Robot engraving method and device based on six-dimensional force perception

Abstract

The invention relates to the technical field of intelligent engraving, in particular to a robot engraving method based on six-dimensional force perception, which comprises the following operation steps of: S1, fixing a workpiece on a working table according to a processing requirement; and S2, a machining path is planned and a machining program is written through numerical control programming simulation software according to the shape and machining requirements of the workpiece, the machining speed, depth and angle are set, the machining program is debugged and modified and transmitted to a robot, and a carving motion path is obtained. Through mutual cooperation of the six-joint industrial robot, the six-dimensional force sensor device, the carving tool device, the two-axis positioner device and the upper computer control system, the purposes of adapting to carving work of various difficulties and being accurate and stable in the material machining process are achieved; through precise path planning, real-time force feedback and an optimized carving process database, precise carving of the workpiece is achieved, and the quality and efficiency of carving operation are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent engraving, and specifically relates to a robot engraving method and device based on six-dimensional force perception. Background Art

[0002] Carving refers to the process of cutting or carving wood, stone or other materials into the desired shape. The materials used for carving are rich and varied, including wood, stone, and jade. Different materials have different requirements for carving techniques and work styles, which also affect the final effect and value of the work. The intelligent carving industry is gradually rising and becoming a new hotspot in all walks of life. Intelligent carving robots have become an effective means to meet market demand with their high precision and high efficiency. The end-mounted tools of existing robot carving equipment are basically variable frequency motors plus carving tools. Although this method can perform carving operations, it cannot track and monitor the carving process in real time. It belongs to open-loop control and is difficult to ensure whether there are problems such as broken knives, singularity overspeed, and abnormalities inside the stone blank during the carving process. Such problems will cause damage to the carved workpiece, requiring manual rework or even scrapping of the material. In this regard, we propose a robot carving method and device based on six-dimensional force perception. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a robot engraving method and device based on six-dimensional force perception to solve the above technical problems.

[0004] To achieve the above purpose, the present invention provides the following technical solution: a robot engraving method based on six-dimensional force perception, the operation steps are:

[0005] S1. Fix the workpiece on the work surface according to the processing requirements;

[0006] S2. Plan the processing path and write the processing program according to the shape and processing requirements of the workpiece through CNC programming simulation software, set the processing speed, depth, and angle, debug and modify the processing program and pass it to the robot to obtain the engraving motion path;

[0007] S3, collect a large amount of carving data to establish a carving process database, determine the reasonable functional relationship based on the carving process data of various stones, and the robot controller is responsible for processing the corresponding data;

[0008] S4. The robot transmits the operation trajectory and the engraving process database data through the host computer control system to perform engraving operations. During the operation, the robot performs real-time correction according to the force parameters fed back by the six-dimensional force sensor. The robot's working status is judged by the six-dimensional force sensor data, including whether the state of the engraving knife body and the working speed are abnormal.

[0009] S5. After the engraving operation is completed, the finished product is evaluated to check its quality and accuracy. Based on the evaluation results, the six-dimensional force perception system and the engraving process database algorithm are further optimized;

[0010] Preferably, the six-dimensional force sensor device measures and feeds back six independent force and torque components in three-dimensional space in real time, and simultaneously captures the tension and pressure in three orthogonal linear directions and the moments and torques around these three axes, providing data in six degrees of freedom.

[0011] Preferably, the engraving process database of the host computer system contains corresponding material types and engraving tool types to match corresponding process parameters, including but not limited to processing accuracy control, six-dimensional force sensor parameter threshold, variable frequency motor power, robot linear speed and normal working force threshold.

[0012] Preferably, the two-axis positioner device provides additional degrees of freedom of movement during the robot engraving process, and the eight-axis linkage between the robot and the two-axis positioner device is achieved through the additional axis linkage function of the six-joint robot.

