A curved surface polishing device and a polishing method thereof

Abstract

The application provides a curved surface polishing device and a polishing method thereof, which are characterized by comprising a first platform and a second platform, the first platform and the second platform are oppositely arranged, the first platform and the second platform are fixedly connected through at least three groups of hinge assemblies, a polishing grinding wheel driving element and an external controller are arranged on the surface of the second platform close to the first platform, the external controller is arranged above the polishing grinding wheel driving element, at least three laser sensing sensors and a polishing grinding wheel are arranged on the surface of the second platform away from the first platform, the laser sensing sensors are arranged around the polishing grinding wheel, and the polishing curved surface can be sensed in real time based on the dot matrix laser sensing sensors, the controller is used for online closed-loop control of the extension and retraction of the hinge assemblies, the contact angle of the curved surface is adaptively adjusted, the problems of difficult processing and poor quality of different positions and different curvatures of the curved surface in the traditional polishing mode are solved, the universality of the device in multiple processing occasions is achieved, and the processing precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail transit vehicles and automobile parts processing technology, and particularly relates to a curved surface polishing device and a polishing method thereof. BACKGROUND

[0002] In the production and manufacturing process of rail transit vehicles and automobiles, a large number of curved surface parts need to be polished to reduce burrs on the surface. The curved surface parts include rail transit vehicle side wall large parts (at the circular arc), driver's room and mask, automobile doors, crankshafts, engine covers, cylinder blocks, etc. With the development of economy and the innovation of industrial technology, the polishing method of curved surface workpieces has changed from traditional manual polishing to robot automatic polishing. The polishing robot manipulator end and the polishing tool are rigidly connected through a flange.

[0003] In the prior art, most of the current robot automatic polishing has high efficiency but poor effect. The current robot polishing program is as follows: marking polishing points that can represent the entire curved surface path on the target workpiece, planning the path according to the polishing points, using a certain motion instruction and control instruction to command the robot executor to perform polishing work according to the polishing path. In the current robot polishing process, the change of curvature is basically not considered, and the polishing point or polishing surface normal is not identified, so that the polishing tool cannot be accurately aligned with the workpiece, resulting in uneven polishing thickness and poor polishing surface precision. SUMMARY

[0004] The main purpose of the embodiment of the present application is to provide a curved surface polishing device and a polishing method thereof, which can realize real-time sensing of the polishing curved surface based on a dot matrix laser sensing sensor, and control the extension and retraction of the extension rod in an online closed loop, thereby ensuring adaptive adjustment of the curved surface contact angle, improving the processing difficulty and poor quality of different positions and different curvatures of the curved surface under the traditional polishing method, and improving the processing precision while being compatible with multiple processing occasions.

[0005] To achieve the above purpose, the first aspect of the embodiment of the present application provides a curved surface polishing device, which comprises:

[0006] a first platform;

[0007] 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 groups of hinge assemblies;

[0008] The surface of the second platform close to the first platform is provided with a polishing grinding wheel driving element and an external controller, the external controller is arranged above the polishing grinding wheel driving element, and the surface of the second platform away from the first platform is provided with at least three laser sensing sensors and a polishing grinding wheel, the laser sensing sensors are arranged around the polishing grinding wheel;

[0009] The polishing wheel is used for polishing a workpiece to be processed, the laser induction sensor is used for acquiring the distance between the laser induction sensor and the surface of the workpiece to be processed, and the external controller is used for calculating the normal information of a curved surface area to be polished on the workpiece to be processed according to the distance acquired by each laser induction sensor, and controlling the hinge assembly to adjust the angle of the polishing wheel according to the normal information, so that the normal of the polishing wheel coincides with the normal of the curved surface area to be polished.

[0010] Preferably, four groups of hinge assemblies are arranged between the first platform and the second platform, and the surface of the second platform away from the first platform is provided with four laser induction sensors.

[0011] Preferably, the hinge assembly comprises, in sequence, an upper Hooke joint mounting seat, an upper Hooke joint, an extension rod, a lower Hooke joint and a lower Hooke joint mounting seat, the upper Hooke joint mounting seat is fixedly connected with the first platform, and the lower Hooke joint mounting seat is fixedly connected with the second platform.

[0012] Preferably, the edge of the first platform is provided with a plurality of first mounting protrusions matched with the hinge assemblies, the first mounting protrusions are fixedly connected with the upper Hooke joint mounting seat, and the edge of the second platform is provided with a plurality of second mounting protrusions matched with the hinge assemblies, the second mounting protrusions are fixedly connected with the lower Hooke joint mounting seat.

