Plane grinding method and device and readable storage medium

Abstract

The invention provides a plane grinding method and device and a readable storage medium. The method comprises the steps that coordinate information of the surface of a ground object is obtained through a 3D camera; according to height information in the coordinate information, an area needing to be polished is screened out; setting an overall polishing path according to the screened polishing areas; according to the contact area of the grinding tool and the ground object, the specific grinding route of each grinding area is planned; and for the specific polishing route of each polishing area, according to the speed influence of the magnitude of the force on the polishing depth, in combination with the measured height information corresponding to the contact area of the grinding tool and the polished object, the magnitude of the force and the retention time are set for each contact polishing on the specific polishing route. According to the method, the device and the readable storage medium, the problems that an existing constant force floating device needs to accurately adjust the magnitude of force in the grinding process to balance the precision and the efficiency, the difficulty is large, and meanwhile the precision of height information measured in the grinding process is not high can be solved.

Description

Technical Field

[0001] The present invention relates to the field of polishing technology, and in particular to a method, a device and a readable storage medium for plane polishing. Background Art

[0002] The constant force floating device is mainly based on traditional grinding, mainly analyzing the forces of five methods: milling, circular grinding, end face flat grinding, end face angle grinding and plane eccentric grinding. It integrates the high flexibility and high automation of robots, and develops flexible grinding. It combines ordinary cylinders, servo cylinders, and servo electric cylinders to achieve axial floating, and combines floating devices to complete radial floating. At the same time, it is based on six-axis torque sensors and deadweight compensation to further ensure constant force grinding. It is the current mainstream solution for flexible grinding.

[0003] However, the existing constant force floating device needs to accurately adjust the force during the grinding process to balance accuracy and efficiency, which is difficult. At the same time, the height information measured by the existing constant force floating device during the grinding process is not accurate. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method, device and readable storage medium for plane grinding in view of the above-mentioned deficiencies in the prior art, so as to solve the problem that the existing constant force floating device needs to accurately adjust the force during the grinding process to balance accuracy and efficiency, which is quite difficult. At the same time, the accuracy of the height information measured during the grinding process is not high.

[0005] In a first aspect, the present invention provides a method for surface grinding, the method comprising:

[0006] Obtain the coordinate information of the surface of the polished object through a 3D camera;

[0007] Filter out the area that needs to be polished according to the height information in the coordinate information;

[0008] Set the overall grinding path according to the selected grinding area;

[0009] Planning a specific grinding route for each grinding area according to the contact area between the grinding tool and the object to be ground;

[0010] For each specific grinding route of the grinding area, according to the influence of the force on the speed of the grinding depth, combined with the height information corresponding to the contact area between the grinding tool and the object being grinded, the force and the dwell time are set for each contact grinding on the specific grinding route;

[0011] The grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route are sent to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route.

[0012] Furthermore, the step of obtaining the coordinate information of the surface of the polished object by using a 3D camera specifically includes:

[0013] Collect surface information of the polished object through a 3D camera;

[0014] The collected surface information is subjected to coordinate transformation to obtain the coordinate information.

[0015] Furthermore, the 3D camera is based on a line structured light mode, and before collecting the surface information of the polished object by the 3D camera, the method further includes:

[0016] The sampling points and sampling intervals of the 3D camera line structured light are set according to the polishing accuracy requirements.

[0017] Furthermore, the 3D camera is arranged on the pulley trolley, and the surface information of the polished object is collected by the 3D camera, specifically including:

[0018] A control instruction is sent to the robot control cabinet according to the initial center point of the 3D camera or the pulley trolley, and the control instruction is used to control the pulley trolley to move and scan the entire polished object, so that the 3D camera can collect surface information of the polished object.

[0019] Furthermore, the overall grinding path is set according to the selected grinding area, specifically including:

[0020] Divide the object to be polished into four quadrants;

[0021] The grinding path planning is performed in quadrants according to a preset order. The grinding route planning in any quadrant can be planned in the order of X-axis from small to large and Y-axis from small to large, and is planned by connecting the maximum value point of the X-axis of the previous grinding area to the minimum value point of the X-axis of the next grinding area.

[0022] Furthermore, the specific grinding route is planned according to the order of X-axis from small to large and Y-axis from small to large.