[0013] Preferably, the host computer control system process:

[0014] A1. Import the stone carving model through CNC programming simulation software, discretize it through spline curve, calculate the Euler angle of each carving point, and finally obtain the carving path;

[0015] A2. Set the working threshold of each axis of the six-dimensional force sensor. During the robot engraving process, the six-axis data of the six-dimensional force sensor X, Y, Z, RX, RY, and RZ are collected in real time. When the robot exceeds the working threshold while moving along the engraving path, it is judged that an abnormality is encountered inside the stone during the engraving process and the process goes to step A3. Otherwise, the process goes to step A5.

[0016] A3. Reduce the robot's linear speed and motor power corresponding to each point in the engraving path according to the set six-axis force range, and calculate the angular velocity of each axis of the robot based on the adjusted linear speed;

[0017] A4, determine whether the adjusted linear speed and motor power are lower than the alarm value of the six-dimensional force sensor itself. If they are lower than the alarm value, proceed to step A5; if they are higher than or equal to the alarm value, proceed to step A3;

[0018] A5. According to the determined six-axis force range, the robot linear speed and motor power that match it are searched in the engraving process database. The robot will engrave according to the adjusted linear speed and motor power and the engraving path. The engraving process database includes robot linear speeds and motor powers corresponding to a large number of different six-axis force ranges.

[0019] Preferably, the method for setting the working threshold of each axis of the six-dimensional force sensor is as follows: according to the engraving process database, the maximum values ​​of force and torque that the engraving robot needs to measure during work are clarified, and the force and torque options are set using CNC programming simulation software, including the measurement range and threshold of each axis. The threshold must be set lower than the maximum range of the sensor to ensure that the sensor can trigger the alarm and emergency stop function when it is close to overload.

[0020] Preferably, the steps of establishing the database in step S3 are:

[0021] B1. Determine the type of engraving data that needs to be collected, including but not limited to material type, engraving force, engraving speed, engraving depth and engraving tool type, and ensure that the scope and accuracy of data collection covers all common engraving materials and the measurement accuracy of engraving force;

[0022] B2. Collect structured data related to engraving from existing databases, spreadsheets, and industry reports, including cutting parameters and processing equipment information; collect unstructured data from the Internet, professional forums, industry magazines, and research reports, including engraving cases, experience sharing, and technical documents to provide references and basis for practical operations in the database;

[0023] B3. Clean, pre-process, convert and standardize the collected data;

[0024] B4. Establish a database system to store and manage engraving data. The database includes material database, process database, and equipment database.

[0025] B5. Maintain and update the database regularly, add new data, delete outdated and invalid data, and repair data errors.

[0026] Correspondingly, a robot engraving device based on six-dimensional force perception is also provided, which is used to execute the robot engraving method based on six-dimensional force perception, wherein the robot engraving device includes: a six-joint industrial robot, a six-dimensional force sensor device, an engraving tool device, a two-axis positioner device and a host computer control system.

[0027] Preferably, the six-joint industrial robot, the six-dimensional force sensor device, the engraving tool device, the two-axis positioner device and the host computer control system are connected based on Modbus communication.

[0028] Preferably, the engraving tool device is composed of a variable frequency motor and an engraving tool, and is connected to the robot via a six-dimensional force sensor device.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present application is equipped with a six-joint industrial robot, a six-dimensional force sensor device, an engraving tool device, a two-axis positioner device and a host computer control system that cooperate with each other to achieve the purpose of adapting to engraving tasks of various difficulties, with real-time monitoring and real-time adjustment to avoid engraving errors, and accurate and stable material processing. During the robot engraving process, the six-dimensional force sensor is used to sense the force and torque applied to the robot during operation in real time, thereby ensuring that it can maintain high-precision and high-stability operation. The six-dimensional force perception engraving avoids stone carving defects or scrap caused by internal abnormalities of the stone blank and tool breakage, so as to avoid further impact on the stone carving. Through precise path planning, real-time force feedback and an optimized engraving process database, precise engraving of workpieces is achieved, significantly improving the quality and efficiency of engraving operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a step-by-step diagram of the six-dimensional force perception robot engraving method. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The present invention provides a technical solution: a robot engraving method based on six-dimensional force perception, the operation steps are:

[0034] S1. Fix the workpiece on the work surface according to the processing requirements;

[0035] S2. Plan the processing path and write the processing program according to the shape and processing requirements of the workpiece through CNC programming simulation software, set the processing speed, depth, and angle, debug and modify the processing program and pass it to the robot to obtain the engraving motion path;

[0036] S3, collect a large amount of carving data to establish a carving process database, determine the reasonable functional relationship based on the carving process data of various stones, and the robot controller is responsible for processing the corresponding data;

[0037] S4. The robot transmits the operation trajectory and the engraving process database data through the host computer control system to perform engraving operations. During the operation, the robot performs real-time corrections based on the force parameters fed back by the six-dimensional force sensor. The robot's working status is judged by the six-dimensional force sensor data, including whether the state of the engraving knife body and the working speed are abnormal. If abnormal conditions are found, such as excessive wear of the tool or poor surface quality of the workpiece, the processing should be suspended in time for adjustment and correction;

[0038] S5. After the engraving operation is completed, the finished product is evaluated to check its quality and accuracy. Based on the evaluation results, the six-dimensional force perception system and the engraving process database algorithm are further optimized, the workpiece is disassembled, the processing effect and processing quality are checked, and the processing parameters and data are recorded for subsequent analysis and optimization;

[0039] Furthermore, the six-dimensional force sensor device measures and feeds back six independent force and torque components in three-dimensional space in real time, and simultaneously captures the tension and pressure in three orthogonal straight line directions and the torque and torque around these three axes, providing data in six degrees of freedom. The six-dimensional force sensor is an advanced multi-axis force sensor. The core part usually contains an elastic structure, which is very sensitive to force and torque. When external force acts on the sensor, the elastic body will undergo a slight deformation. This deformation is converted into a change in resistance value through a strain gauge, and then converted into a voltage signal through a bridge circuit, thereby realizing the measurement of force and torque. In order to improve measurement accuracy and reduce the influence of the sensor itself, six-dimensional force sensors usually adopt temperature compensation and error correction technology.

[0040] Furthermore, the engraving process database of the host computer system contains corresponding material types and engraving tool types to match corresponding process parameters, including but not limited to processing accuracy control, six-dimensional force sensor parameter thresholds, variable frequency motor power, robot linear speed and normal working force thresholds. Processing accuracy is one of the key parameters in the engraving process. The database sets the corresponding processing accuracy range and control strategy according to the material type and tool type. For the engraving of metal materials, it is necessary to select a tool with higher hardness and set a smaller feed rate and cutting depth to ensure processing accuracy while reducing tool wear. For soft materials such as wood, a larger feed rate and cutting depth are selected to improve processing efficiency.

[0041] Furthermore, the two-axis positioner device provides additional degrees of freedom of movement during the robot engraving process. The eight-axis linkage between the robot and the two-axis positioner device is realized through the additional axis linkage function of the six-joint robot. The two-axis positioner device includes two independent rotating axes, which perform rotational movement in the horizontal or vertical direction. The rotating axes are linked with the additional axes of the robot to form a unified control system. When the robot performs engraving operations, the two-axis positioner device adjusts the position and angle of the workpiece as needed, thereby providing the robot with a larger range of motion and higher positioning accuracy.

[0042] Furthermore, the host computer control system process:

[0043] A1. Import the stone carving model through CNC programming simulation software, discretize it through spline curve, calculate the Euler angle of each carving point, and finally obtain the carving path;

[0044] A2. Set the working threshold of each axis of the six-dimensional force sensor. During the robot engraving process, the six-axis data of the six-dimensional force sensor X, Y, Z, RX, RY, and RZ are collected in real time. When the robot exceeds the working threshold while moving along the engraving path, it is judged that an abnormality is encountered inside the stone during the engraving process and the process goes to step A3. Otherwise, the process goes to step A5.