[0013] Preferably, a linear motor driver is arranged in the extension rod, the linear motor driver is used for driving the extension rod to be elongated or compressed, one end of the extension rod is hingedly connected with the upper Hooke joint, and the other end of the extension rod is hingedly connected with the lower Hooke joint.

[0014] To achieve the above object, a second aspect of the embodiment of the present application proposes a curved surface polishing method applied to the curved surface polishing device of the first aspect, comprising:

[0015] Three laser induction sensors are selected from the at least three laser induction sensors, the projection points of the three laser induction sensors on the surface of the workpiece to be processed are acquired respectively, and the projection distances of the laser induction sensors from the surface of the workpiece to be processed are calculated respectively based on the respective projection points;

[0016] A tool coordinate system is constructed according to the spatial positions of the selected three laser induction sensors, and sensor position coordinates of the three laser induction sensors in the tool coordinate system are determined;

[0017] Based on the three sensor position coordinates and the three projection distances, light point position coordinates of the projection points of the three laser induction sensors in the tool coordinate system are acquired;

[0018] Obtaining normal information of the area of ​​the curved surface to be ground on the workpiece according to the position coordinates of the three light spots, and controlling the hinge assembly to adjust the angle of the grinding wheel according to the normal information so that the normal direction of the grinding wheel coincides with the normal direction of the area of ​​the curved surface to be ground;

[0019] 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.

[0020] Preferably, one of the projected light points is in the coordinate plane of the tool coordinate system and 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;

[0021] 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:

[0022] 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 point;

[0023] Obtaining a first angle between a laser beam emitted by a first laser sensing sensor and a grinding wheel;

[0024] 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.

[0025] Preferably, the remaining two laser sensing sensors are respectively recorded as the second laser sensing sensor and the third laser sensing sensor, the projected light point corresponding to the second laser sensing sensor is recorded as the second projected light point, and the projected light point corresponding to the third laser sensing sensor is recorded as the third projected light point;

[0026] 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:

[0027] Obtaining 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;

[0028] Calculating a second angle between the first laser sensor, the second laser sensor, and the intersection of the first laser ray, and calculating a third angle between the first laser sensor, the third laser sensor, and the intersection of the second laser ray;

[0029] Acquire a second sensor position coordinate of the second laser sensing sensor in the tool coordinate system, and determine a light spot position coordinate of the second projected light spot in the tool coordinate system based on the first sensor position coordinate, the second sensor position coordinate, and the second angle;

[0030] 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.

[0031] Preferably, obtaining 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 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, includes:

[0032] Obtain the normal information of the surface area to be ground according to the coordinates of the three light spots, and determine the deflection direction of the grinding wheel according to the normal information;

[0033] 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 extended and retracted accordingly 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.

[0034] 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:

[0035] Obtain the normal information of the surface area to be ground after the corresponding extension and contraction of multiple telescopic rods.

[0036] Determine whether the grinding wheel is still deflected based on the normal information after the multiple telescopic rods are extended and retracted;

[0037] If the grinding wheel does not deflect, then the normal direction of the grinding wheel is determined to coincide with the normal direction of the surface to be ground;

[0038] 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.

[0039] The embodiment of the present application has the following beneficial effects: on the one hand, the curved surface polishing device provided by the present application breaks through the limitation of traditional rigid contact polishing application, and is characterized in that a first platform and a second platform are arranged oppositely between the first platform and the second platform, the first platform and the second platform are fixedly connected based on at least three groups of hinge assemblies; a polishing abrasive wheel driving element and an external controller are arranged on the surface of the second platform close to the first platform, the external controller is arranged above the polishing abrasive wheel driving element, at least three laser sensing sensors and a polishing abrasive wheel are arranged on the surface of the second platform away from the first platform, and the laser sensing sensors are arranged around the polishing abrasive wheel; wherein the polishing abrasive wheel is used for polishing a workpiece to be processed, the laser sensing sensors are used for obtaining the distance between the laser sensing sensors and the surface of the workpiece to be processed, and the external controller is used for calculating the normal information of the curved surface region to be polished on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and controlling the hinge assemblies to adjust the angle of the polishing abrasive wheel according to the normal information, so that the normal of the polishing abrasive wheel coincides with the normal of the curved surface region to be polished, and then the polishing 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, the curved surface contact angle is adaptively adjusted, the problems of difficult processing and poor quality of the curved surface in the traditional polishing method are improved, the universality of the curved surface polishing device is improved, and the processing precision is improved.