[0023] Furthermore, for each specific grinding route of the grinding area, according to the speed effect of the force on the grinding depth, combined with the measured height information corresponding to the contact area between the grinding tool and the object to be ground, while or after setting the force and the dwell time for each contact grinding on the specific grinding route, the method also includes:

[0024] Plan the magnitude and dwell time of the stress of the constant force floating device during the movement from the last time the abrasive tool contacts the object to the next time the abrasive tool contacts the object;

[0025] The magnitude of the stress and the dwell time of the constant force floating device during the movement are sent to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete corresponding adjustment and movement operations according to the magnitude of the stress and the dwell time of the constant force floating device during the movement.

[0026] In a second aspect, the present invention provides a surface grinding device, comprising:

[0027] A coordinate information acquisition module is used to acquire the coordinate information of the surface of the polished object through a 3D camera;

[0028] A polishing area screening module, connected to the coordinate information acquisition module, for screening out the area to be polished according to the height information in the coordinate information;

[0029] A polishing path planning module, connected to the polishing area screening module, for setting an overall polishing path according to the screened polishing area;

[0030] A grinding route planning module, connected to the grinding path planning module, is used to plan a specific grinding route for each grinding area according to the contact area between the grinding tool and the object to be ground;

[0031] A contact grinding setting module, connected to the grinding route planning module, is used to set the force and dwell time for each contact grinding on the specific grinding route for each grinding area according to the speed influence of the force on the grinding depth and the height information corresponding to the contact area between the grinding tool and the object being grinded;

[0032] The plane grinding module is connected to the contact grinding setting module, and is used to send the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route.

[0033] In a third aspect, the present invention provides a surface grinding device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the surface grinding method described in the first aspect.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the surface grinding method described in the first aspect is implemented.

[0035] The method, device and readable storage medium for plane grinding provided by the present invention first obtain the coordinate information of the surface of the object to be grinded through a 3D camera, and select the area to be grinded according to the height information in the coordinate information; then set the overall grinding path according to the selected grinding area; then plan the specific grinding route of each grinding area according to the contact area between the grinding tool and the object to be grinded; finally, for the specific grinding route of each grinding area, according to the speed influence of the force size on the grinding depth, combined with the measured height information corresponding to the contact area between the grinding tool and the object to be grinded, set the force size and residence time for each contact grinding on the specific grinding route; and send the grinding path, the specific grinding route of each grinding area, and the force size and residence time set for each contact grinding on the specific grinding route to a robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force size and residence time set for each contact grinding on the specific grinding route. The present invention uses 3D camera machine vision to identify the area that needs to be polished and accurately obtain height information to perform path planning. At the same time, it comprehensively considers multiple factors such as the contact area between the mold and the object to be polished and the influence of the force on the speed of the polishing depth to adjust the constant force size of the constant force floating device, thereby improving the polishing efficiency while improving the flexibility. It solves the problem that the existing constant force floating device needs to accurately adjust the force size to balance the accuracy and efficiency during the polishing process, which is difficult. At the same time, the height information measured during the polishing process is not accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of a surface grinding method according to Embodiment 1 of the present invention;

[0037] Figure 2 A schematic diagram of a connection method between a robot and a constant force floating device according to an embodiment of the present invention;

[0038] Figure 3 A side view of a 3D camera deployment method according to an embodiment of the present invention;

[0039] Figure 4 A top view of a 3D camera deployment method according to an embodiment of the present invention;

[0040] Figure 5 A schematic diagram of a polishing path planning according to an embodiment of the present invention;

[0041] Figure 6 A schematic diagram of a specific polishing route planning according to an embodiment of the present invention;

[0042] Figure 7 It is a structural diagram of a surface polishing system according to an embodiment of the present invention;

[0043] Figure 8 This is a schematic structural diagram of a surface grinding device according to Embodiment 2 of the present invention;

[0044] Fig. 9 This is a schematic structural diagram of a surface grinding device according to Example 3 of the present invention. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solution of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0046] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention rather than to limit the present invention.

[0047] It can be understood that, in the absence of conflict, the various embodiments of the present invention and the various features in the embodiments can be combined with each other.

[0048] It can be understood that, for the convenience of description, the drawings of the present invention only show the parts related to the present invention, while the parts irrelevant to the present invention are not shown in the drawings.