[0045] A3. Reduce the robot's linear speed and motor power corresponding to each point in the engraving path according to the set six-axis force range, and calculate the angular velocity of each axis of the robot based on the adjusted linear speed;

[0046] A4, determine whether the adjusted linear speed and motor power are lower than the alarm value of the six-dimensional force sensor itself. If they are lower than the alarm value, proceed to step A5; if they are higher than or equal to the alarm value, proceed to step A3;

[0047] A5. According to the determined six-axis force range, the robot linear speed and motor power that match it are searched in the engraving process database. The robot will engrave according to the adjusted linear speed and motor power and the engraving path. The engraving process database includes robot linear speeds and motor powers corresponding to a large number of different six-axis force ranges.

[0048] Furthermore, a method for setting the working threshold of each axis of the six-dimensional force sensor is as follows: according to the engraving process database, the maximum values ​​of force and torque that the engraving robot needs to measure during work are clarified, and the force and torque options are set using CNC programming simulation software, including the measurement range and threshold of each axis. The threshold must be set lower than the maximum range of the sensor to ensure that the sensor can trigger the alarm and emergency stop function when it is close to overload.

[0049] Furthermore, the steps of establishing the database in step S3 are:

[0050] B1. Determine the type of engraving data that needs to be collected, including but not limited to material type, engraving force, engraving speed, engraving depth and engraving tool type, and ensure that the scope and accuracy of data collection covers all common engraving materials and the measurement accuracy of engraving force;

[0051] B2. Collect structured data related to engraving from existing databases, spreadsheets, and industry reports, including cutting parameters and processing equipment information; collect unstructured data from the Internet, professional forums, industry magazines, and research reports, including engraving cases, experience sharing, and technical documents to provide references and basis for practical operations in the database;

[0052] B3. Clean, pre-process, convert and standardize the collected data;

[0053] B4. Establish a database system to store and manage engraving data. The database includes material database, process database, and equipment database.

[0054] B5. Maintain and update the database regularly, add new data, delete outdated and invalid data, and repair data errors.

[0055] Correspondingly, a robot engraving device based on six-dimensional force perception is also provided, which is used to execute the robot engraving method based on six-dimensional force perception, wherein the robot engraving device includes: a six-joint industrial robot, a six-dimensional force sensor device, an engraving tool device, a two-axis positioner device and a host computer control system.

[0056] Furthermore, the six-joint industrial robot, the six-dimensional force sensor device, the engraving tool device, the two-axis positioner device and the host computer control system are connected based on Modbus communication. The Modbus communication protocol is a serial communication protocol widely used in the field of industrial automation. The Modbus protocol supports multiple communication methods, including serial ports, Ethernet and other networks that support the Internet Protocol. In addition, it is divided into two variants: RTU and ASCII.

[0057] Furthermore, the engraving tool device is composed of a variable frequency motor and an engraving tool, and is connected to the robot through a six-dimensional force sensor device.

[0058] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0059] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot engraving method based on six-dimensional force perception, characterized in that: The steps are: S1. Fix the workpiece on the work surface according to the processing requirements; S2. Plan the processing path and write the processing program according to the shape and processing requirements of the workpiece through CNC programming simulation software, set the processing speed, depth, and angle, debug and modify the processing program and pass it to the robot to obtain the engraving motion path; S3, collect a large amount of carving data to establish a carving process database, determine the reasonable functional relationship based on the carving process data of various stones, and the robot controller is responsible for processing the corresponding data; S4. The robot transmits the operation trajectory and the engraving process database data through the host computer control system to perform engraving operations. During the operation, the robot performs real-time correction according to the force parameters fed back by the six-dimensional force sensor. The robot's working status is judged by the six-dimensional force sensor data, including whether the state of the engraving knife body and the working speed are abnormal. S5. After the engraving operation is completed, the finished product is evaluated to check its quality and accuracy. Based on the evaluation results, the six-dimensional force perception system and the engraving process database algorithm are further optimized.

2. The robot engraving method based on six-dimensional force perception according to claim 1 is characterized in that: The six-dimensional force sensor device measures and feeds back six independent force and torque components in three-dimensional space in real time, while capturing the tension and pressure in three orthogonal linear directions and the moments and torques around these three axes, providing data in six degrees of freedom.