[0040] On the other hand, the curved surface polishing method provided by the present application is characterized in that three laser sensing sensors are selected from at least three laser sensing sensors, the projection points of the three laser sensing sensors on the surface of the workpiece to be processed are obtained respectively, and the projection distances of the laser sensing sensors and the surface of the workpiece to be processed are calculated respectively based on the respective projection points; a tool coordinate system is constructed based on the spatial positions of the selected three laser sensing sensors, the sensor position coordinates of the three laser sensing sensors in the tool coordinate system are determined; the light point position coordinates of the projection points corresponding to the three laser sensing sensors in the tool coordinate system are obtained based on the three sensor position coordinates and the three projection distances; the normal information of the curved surface region to be polished on the workpiece to be processed is obtained according to the three light point position coordinates, and the angle of the polishing abrasive wheel is adjusted by controlling the hinge assemblies according to the normal information, so that the normal of the polishing abrasive wheel coincides with the normal of the curved surface region to be polished; when the normal of the polishing abrasive wheel coincides with the normal of the curved surface region to be polished, the curved surface region to be polished is polished according to the preset parameters, and then the projection position of the light point of the multiple projection points can be used to accurately determine the polishing point or the polishing surface normal on the curved surface region, the polishing precision of the curved surface is improved, the problem of unevenness of the curved surface after conventional polishing is fundamentally solved, the consistency after polishing of the curved surface is ensured, and subsequent coating operation is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 The structure schematic diagram of the curved surface polishing device provided by the present application is shown in the figure;

[0042] Figure 2 for Figure 1 Structure schematic view of the camber polishing device when polishing in the forward direction;

[0043] Figure 3 for Figure 1 Structure schematic view of the camber polishing device when polishing in the lateral direction;

[0044] Figure 4 An optional flow schematic view of the camber polishing method provided by the embodiment of the present application;

[0045] Figure 5 Position schematic view of the laser sensing sensor and the corresponding projected light point position provided by the embodiment of the present application;

[0046] Figure 6 for Figure 5 Position schematic view of the three laser sensing sensors and the corresponding projected light point position selected in the embodiment;

[0047] Figure 7 for Figure 6 Position schematic view of the laser sensing sensor in the tool coordinate system in the embodiment;

[0048] Figure 8 for Figure 7 Position schematic view of the laser sensing sensor constructing the extended intersection point in the embodiment;

[0049] Figure 9 for Figure 8 Structure schematic view of the calculation of the projected light point position coordinates in the embodiment;

[0050] Figure 10 for Figure 9 Structure schematic view of the tool coordinate system conversion relationship in the embodiment.

[0051] The figure legend: first platform 10, first mounting protrusion 11, second platform 20, polishing abrasive wheel driving part 21, external controller 22, laser sensing sensor 23, polishing abrasive wheel 24, second mounting protrusion 25, hinge assembly 30, upper hooke hinge mounting seat 31, upper hooke hinge 32, telescopic rod 33, lower hooke hinge 34, lower hooke hinge mounting seat 35, workpiece to be processed 40. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0053] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a manner different from the module division in the device or the sequence in the flowchart. The terms "first", "second", etc. in the specification and claims and the above-described drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this disclosure is for the purpose of describing embodiments of the present application only and is not intended to be limiting. As used in this disclosure, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0055] In the prior art, most of the current robots have high efficiency but poor effect. The current robot polishing process is as follows: marking polishing points on a target workpiece that can represent the entire curved surface path, planning the path according to the polishing points, and using a certain motion instruction and control instruction to command the robot executor to perform polishing work according to the polishing path. In the current robot polishing process, the change in curvature is basically not considered, and the polishing point or polishing surface normal is not identified, so that the polishing tool cannot be accurately aligned with the workpiece, resulting in uneven polishing thickness, poor polishing surface precision, and other problems.

[0056] Therefore, 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 groups of hinge assemblies. The surface of the second platform close to the first platform is provided with a polishing grinding wheel driving part and an external controller, the external controller is arranged above the polishing grinding wheel driving part, and the surface of the second platform away from the first platform is provided with at least three laser sensing sensors and a polishing grinding wheel, the laser sensing sensors are arranged around the polishing grinding wheel. The polishing grinding wheel is used for polishing a workpiece to be processed, the laser sensing sensors are used for obtaining the distance between the laser sensing sensors and the surface of the workpiece to be processed, and the external controller is used for calculating the normal information of the curved surface area to be polished on the workpiece to be processed according to the distance obtained by each laser sensing sensor, and controlling the hinge assemblies to adjust the angle of the polishing grinding wheel according to the normal information, so that the normal of the polishing grinding wheel coincides with the normal of the curved surface area to be polished. In this way, the point array laser sensing sensor can be used to sense the polishing curved surface in real time, the controller can be used to control the extension and retraction of the hinge assemblies in an online closed loop, the curved surface contact angle can be self-adaptively adjusted, the problems of difficult processing and poor quality of the traditional polishing method for different positions and different curvatures of the curved surface can be solved, and the universality of the polishing method for multiple processing occasions is achieved, and the processing precision is high.