[0049] It can be understood that each unit and module involved in the embodiments of the present invention may correspond to only one physical structure, or may be composed of multiple physical structures, or multiple units and modules may be integrated into one physical structure.

[0050] It can be understood that the terms "first", "second", etc. in the embodiments of the present invention are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0051] It can be understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of the present invention may occur in an order different from that marked in the drawings.

[0052] It is understood that the flowcharts and block diagrams of the present invention illustrate the possible architectures, functions, and operations of the systems, devices, equipment, and methods according to the various embodiments of the present invention. Each box in the flowchart or block diagram may represent a unit, module, program segment, or code, which contains executable instructions for implementing the specified functions. Moreover, each box or combination of boxes in the block diagram and flowchart may be implemented by a hardware-based system that implements the specified functions, or may be implemented by a combination of hardware and computer instructions.

[0053] It can be understood that the units and modules involved in the embodiments of the present invention can be implemented by software or hardware. For example, the units and modules can be located in a processor.

[0054] Application Overview

[0055] The existing constant force floating device has the following technical problems during the grinding process:

[0056] 1. The constant force floating device needs to accurately adjust the force during the grinding process to balance accuracy and efficiency, which is quite difficult.

[0057] The constant force floating device achieves the grinding requirements through repeated grinding while ensuring that the force remains unchanged during the grinding process. However, in actual work, the force needs to be adjusted multiple times. If the force is too large, the grinding speed will be too fast and may damage the object being polished. If the force is too small, the grinding speed will be slow or the number of grinding times will increase, reducing efficiency.

[0058] 2. The height information measured by the constant force floating device during the grinding process is not accurate.

[0059] During the grinding process, the constant force floating device is connected to the displacement sensor through a pneumatic cylinder or an electric cylinder to obtain the current grinding height information in real time. Compared with the coordinate height information of the point measured by the 3D camera, the constant force floating device can only obtain the height information of the contact surface with the grinding object, and the information accuracy needs to be improved.

[0060] 3. The constant force floating device mainly relies on the teaching robot for path planning when planning the grinding path, and its flexibility needs to be improved.

[0061] Currently in robot grinding, the constant force floating device serves as the terminal actuator, and its overall route planning still relies on the teaching robot for overall path planning. For the grinding of non-standard parts, the path needs to be re-taught, which is inefficient and the flexibility needs to be improved.

[0062] In response to the above technical problems, the idea of ​​the present application is to provide a method, device and readable storage medium for plane grinding, which uses 3D camera machine vision to identify the area to be polished and obtain accurate height information for path planning. At the same time, the contact area between the mold and the object to be polished and the influence of the force on the speed of the grinding depth are comprehensively considered to adjust the variable force of the constant force floating device, thereby improving the flexibility and the grinding efficiency. At least it solves the problem that the existing constant force floating device needs to accurately adjust the force during the grinding process to balance the accuracy and efficiency, which is difficult. At the same time, the height information measured during the grinding process is not accurate.

[0063] After introducing the basic principles of the present application, various non-limiting embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0064] Embodiment 1:

[0065] This embodiment provides a method for surface grinding, such as Figure 1 As shown, the method includes:

[0066] Step S101: Acquire the coordinate information of the surface of the polished object through a 3D camera.

[0067] It should be noted that the surface grinding method provided in this embodiment is aimed at the surface grinding scene, and combines a six-axis robot (hereinafter referred to as the robot), a constant force floating device, line structured light and 3D camera machine vision to complete the identification of the grinding area and the fine planning of the grinding route. At the same time, the adjustment of the force size and the dwell time in the path and the height information fed back by the constant force floating device are combined to further improve the degree of fine grinding. Among them, the connection method between the robot and the constant force floating device can be as follows: Figure 2 As shown, the robot may include a base (1), joint 1 (2), a waist link (3), a joint 2 (4), an upper arm link (5), a joint 3 (6), a lower arm rear section link (7), a joint 4 (8), a lower arm front section link (9), a joint 5 (10), a wrist link (11), and a joint 6 (12), and a constant force floating device (13) is connected to the joint 6 (12).