3. The robot engraving method based on six-dimensional force perception according to claim 2 is characterized in that: The engraving process database of the host computer system contains corresponding material types and engraving tool types to match the corresponding process parameters, including but not limited to processing accuracy control, six-dimensional force sensor parameter threshold, variable frequency motor power, robot linear speed and normal working force threshold.

4. The robot engraving method based on six-dimensional force perception according to claim 1 is characterized in that: The two-axis positioner device provides additional degrees of freedom of movement during the robot engraving process, and the eight-axis linkage between the robot and the two-axis positioner device is achieved through the additional axis linkage function of the six-joint robot.

5. The robot engraving method based on six-dimensional force perception according to claim 1 is characterized in that: Host computer control system process: A1. Import the stone carving model through CNC programming simulation software, discretize it through spline curve, calculate the Euler angle of each carving point, and finally obtain the carving path; A2. Set the working threshold of each axis of the six-dimensional force sensor. During the robot engraving process, the six-axis data of the six-dimensional force sensor X, Y, Z, RX, RY, and RZ are collected in real time. When the robot exceeds the working threshold while moving along the engraving path, it is judged that an abnormality is encountered inside the stone during the engraving process and the process goes to step A3. Otherwise, the process goes to step A5. A3. Reduce the robot's linear speed and motor power corresponding to each point in the engraving path according to the set six-axis force range, and calculate the angular velocity of each axis of the robot based on the adjusted linear speed; A4, determine whether the adjusted linear speed and motor power are lower than the alarm value of the six-dimensional force sensor itself. If they are lower than the alarm value, proceed to step A5; if they are higher than or equal to the alarm value, proceed to step A3; A5. According to the determined six-axis force range, the robot linear speed and motor power that match it are searched in the engraving process database. The robot will engrave according to the adjusted linear speed and motor power and the engraving path. The engraving process database includes robot linear speeds and motor powers corresponding to a large number of different six-axis force ranges.

6. The robot engraving method based on six-dimensional force perception according to claim 5 is characterized in that: Method for setting the working threshold of each axis of the six-dimensional force sensor: According to the engraving process database, clarify the maximum value of force and torque that the engraving robot needs to measure during work, and use CNC programming simulation software to set the force and torque options, including the measurement range and threshold of each axis. The threshold must be set lower than the maximum range of the sensor to ensure that the sensor can trigger the alarm and emergency stop function when it is close to overload.

7. The robot engraving method based on six-dimensional force perception according to claim 1 is characterized in that: The steps for establishing the database in step S3 are: B1. Determine the type of engraving data that needs to be collected, including but not limited to material type, engraving force, engraving speed, engraving depth and engraving tool type, and ensure that the scope and accuracy of data collection covers all common engraving materials and the measurement accuracy of engraving force; B2. Collect structured data related to engraving from existing databases, spreadsheets, and industry reports, including cutting parameters and processing equipment information; collect unstructured data from the Internet, professional forums, industry magazines, and research reports, including engraving cases, experience sharing, and technical documents to provide references and basis for practical operations in the database; B3. Clean, pre-process, convert and standardize the collected data; B4. Establish a database system to store and manage engraving data. The database includes material database, process database and equipment database; B5. Maintain and update the database regularly, add new data, delete outdated and invalid data, and repair data errors.

8. A robot engraving device based on six-dimensional force perception, used to execute a robot engraving method based on six-dimensional force perception as claimed in any one of claims 1 to 7, wherein the robot engraving device comprises: Six-joint industrial robot, six-dimensional force sensor device, engraving tool device, two-axis positioner device and host computer control system.

9. The robot engraving device based on six-dimensional force perception according to claim 8 is characterized in that: The six-joint industrial robot, six-dimensional force sensor device, engraving tool device, two-axis positioner device and host computer control system are connected based on Modbus communication.

10. The robot engraving device based on six-dimensional force perception according to claim 8, characterized in that: The engraving tool device consists of a variable frequency motor and an engraving tool, and is connected to the robot through a six-dimensional force sensor device.

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