[0057] The curved surface polishing device and the polishing method thereof provided by the embodiment of the present application are described in detail through the following embodiment.

[0058] The embodiment of the present application is further described below with reference to the accompanying drawings.

[0059] As shown in Figures 1 to 3 , Figure 1 the structural schematic diagram of the curved surface polishing device provided by the embodiment of the present application, Figure 2 is Figure 1 the structural schematic diagram of the curved surface polishing device when polishing in the forward direction, Figure 3 is Figure 1 the structural schematic diagram of the curved surface polishing device when polishing in the lateral direction, the curved surface polishing device provided by the embodiment of the present application comprises a first platform 10 and a second platform 20, the first platform 10 and the second platform 20 are oppositely arranged, and the first platform 10 and the second platform 20 are fixedly connected based on at least three hinge assemblies 30; the surface of the second platform 20 close to the first platform 10 is provided with a polishing grinding wheel driving element 21 and an external controller 22, the external controller 22 is arranged above the polishing grinding wheel driving element 21, and the surface of the second platform 20 away from the first platform 10 is provided with at least three laser sensing sensors 23 and a polishing grinding wheel 24, the laser sensing sensors 23 are arranged around the polishing grinding wheel 24.

[0060] Among them, the polishing grinding wheel 24 is used for polishing a workpiece 40 to be processed, the laser sensing sensor 23 is used for obtaining 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 for calculating the normal information of the curved surface area to be polished on the workpiece 40 to be processed according to the distance obtained by each laser sensing sensor 23, and controlling the hinge assembly 30 to adjust the angle of the polishing grinding wheel 24 according to the normal information, so that the normal of the polishing grinding wheel 24 coincides with the normal of the curved surface area to be polished.

[0061] It should be noted that the hinge assembly 30 comprises an upper Hooke's joint mounting seat 31, an upper Hooke's joint 32, an extension rod 33, a lower Hooke's joint 34 and a lower Hooke's joint mounting seat 35 connected in sequence, the upper Hooke's joint mounting seat 31 is fixedly connected with the first platform 10, and the lower Hooke's joint mounting seat 35 is fixedly connected with the second platform 20.

[0062] Optionally, in this embodiment, the first platform 10 is the upper platform, the upper platform is connected to the end of the robot, the second platform 20 is the 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.

[0063] Optionally, the workpiece 40 to be processed can be a large part of the side wall of a rail transit vehicle (arc part), 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.

[0064] Furthermore, it should be noted that the external controller 22 can identify the parameter combination of four sets of laser sensing sensors and obtain the normal direction of the curved surface of the workpiece to be processed, thereby sensing the contact state between the grinding wheel 24 and 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.

[0065] Optionally, in this embodiment, the edge of the first platform 10 is provided with a plurality of first mounting protrusions 11 that are compatible with the hinge assembly 30, and the upper Hooke's hinge mounting seat 31 is fixedly connected to the first mounting protrusion 11, for example, it can be fixedly connected by bolts, and the edge of the second platform 20 is provided with a plurality of second mounting protrusions 25 that are compatible with the hinge assembly 30, and the lower Hooke's hinge mounting seat 35 is fixedly connected to the second mounting protrusion 25.

[0066] Optionally, a linear motor drive (not shown) is provided in the telescopic rod 33, which is used to drive the extension or compression of the telescopic rod 33, thereby adjusting 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.

[0067] 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, ensuring adaptive adjustment of the curved surface contact angle. It improves the problems of difficult processing and poor quality of different curvatures of curved surfaces at different positions under traditional grinding methods. At the same time, it has the versatility to multiple processing occasions and improves the processing accuracy.

[0068] like Figure 4 As shown,Figure 4 An optional flowchart of the curved surface polishing method provided by the embodiment of the present application, the curved surface polishing method comprises but is not limited to the following steps S10 to S40.