[0068] In this embodiment, the deployment method of the 3D camera can be as follows: Figure 3 and 4 As shown, Figure 3 is a side view of a 3D camera deployment method according to an embodiment of the present invention, Figure 4 FIG. 1 is a top view of a 3D camera deployment method according to an embodiment of the present invention. Figure 3 As shown, the 3D camera (17) is arranged on a pulley trolley (18), which may be one or more pulley trolleys (18), which are slidably arranged on the top of a bracket (16), and the grinding table (14) and the object to be ground (15) are located in the bracket (16).

[0069] Optionally, the acquiring the coordinate information of the surface of the polished object by using a 3D camera specifically includes:

[0070] Collect surface information of the polished object through a 3D camera;

[0071] The collected surface information is subjected to coordinate transformation to obtain the coordinate information.

[0072] In this embodiment, the 3D camera collects surface information of the polishing object through pre-set sampling points and sampling intervals.

[0073] Optionally, the 3D camera is based on a line structured light mode, and before collecting surface information of the polished object through the 3D camera, the method further includes:

[0074] The sampling points and sampling intervals of the 3D camera line structured light are set according to the polishing accuracy requirements.

[0075] In this embodiment, in order to further avoid error factors, the present invention uses line structured light as the light source of the 3D camera. The 3D camera based on the line structured light mode is composed of an optical projector, a camera, and a computer system to form a structured light three-dimensional vision system. The system projects a light beam to the object. The light bar is modulated due to the change in the depth of the object surface and possible gaps. The light bar is distorted and discontinuous in the image. The degree of distortion is proportional to the depth. The three-dimensional information of the object surface is obtained from the distorted light bar image information. When the relative position between the optical projector and the camera is constant, the three-dimensional shape contour of the object surface can be reproduced by the distorted two-dimensional light bar image coordinates.

[0076] In this embodiment, the sampling points and sampling intervals of the 3D camera line structured light can be set according to the polishing accuracy requirements.

[0077] Optionally, the 3D camera is disposed on a pulley trolley, and collecting surface information of the polished object by the 3D camera specifically includes:

[0078] A control instruction is sent to the robot control cabinet according to the initial center point of the 3D camera or the pulley trolley, and the control instruction is used to control the pulley trolley to move and scan the entire polished object, so that the 3D camera can collect surface information of the polished object.

[0079] In this embodiment, if Figure 3 As shown, the control command is used to control the pulley trolley (18) to move in the positive and negative directions along the X-axis. While executing the movement, the 3D camera (17) group collects surface information of the polished object (15) located on the base of the polishing table (14) by means of line structured light.

[0080] Step S102: Filter out the area that needs to be polished according to the height information in the coordinate information.

[0081] In this embodiment, the coordinate information includes information of the X-axis, Y-axis and Z-axis, wherein X is length information, Y is width information, and Z is height information. By screening the Z-axis information, the area that needs to be polished can be identified.

[0082] Step S103: setting an overall polishing path according to the screened polishing area.

[0083] In this embodiment, since there are usually multiple selected polishing areas, it is necessary to first plan the overall polishing path between the polishing areas.

[0084] Optionally, setting the overall polishing path according to the screened polishing area specifically includes:

[0085] Divide the object to be polished into four quadrants;

[0086] The grinding path planning is performed in quadrants according to a preset order. The grinding route planning in any quadrant can be planned in the order of X-axis from small to large and Y-axis from small to large, and is planned by connecting the maximum value point of the X-axis of the previous grinding area to the minimum value point of the X-axis of the next grinding area.

[0087] In this embodiment, in order to better plan the grinding path, the object to be ground is divided into four quadrants (that is, the grinding plane is divided into four areas), and the grinding path is planned in the quadrants according to a preset order. The preset order can be, for example, in the order of 1-2-3-4 quadrants, or in the order of 3-4-1-2 quadrants, etc., and the present invention is not limited to this.

[0088] In this embodiment, the grinding path planning in any quadrant can be planned in the order of X-axis from small to large and Y-axis from small to large, by connecting the maximum value point of the X-axis of the previous grinding area to the minimum value point of the X-axis of the next grinding area (if the X-axis of the two grinding areas is the same, they are distinguished in the order of Y-axis from small to large), for example, Figure 5 A schematic diagram of the grinding path planning for quadrant 3 is shown.

