1 E 2 , and hand in E 1 E 2 At F 1 ' ,Pass F 2 do F 2 F 2 ' ⊥ E 1 E 2 At F 2 ' , ⊥ Plane E 1 E 2 E 3 , ⊥ Plane E 1 E 2 E 3 , that is, parallel to the grinding wheel axis. From the geometric relationship, we can get:

[0057]

[0058]

[0059]

[0060] set up F 1 ' , F 2 ' The coordinates of F 1 ' ( x 1" ,y 1 " ,z 1 " ), F 2 ' ( x 2 " ,y 2 " ,z 2 " ), then:

[0061]

[0062] It can be calculated F 1 ' , F 2 ' The coordinates are:

[0063]

[0064] Depend on Fig. 9 As shown, ⊥ , ⊥ , F 2 F 2 ' and F 2 P 2 The angle is , and The angle ε,

[0065]

[0066] Then we have the following formula:

[0067]

[0068]

[0069]

[0070] Combining the above formulas, we can calculate the projected light point F 2 The light spot position coordinates .

[0071] Step S324: obtaining the third sensor position coordinates of the third laser sensing sensor in the tool coordinate system, and determining the light spot position coordinates of the third projected light spot in the tool coordinate system according to the first sensor position coordinates, the third sensor position coordinates and the third angle.

[0072] Similarly, build a laser sensing sensor E 1 and laser sensing sensors E 3 The geometric relationship in the plane, E 1 F 1 and E 3 F 3 Intersect at point G 13 , can be obtained F 3 coordinate .

[0073] Further, in a possible implementation manner, the above Figure 4 Step 40 also includes but is not limited to the following steps S41 to S42.

[0074] Step S41: obtaining normal information of the surface area to be ground according to the position coordinates of the three light spots, and determining the deflection direction of the grinding wheel according to the normal information.

[0075] Specifically, according to the above steps, we can obtain F l , F 2 , F 3 The coordinates are , , According to the coordinates of the three points, the normal equation of the area to be polished of the workpiece to be processed can be calculated as:

[0076] It should be noted that the normal precision alignment is to adjust the grinding wheel to make it perpendicular to the surface of the workpiece to be processed. In the specific implementation, since the grinding device and the robot are rigidly connected, adjusting the grinding device is equivalent to adjusting the robot posture. According to the actual normal direction of the surface of the workpiece to be polished calculated by the normal precision alignment algorithm, Fig.10 As shown, Fig.10 for Fig. 9 The structural diagram of the tool coordinate system transformation relationship is shown in Figure 1. According to the normal information, the rotation relationship of the tool coordinate system before and after precise alignment (i.e., the front and rear deflection direction of the grinding wheel) is determined, and then the parameters that need to be adjusted for the robot posture are obtained.

[0077] Step S42: Calculate the corresponding telescopic lengths of the multiple telescopic rods according to the deflection direction, and control the corresponding telescopic lengths of the multiple telescopic rods to adjust the angle of the grinding wheel so that the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground.

[0078] Specifically, the extension amount of each telescopic rod is calculated according to the deflection direction, and then the length of each telescopic rod is adjusted according to the extension amount of each telescopic rod, so that the angle of the grinding wheel can be adjusted so that the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground.

[0079] The telescopic rod may be driven by a motor or controlled by hydraulic pressure, so the telescopic rod may be controlled by a PWM signal or voltage to be telescopically adjusted.

[0080] Further, in a possible implementation manner, the above Figure 4 Before step 50, the curved surface polishing method further includes but is not limited to the following steps S60 to S90.

[0081] Step S60: obtaining normal information of the curved surface area to be ground after the multiple telescopic rods are correspondingly extended and retracted.

[0082] Specifically, after the multiple telescopic rods are extended and retracted, the geometric information of the surface area to be ground is recalculated according to the new position of each telescopic rod, and then the normal information of the surface area to be ground after the corresponding extension and retraction of the multiple telescopic rods is determined according to the geometric information of the surface area to be ground.