[0069] Step S10, three laser sensing sensors are selected from at least three laser sensing sensors, the projection points of the three laser sensing sensors on the surface of the workpiece to be processed are respectively obtained, and the projection distances of the laser sensing sensors and the surface of the workpiece to be processed are respectively calculated based on the respective projection points.

[0070] Step S20, a tool coordinate system is constructed according to the spatial positions of the three selected laser sensing sensors, and sensor position coordinates of the three laser sensing sensors in the tool coordinate system are determined.

[0071] Step S30, based on the three sensor position coordinates and the three projection distances, the light point position coordinates of the projection points corresponding to the three laser sensing sensors in the tool coordinate system are obtained.

[0072] Step S40, the normal information of the curved surface area to be polished on the workpiece to be processed is obtained according to the three light point position coordinates, and the angle of the polishing wheel is adjusted by the hinge assembly according to the normal information, so that the normal of the polishing wheel coincides with the normal of the curved surface area to be polished.

[0073] Step S50, when the normal of the polishing wheel coincides with the normal of the curved surface area to be polished, the curved surface area to be polished is polished according to the preset parameters.

[0074] Optionally, in the embodiment, as shown in Figure 5 , Figure 5 The laser sensing sensor and the corresponding projection point position diagram provided by the embodiment of the present application, the curved surface polishing device comprises four laser sensing sensors, the positions of the four laser sensing sensors are respectively recorded as E 1、 E 2、 E 3、 E 4, the corresponding projection points on the workpiece to be processed are F l 、 F 2、 F 3、 F 4, the distances between E 1 and F l 、 E 2 and F 2、 E 3 and F 3、 E 4 and F 4 measured by the four laser sensing sensors are respectively 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.

[0075] 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 3The plane formed by three points F l F 2 F 3The normal vector is , delta The angle represents the angle between the grinding wheel axis and the normal of the part to be ground on the workpiece to be processed; the normal of the grinding wheel coincides with the normal of the part to be ground on the curved workpiece to be processed, that is, delta =0° It is understandable that it is difficult to achieve a complete overlap of the two normal directions. Therefore, in this embodiment, an approximation is made. delta 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 curved workpiece to be machined and ground, thereby ensuring that the accuracy meets the requirements.

[0076] 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. It can be seen from the assembly relationship 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).

[0077] 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 E1 is a first laser sensing sensor.

[0078] Further, in an optional embodiment, the above-mentioned Figure 4 Step S30 includes but is not limited to the following steps S311 to S313.

[0079] Step S311: Obtain the first sensor position coordinate of the first laser sensing sensor in the tool coordinate system, and the first projection distance of the first laser sensing sensor from the first projection light point.

[0080] Step S312: Obtain the first included angle between the laser ray emitted by the first laser sensing sensor and the polishing grinding wheel.

[0081] Step S313: Determine the light point position coordinate of the first projection light point in the tool coordinate system according to the first sensor position coordinate, the first projection distance and the first included angle.

[0082] Specifically, as shown in Figure 7 , Figure 7 is Figure 6 a schematic diagram of the position of the first laser sensing sensor in the tool coordinate system, the first sensor position coordinate of the first laser sensing sensor E 1 in the tool coordinate system E 1( x 1 ,y 1 ,z 1) and the first projection distance thereof from the first projection light point h l , the first included angle between the laser ray emitted by the first laser sensing sensor and the polishing grinding wheel axis theta , the light point position coordinate of the first projection light point in the tool coordinate system is determined according to the first sensor position coordinate E 1( x 1 ,y 1 ,z 1), the first projection distance h l and the first included angle theta .

[0083] In this embodiment, assuming that the light point position coordinate of the first projection light point is F l ( x 1 ',y 1 ',z 1 ' ), then according to the first sensor position coordinate E 1( x 1 ,y 1 ,z 1), the first projection distance h l and the first included angletheta The coordinates of the first projected light point in the tool coordinate system are determined as follows:

[0084]

[0085] Furthermore, in an optional embodiment, the remaining two laser sensing sensors are respectively referred to as the second laser sensing sensors. E 2nd and 3rd laser sensing sensors E 3. The corresponding projected light points are recorded as the second projected light points F 2 and the third projected light point F 3. Above Figure 4 Step S30 also includes but is not limited to the following steps S321 to S323:

[0086] Step S321: obtaining 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.

[0087] Step S322: Calculating a second angle between the first laser sensor, the second laser sensor, and the intersection of the first laser ray, and calculating a third angle between the first laser sensor, the third laser sensor, and the intersection of the second laser ray.

[0088] 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.