[0089] Step S104: planning a specific grinding route for each grinding area according to the contact area between the grinding tool and the object to be ground.

[0090] In this embodiment, in order to ensure that the grinding area is fully covered, the specific grinding route of each grinding area is planned according to the contact area between the grinding tool and the object to be ground, wherein the specific grinding route can be planned in the order of X-axis from small to large and Y-axis from small to large (X-axis priority).

[0091] Specifically, taking plane end grinding as an example, the specific grinding route planning diagram can be as follows: Figure 6 As shown, the circular area represents the contact area between the abrasive tool and the object being polished, and the arrow represents the specific polishing route. Figure 6 Specifically, it is a schematic diagram of the planning of the specific grinding route of the first grinding area in quadrant 3.

[0092] It should be noted that the mold is the part that is in direct contact with the grinding area, that is, the terminal actuator, and the constant force floating device is a mechanical device connected to the mold to ensure the consistency of force when the terminal actuator is in contact with the grinding area.

[0093] Step S105: for each specific grinding route of the grinding area, according to the speed effect of the force on the grinding depth, combined with the height information corresponding to the contact area between the grinding tool and the object being grinded, the force and dwell time are set for each contact grinding on the specific grinding route.

[0094] In this embodiment, the force includes axial force and radial force. Specifically, the influence of axial force and radial force on the speed in the grinding depth direction is comprehensively considered, and combined with the differences in grinding methods such as plane end grinding, end angle grinding, plane eccentric grinding, circular grinding, etc., the magnitude and residence time of the axial force and radial force are set according to the corresponding height of the contact area between the grinding tool and the object to be grinded each time in the grinding area. In this way, the setting of the force magnitude of different points of the traditional constant force floating device is converted into variable force grinding in the overall grinding process, so as to improve the degree and efficiency of flexible grinding.

[0095] Step S106: Send the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route.

[0096] In this embodiment, the constant force floating device is mainly responsible for adjusting the magnitude of the axial force and the radial force, and the robot is mainly responsible for the movement process of the constant force floating device.

[0097] Optionally, for each specific grinding route of the grinding area, according to the speed effect of the force on the grinding depth, combined with the measured height information corresponding to the contact area between the grinding tool and the object to be ground, while or after setting the force and the dwell time for each contact grinding on the specific grinding route, the method further includes:

[0098] Plan the magnitude and dwell time of the stress of the constant force floating device during the movement from the last time the abrasive tool contacts the object to the next time the abrasive tool contacts the object;

[0099] The magnitude of the stress and the dwell time of the constant force floating device during the movement are sent to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete corresponding adjustment and movement operations according to the magnitude of the stress and the dwell time of the constant force floating device during the movement.

[0100] In this embodiment, in order to further improve the degree and efficiency of flexible grinding, while setting the force and residence time according to the corresponding height of the contact area between the grinding tool and the object to be grinded each time in the grinding area, the force and residence time of the constant force floating device during the movement from the last contact between the grinding tool and the object to be grinded to the next contact between the grinding tool and the object to be grinded can be planned, thereby converting the traditional constant force floating device through the setting of the force at different points into variable force grinding in the overall grinding process.

[0101] The present invention utilizes a bracket, a pulley trolley, and a 3D camera group to realize the identification of the grinding area, the planning of the grinding path and the specific grinding route, and at the same time combines the height information to set the axial force and radial force as well as the residence time for each contact between the terminal mold and the object to be polished during the grinding process, and realizes constant force maintenance in each step of the contact process through a constant force floating device, thereby forming an overall variable force grinding capability, and further improving the degree and efficiency of flexible grinding.

[0102] In a specific embodiment, the surface grinding method may include the following steps:

[0103] 1. Set the line structured light sampling points and sampling intervals according to the polishing requirements;

[0104] 2. Take the initial center point of the 3D camera as the origin, control the pulley to move and scan the entire object to be polished (such as a steel plate) to collect coordinate information.

[0105] 3. Filter according to height information and identify the areas that need to be polished.

[0106] 4. Set the overall grinding path according to the selected grinding area.

[0107] 5. Plan the specific grinding route according to the area to be ground and the contact area between the terminal abrasive and the object to be ground.