[0083] Step S70: judging whether the grinding wheel is still deflected according to the normal information after the multiple telescopic rods are correspondingly extended and retracted.

[0084] Specifically, ideally, the rotation axis of the grinding wheel should be perpendicular to the normal of the surface to be ground, that is, the normal vector of the grinding wheel should be aligned with the normal vector of the current surface area to be ground. If there is an angle between these two vectors, it means that the grinding wheel is deflected.

[0085] Step S80: If the grinding wheel does not deflect, determine that the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground.

[0086] Specifically, if the grinding wheel does not deflect, it is determined that the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground.

[0087] Step S90: If the grinding wheel is deflected, continue to adjust the telescopic length of the telescopic rod and re-determine whether the grinding wheel is still deflected until the grinding wheel is no longer deflected.

[0088] Specifically, if the grinding wheel is deflected, the telescopic length of the telescopic rod is continuously adjusted and it is re-determined whether the grinding wheel is still deflected until the grinding wheel is no longer deflected.

[0089] The embodiments described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. Technical personnel in this field can know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

[0090] It can be understood by those skilled in the art that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present invention, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0091] It will be understood by those skilled in the art that all or some steps in the method disclosed above, and the functional modules / units in the system and device may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0092] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0093] It should be understood that in the present invention, "at least one (item)" refers to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can represent: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0094] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0095] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0097] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the embodiments of the present invention is not limited thereby. Any modification, equivalent substitution and improvement made by a skilled person in the art without departing from the scope and essence of the embodiments of the present invention shall be within the scope of the rights of the embodiments of the present invention.

Claims

1. A curved surface grinding device, characterized in that: include: First platform; A second platform, wherein the first platform and the second platform are arranged opposite to each other, and the first platform and the second platform are fixedly connected based on at least three sets of hinge components; A grinding wheel driving component and an external controller are provided on the surface of the second platform close to the first platform, and the external controller is arranged above the grinding wheel driving component. At least three laser sensing sensors and a grinding wheel are provided on the surface of the second platform away from the first platform, and the laser sensing sensors are arranged around the grinding wheel. Among them, the grinding wheel is used to grind the workpiece to be processed, the laser sensing sensor is used to obtain the distance between the laser sensing sensor and the surface of the workpiece to be processed, and the external controller is used to calculate the normal information of the curved surface area to be ground on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground.

2. The curved surface grinding device according to claim 1, characterized in that: Four groups of hinge components are arranged between the first platform and the second platform, and four laser sensing sensors are arranged on a surface of the second platform away from the first platform.

3. The curved surface grinding device according to claim 1, characterized in that: The hinge assembly includes an upper Hooke's hinge mounting seat, an upper Hooke's hinge, a telescopic rod, a lower Hooke's hinge and a lower Hooke's hinge mounting seat which are connected in sequence. The upper Hooke's hinge mounting seat is fixedly connected to the first platform, and the lower Hooke's hinge mounting seat is fixedly connected to the second platform.

4. The curved surface grinding device according to claim 3, characterized in that: The edge of the first platform is provided with a plurality of first mounting protrusions adapted to the hinge assembly, and the first mounting protrusions are fixedly connected to the upper Hooke's hinge mounting seat. The edge of the second platform is provided with a plurality of second mounting protrusions adapted to the hinge assembly, and the second mounting protrusions are fixedly connected to the lower Hooke's hinge mounting seat.

5. The curved surface grinding device according to claim 3, characterized in that: A linear motor driver is arranged inside the telescopic rod, and the linear motor driver is used to drive the telescopic rod to extend or compress. One end of the telescopic rod is hinged to the upper Hooke's hinge, and the other end of the telescopic rod is hinged to the lower Hooke's hinge.