[0089] In a specific embodiment, the projected light spot F 2 and projected light spots F The calculation process of 3 is similar, here the projected light point F 2. The calculation process of

[0090] Specifically, such as Figure 8 As shown, Figure 8 for Figure 7 Schematic diagram of the position of the extended intersection constructed by the laser sensing sensor. E 1 F 1 and E 2 F 2 intersects at G 12 , the first laser sensing sensor E 1. Second laser sensor E The reading of 2 is H 1, H 2, H 1 for E1 to G 12 the distance of H 2 is E 2 to G 12 the distance of E 1 to E 2 is , the triangle E 1 E 2 G 12 three internal angles of α , β , gamma are calculated as follows:

[0091]

[0092]

[0093]

[0094] According to the triangle E 1 E 2 G 12 the length of F 1 F 2 can be calculated as:

[0095]

[0096] As shown in Figure 9 , the structure diagram for calculating the position coordinates of the projected light point in Figure 9 is shown in the figure, in which Figure 8 1 E 2 E 2 F 1 plane, through F 1 F 1 F 1 F 1 ' ⊥ E 1 E 2 E 1 E 2 at F 1 ' , through F 2 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, i.e. parallel to the axis of the grinding wheel, from the geometric relationships, we can get:

[0097]

[0098]

[0099]

[0100]

[0101] Let F 1 ' , F 2 ' be the coordinates of F 1 ' ( x 1 " ,y 1 " ,z 1 " ), F 2 ' ( x 2 " ,y 2 " ,z 2 " ), respectively, then we have:

[0102]

[0103]

[0104] The coordinates of F 1 ' , F 2 ' can be calculated as:

[0105]

[0106]

[0107] As shown in Figure 9 , ⊥ , ⊥ , F 2 F 2 ' and F 2 P 2 form an angle of , with The angle ε,

[0108]

[0109]

[0110] Then we have the following formula:

[0111]

[0112]

[0113]

[0114]

[0115] Combining the above formulas, we can calculate the projected light point F 2 light spot position coordinates .

[0116] Step S324: Obtain the third sensor position coordinates of the third laser sensing sensor in the tool coordinate system, and determine 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.

[0117] Similarly, build a laser sensing sensor E 1 and laser sensing sensor E 3. Geometric relations within the plane, E 1 F 1 and E 3 F 3 intersect at point G 13 , can be obtained F 3 coordinates .

[0118] Furthermore, in a possible implementation manner, the above Figure 4 Step 40 also includes but is not limited to the following steps S41 to S42.

[0119] 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.

[0120] Specifically, according to the above steps, we can obtain F l , F 2, F The 3 coordinates are , , According to the three-point coordinates, the normal equation of the to-be-polished region of the workpiece to be processed can be calculated as:

[0121]

[0122] It should be noted that the normal precise alignment is to adjust the polishing wheel to be perpendicular to the surface of the to-be-polished region of the workpiece to be processed. In a specific implementation, since the polishing device is rigidly connected with the robot, adjusting the polishing device is equivalent to adjusting the posture of the robot. According to the actual normal of the surface of the to-be-polished region of the workpiece calculated by the normal precise alignment algorithm, the tool coordinate system before and after the precise alignment is determined, and then the rotation relationship (i.e., the forward and backward deflection directions of the polishing wheel) of the tool coordinate system before and after the precise alignment is determined, and then the parameters of the posture of the robot that need to be adjusted are obtained. Figure 10 Figure 10 As shown in FIG. 8, Figure 9 FIG. 8 is a structural schematic diagram of the tool coordinate system conversion relationship, according to the normal information, the rotation relationship (i.e., the forward and backward deflection directions of the polishing wheel) of the tool coordinate system before and after the precise alignment is determined, and then the parameters of the posture of the robot that need to be adjusted are obtained.

[0123] Step S42: According to the deflection direction, the extension lengths corresponding to the plurality of extension rods are calculated, and the plurality of extension rods are controlled to extend and retract correspondingly to adjust the angle of the polishing wheel so that the normal of the polishing wheel coincides with the normal of the to-be-polished curved surface region.

[0124] Specifically, the extension amount of each extension rod is calculated according to the deflection direction, and then the length of each extension rod is adjusted according to the extension amount of each extension rod, and thus the angle of the polishing wheel can be adjusted so that the normal of the polishing wheel coincides with the normal of the to-be-polished curved surface region.

[0125] The extension rod can be driven by a motor or controlled by hydraulic pressure, so the extension rod can be controlled to extend and retract by a PWM signal or a voltage.