[0108] 6. Comprehensively consider the influence of force on the speed of grinding depth and time factors, and combine the measured depth information (i.e. height information) to set the dwell time and force for each contact grinding on the route;

[0109] 7. Send precise coordinates to the robot control cabinet, and then the robot control cabinet sends instructions to control the floating constant force device to complete the corresponding grinding work.

[0110] In another specific embodiment, the surface grinding method is applied to Figure 7 The plane grinding system shown in the figure comprises a 3D camera (17), a pulley trolley (18), a gateway (19), a visual server (20), a computing server (21), a robot control cabinet (22), a robot (23), and a constant force floating device (13), wherein the visual server (20) and the computing server (21) can be provided together or independently, and the plane grinding method can include the following steps:

[0111] 1. According to the polishing accuracy requirements, set the sampling points and sampling intervals of the line structured light.

[0112] 2. At the initial position, the position of the pulley (18) is located at the center of the grinding table (14) in the X-axis direction, and the center point of the line structured light of the 3D camera (17) is also located at the center of the Y-axis direction of the bracket (16). The X-axis and Y-axis coordinates are used as the origin of the machine vision coordinate information for data collection. The computing server (21) sends the motion trajectory instructions of the pulley (18) along the positive and negative directions of the X-axis to the robot control cabinet (22) according to the initial position of the pulley (18), and then controls the pulley (18) to execute the movement. While executing the movement, the 3D camera group uses the line structured light to collect the surface information of the polished object (15) located on the base of the grinding table (14), and the collected surface information is processed by the visual server (20) to convert the coordinates.

[0113] 3. The visual server (20) transmits the collected coordinate information of the surface of the object to be polished to the computing server (21), and the computing server (21) screens the area to be polished according to the height information.

[0114] 4. The computing server (21) performs polishing path planning according to the selected polishing areas, wherein the polished object can be divided into four quadrants for processing according to the origin position described in 2, and the path planning is performed in the quadrants in the order of 1-2-3-4. For the polishing path planning in any quadrant, the order of X-axis from small to large and Y-axis from small to large is used to connect the maximum value point of the X-axis of the previous polishing area to the minimum value point of the X-axis of the next polishing area (if the X-axes of the two polishing areas are the same, they are distinguished in the order of Y-axes from small to large).

[0115] 5. The computing server (21) plans a specific grinding route for the grinding area based on the contact area between the grinding terminal tool and the object to be ground, to ensure that the entire grinding area is covered. The specific grinding route is planned in the order of X-axis from small to large and Y-axis from small to large (X-axis is given priority).

[0116] 6. Comprehensively consider the influence of axial force and radial force on the rate in the grinding depth direction, combined with the differences in grinding methods such as plane end grinding, end angle grinding, plane eccentric grinding, circular grinding, etc., set the force and residence time according to the corresponding height of the contact area between the grinding tool and the object to be polished each time in the grinding area, and according to the calculation, plan the stress and residence time of the constant force floating device during the movement from the last contact between the grinding tool and the object to be polished to the next contact between the grinding tool and the object to be polished. In this way, the traditional constant force floating device is converted into variable force grinding in the overall grinding process by setting the force at different points.

[0117] 7. The computing server (21) transmits the calculated grinding path, the movement trajectory in the grinding area (i.e., the specific grinding route), and the magnitude of the force applied at each step in the trajectory and the dwell time to the robot control cabinet (22), and then the robot control cabinet (22) sends instructions to control the constant force floating device (13) and the robot (23), wherein the constant force floating device (13) is mainly responsible for adjusting the magnitude of the force, including the axial force and the radial force, and the robot (23) is mainly responsible for the movement process of the constant force floating device (13).