6. A curved surface grinding method, applied to the curved surface grinding device according to any one of claims 1 to 5, characterized in that: include: Selecting three laser sensing sensors from the at least three laser sensing sensors, respectively acquiring projection light points of the three laser sensing sensors on the surface of the workpiece to be processed, and respectively calculating the projection distance between the laser sensing sensors and the surface of the workpiece to be processed based on each of the projection light points; Constructing a tool coordinate system according to the spatial positions of the three selected laser sensing sensors, and determining the sensor position coordinates of the three laser sensing sensors in the tool coordinate system respectively; Based on the three sensor position coordinates and the three projection distances, obtaining the light spot position coordinates of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system; Acquire normal information of the curved surface area to be ground on the workpiece to be processed according to the three light spot position coordinates, and control the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground; When the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground, the curved surface area to be ground is ground according to preset parameters.

7. The curved surface grinding method according to claim 6, characterized in that: One of the projected light points is in the coordinate plane of the tool coordinate system, which is recorded as a first projected light point, and the laser sensing sensor corresponding to the first projected light point is recorded as a first laser sensing sensor; The step of obtaining the light spot position coordinates of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system based on the three sensor position coordinates and the three projection distances comprises: Acquire first sensor position coordinates of the first laser sensing sensor in the tool coordinate system, and a first projection distance between the first laser sensing sensor and the first projection light spot; Acquire a first angle between the laser beam emitted by the first laser sensing sensor and the grinding wheel; The light spot position coordinates of the first projected light spot in the tool coordinate system are determined according to the first sensor position coordinates, the first projection distance and the first angle.

8. The curved surface grinding method according to claim 7, characterized in that: The other two laser sensing sensors are respectively recorded as the second laser sensing sensor and the third laser sensing sensor, the projected light spot corresponding to the second laser sensing sensor is recorded as the second projected light spot, and the projected light spot corresponding to the third laser sensing sensor is recorded as the third projected light spot; The step of obtaining the light spot position coordinates of the projection light spots corresponding to the three laser sensing sensors in the tool coordinate system based on the three sensor position coordinates and the three projection distances also includes: Acquire a first laser ray intersection point between the first laser sensing sensor and the second laser sensing sensor, and a second laser ray intersection point between the first laser sensing sensor and the third laser sensing sensor; Calculating a second angle between the first laser sensing sensor, the second laser sensing sensor and the intersection point of the first laser ray, and calculating a third angle between the first laser sensing sensor, the third laser sensing sensor and the intersection point of the second laser ray; Acquire the second sensor position coordinates of the second laser sensing sensor in the tool coordinate system, and determine the light spot position coordinates of the second projected light spot in the tool coordinate system according to the first sensor position coordinates, the second sensor position coordinates and the second angle; The third sensor position coordinates of the third laser sensing sensor in the tool coordinate system are acquired, and the light spot position coordinates of the third projected light spot in the tool coordinate system are determined according to the first sensor position coordinates, the third sensor position coordinates and the third angle.

9. The curved surface grinding method according to claim 6, characterized in that: The step of acquiring normal information of the curved surface area to be ground on the workpiece to be processed according to the three light spot position coordinates, and controlling the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal of the grinding wheel coincides with the normal of the curved surface area to be ground, comprises: Acquire the normal information of the curved surface area to be ground according to the three light spot position coordinates, and determine the deflection direction of the grinding wheel according to the normal information; According to the deflection direction, the corresponding telescopic lengths of the plurality of telescopic rods are calculated, and the corresponding telescopic lengths of the plurality of telescopic rods are controlled to adjust the angle of the grinding wheel so that the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground.

10. The curved surface grinding method according to claim 6, characterized in that: Before the step of grinding the curved surface area to be ground according to preset parameters when the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground, the curved surface grinding method further includes: Obtaining normal information of the curved surface area to be ground after the plurality of telescopic rods are correspondingly extended and retracted, Determining whether the grinding wheel is still deflected according to normal information after the multiple telescopic rods are correspondingly extended and retracted; If the grinding wheel does not deflect, determining that the normal direction of the grinding wheel coincides with the normal direction of the curved surface area to be ground; If the grinding wheel is deflected, the telescopic length of the telescopic rod is continuously adjusted and it is re-determined whether the grinding wheel is still deflected until the grinding wheel is no longer deflected.

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