[0126] Further, in a possible implementation, before step 50 in the above Figure 4 , the curved surface polishing method further includes but is not limited to the following steps S60 to step S90.

[0127] Step S60: Obtain the normal information of the to-be-polished curved surface region after the extension and retraction of the plurality of extension rods.

[0128] Specifically, after the extension and retraction of the plurality of extension rods, the geometric information of the to-be-polished curved surface region is recalculated according to the new positions of the plurality of extension rods, and then the normal information of the to-be-polished curved surface region after the extension and retraction of the plurality of extension rods is determined according to the geometric information of the to-be-polished curved surface region.

[0129] Step S70: Determine whether the polishing wheel still exists deflection according to the normal information after the extension and retraction of the plurality of extension rods.

[0130] ​Specifically, ideally, the rotation axis of the polishing wheel should be perpendicular to the normal of the surface to be polished, that is, the normal vector of the polishing wheel should be aligned with the normal vector of the current surface region to be polished, and if there is an included angle between the two vectors, it means that the polishing wheel is deflected.

[0131] Step S80: If the polishing wheel is not deflected, it is determined that the normal of the polishing wheel coincides with the normal of the surface region to be polished.

[0132] Specifically, if the polishing wheel is not deflected, it is determined that the normal of the polishing wheel coincides with the normal of the surface region to be polished.

[0133] Step S90: If the polishing wheel is deflected, continue to adjust the extension length of the telescopic rod and re-judge whether the polishing wheel is still deflected until the polishing wheel is not deflected.

[0134] Specifically, if the polishing wheel is deflected, continue to adjust the extension length of the telescopic rod and re-judge whether the polishing wheel is still deflected until the polishing wheel is not deflected.

[0135] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. The skilled in the art 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 application are also applicable to similar technical problems.

[0136] The skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0137] The skilled in the art can understand that all or some of the steps in the method disclosed above, the functional modules / units in the system, the device can be implemented as software, firmware, hardware and appropriate combinations thereof.

[0138] The terms "first", "second", "third", "fourth" and the like (if any) in the specification of the present application and the above-described figures are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0139] It should be understood that, in the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the relationship between associated objects, which means that there can be three relationships, for example, "A and / or B" can mean: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be singular or plural.

[0140] In several embodiments provided by the present application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the above-described system embodiments are only illustrative, for example, the division of the above-mentioned units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0141] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0142] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0143] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, which do not limit the scope of the embodiments of the present application. Any modification, equivalent replacement and improvement made by the skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A curved surface polishing apparatus, characterized by, The curved surface polishing device comprises: a first platform; a second platform, which is arranged opposite to the first platform, and is fixedly connected with the first platform based on at least three hinge assemblies; the second platform is provided with a polishing wheel driving part and an external controller near the surface of the first platform, the external controller is arranged above the polishing wheel driving part, and the second platform is provided with at least three laser sensing sensors and a polishing wheel away from the surface of the first platform, and the laser sensing sensors are arranged around the polishing wheel; wherein the polishing wheel is used for polishing a workpiece to be processed, the laser sensing sensors are used for acquiring the distance between the laser sensing sensors and the surface of the workpiece to be processed, and the external controller is used for calculating the normal information of the curved surface area to be polished on the workpiece to be processed according to the distance acquired by each laser sensing sensor, and controlling the hinge assembly to adjust the angle of the polishing wheel according to the normal information, so that the normal of the polishing wheel coincides with the normal of the curved surface area to be polished; the hinge assembly comprises an upper hooke joint mounting seat, an upper hooke joint, an extension rod, a lower hooke joint and a lower hooke joint mounting seat connected in sequence, the upper hooke joint mounting seat is fixedly connected with the first platform, and the lower hooke joint mounting seat is fixedly connected with the second platform; wherein the curved surface polishing device is adapted to a curved surface polishing method, the method comprising the following steps: selecting three laser sensing sensors from the at least three laser sensing sensors, acquiring the projection points of the three laser sensing sensors on the surface of the workpiece to be processed respectively, and calculating the projection distance between the laser sensing sensors and the surface of the workpiece to be processed respectively based on each projection point; 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, acquiring the light point position coordinates of the projection points corresponding to the three laser sensing sensors in the tool coordinate system; acquiring the normal information of the curved surface area to be polished on the workpiece to be processed according to the three light point position coordinates, and controlling the hinge assembly to adjust the angle of the polishing wheel according to the normal information, so that the normal of the polishing wheel coincides with the normal of the curved surface area to be polished; acquiring the normal information of the curved surface area to be polished after the extension of the plurality of extension rods, judging whether the polishing wheel still exists deflection according to the normal information after the extension of the plurality of extension rods; if the polishing wheel does not exist deflection, it is determined that the normal of the polishing wheel coincides with the normal of the curved surface area to be polished; if the polishing wheel exists deflection, the extension length of the extension rod is continuously adjusted and it is re-judged whether the polishing wheel still exists deflection until the polishing wheel does not exist deflection; when the normal of the polishing wheel coincides with the normal of the curved surface area to be polished, the curved surface area to be polished is polished according to preset parameters.

2. The curved surface polishing apparatus according to claim 1, wherein Four groups of the hinge assemblies are arranged between the first platform and the second platform, and four laser response sensors are arranged on the surface of the second platform away from the first platform.

3. The curved surface polishing apparatus of claim 1, wherein The edge of the first platform is provided with a plurality of first mounting protrusions matched with the hinge assemblies, the first mounting protrusions are fixedly connected with the upper huck hinge mounting seat, and the edge of the second platform is provided with a plurality of second mounting protrusions matched with the hinge assemblies, the second mounting protrusions are fixedly connected with the lower huck hinge mounting seat.

4. The curved surface polishing apparatus of claim 1, wherein A linear motor driver is arranged in the telescopic rod, the linear motor driver is used for driving the telescopic rod to be elongated or compressed, one end of the telescopic rod is hingedly connected with the upper huck hinge, and the other end of the telescopic rod is hingedly connected with the lower huck hinge.

5. The curved surface polishing apparatus of claim 1, wherein One of the projection points is in the coordinate plane of the tool coordinate system, and is recorded as a first projection point, and the laser response sensor corresponding to the first projection point is recorded as a first laser response sensor; The step of obtaining the light point position coordinates of the projection points corresponding to the three laser response sensors in the tool coordinate system based on the three sensor position coordinates and the three projection distances comprises the following steps. The first sensor position coordinates of the first laser response sensor in the tool coordinate system and the first projection distance between the first laser response sensor and the first projection point are obtained. The first included angle between the laser ray emitted by the first laser response sensor and the polishing wheel is obtained. The light point position coordinates of the first projection point in the tool coordinate system are determined according to the first sensor position coordinates, the first projection distance and the first included angle.

6. The curved surface polishing apparatus according to claim 5, wherein The other two laser response sensors are recorded as a second laser response sensor and a third laser response sensor respectively, the projection point corresponding to the second laser response sensor is recorded as a second projection point, and the projection point corresponding to the third laser response sensor is recorded as a third projection point. The step of obtaining the light point position coordinates of the projection points corresponding to the three laser response sensors in the tool coordinate system based on the three sensor position coordinates and the three projection distances further comprises the following steps. The first laser ray intersection point between the first laser response sensor and the second laser response sensor and the second laser ray intersection point between the first laser response sensor and the third laser response sensor are obtained. The second included angle between the first laser response sensor, the second laser response sensor and the first laser ray intersection point and the third included angle between the first laser response sensor, the third laser response sensor and the second laser ray intersection point are calculated. The second sensor position coordinates of the second laser response sensor in the tool coordinate system are obtained, and the light point position coordinates of the second projection point in the tool coordinate system are determined according to the first sensor position coordinates, the second sensor position coordinates and the second included angle. The third sensor position coordinates of the third laser response sensor in the tool coordinate system are obtained, and the light point position coordinates of the third projection point in the tool coordinate system are determined according to the first sensor position coordinates, the third sensor position coordinates and the third included angle. acquire a third sensor position coordinate of the third laser sensor in the tool coordinate system, and determine a light point position coordinate of the third projected light point in the tool coordinate system according to the first sensor position coordinate, the third sensor position coordinate and the third included angle.

7. The curved surface polishing apparatus of claim 1, wherein The normal information of the curved surface area to be polished on the workpiece to be processed is acquired according to the three light point position coordinates, and the angle of the polishing wheel is adjusted by the hinge assembly according to the normal information, so that the normal of the polishing wheel coincides with the normal of the curved surface area to be polished, which comprises: The normal information of the curved surface area to be polished is acquired according to the three light point position coordinates, and the deflection direction of the polishing wheel is determined according to the normal information. According to the deflection direction, the extension lengths corresponding to the plurality of telescopic rods are calculated, and the plurality of telescopic rods are controlled to extend or retract to adjust the angle of the polishing wheel so that the normal of the polishing wheel coincides with the normal of the curved surface area to be polished.

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