[0118] The method for plane grinding provided by the embodiment of the present invention first obtains the coordinate information of the surface of the object to be grinded through a 3D camera, and selects the area to be grinded according to the height information in the coordinate information; then sets the overall grinding path according to the selected grinding area; then plans the specific grinding route of each grinding area according to the contact area between the grinding tool and the object to be grinded; finally, for the specific grinding route of each grinding area, according to the speed influence of the force on the grinding depth, combined with the measured height information corresponding to the contact area between the grinding tool and the object to be grinded, the force and the dwell time are set for each contact grinding on the specific grinding route; and the grinding path, the specific grinding route of each grinding area, and the force and the dwell time set for each contact grinding on the specific grinding route are sent to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and the dwell time set for each contact grinding on the specific grinding route. The present invention uses 3D camera machine vision to identify the area that needs to be polished and accurately obtain height information to perform path planning. At the same time, it comprehensively considers multiple factors such as the contact area between the mold and the object to be polished and the influence of the force on the speed of the polishing depth to adjust the constant force size of the constant force floating device, thereby improving the polishing efficiency while improving the flexibility. It solves the problem that the existing constant force floating device needs to accurately adjust the force size to balance the accuracy and efficiency during the polishing process, which is difficult. At the same time, the height information measured during the polishing process is not accurate.

[0119] Embodiment 2:

[0120] like Figure 8 As shown, this embodiment provides a surface grinding device, which is used to perform the surface grinding method, including:

[0121] A coordinate information acquisition module 11 is used to acquire the coordinate information of the surface of the polished object through a 3D camera;

[0122] A polishing area screening module 12, connected to the coordinate information acquisition module 11, is used to screen out the area that needs to be polished according to the height information in the coordinate information;

[0123] A polishing path planning module 13, connected to the polishing area screening module 12, is used to set the overall polishing path according to the screened polishing area;

[0124] A grinding route planning module 14, connected to the grinding path planning module 13, is used to plan a specific grinding route for each grinding area according to the contact area between the grinding tool and the object to be ground;

[0125] The contact grinding setting module 15 is connected to the grinding route planning module 14, and is used to set the force and dwell time for each contact grinding on the specific grinding route for each grinding area according to the speed influence of the force on the grinding depth and the height information corresponding to the contact area between the grinding tool and the object to be ground.

[0126] The plane grinding module 16 is connected to the contact grinding setting module 15, and is used to send the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route.

[0127] Optionally, the coordinate information acquisition module 11 includes:

[0128] A collection unit, used for collecting surface information of the polished object through a 3D camera;

[0129] The conversion unit is used to perform coordinate conversion on the collected surface information to obtain the coordinate information.

[0130] Optionally, the 3D camera is based on a line structured light mode, and the device further comprises:

[0131] The sampling setting module is used to set the sampling points and sampling intervals of the 3D camera line structured light according to the polishing accuracy requirements.

[0132] Optionally, the 3D camera is disposed on a pulley cart, and the acquisition unit is specifically used for:

[0133] A control instruction is sent to the robot control cabinet according to the initial center point of the 3D camera or the pulley trolley, and the control instruction is used to control the pulley trolley to move and scan the entire polished object, so that the 3D camera can collect surface information of the polished object.

[0134] Optionally, the polishing path planning module 13 includes:

[0135] A dividing unit, used for dividing the polished object into four quadrants;

[0136] The planning unit is used to plan the polishing path in quadrants according to a preset order. The polishing route planning in any quadrant can be planned in the order of X-axis from small to large and Y-axis from small to large, and is planned by connecting the maximum value point of the X-axis of the previous polishing area to the minimum value point of the X-axis of the next polishing area.

[0137] Optionally, the specific grinding route is planned in the order of X-axis from small to large and Y-axis from small to large.

[0138] Optionally, the device further comprises:

[0139] A movement planning module is used to plan the magnitude and dwell time of the stress of the constant force floating device during the movement from the last time the grinding tool contacts the object to the next time the grinding tool contacts the object;

[0140] The adjustment movement module is used to send the magnitude of the stress and the residence time of the constant force floating device during the movement process to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding adjustment and movement operations according to the magnitude of the stress and the residence time of the constant force floating device during the movement process.

[0141] Embodiment 3:

[0142] refer to Fig. 9 This embodiment provides a surface grinding device, including a memory 21 and a processor 22. The memory 21 stores a computer program, and the processor 22 is configured to run the computer program to execute the surface grinding method in Example 1.

[0143] The memory 21 is connected to the processor 22. The memory 21 may be a flash memory, a read-only memory or other memory. The processor 22 may be a central processing unit or a single-chip microcomputer.

[0144] Embodiment 4:

[0145] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the surface grinding method in the above-mentioned embodiment 1 is implemented.

[0146] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable read only memory), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0147] In summary, the plane grinding method, device and readable storage medium provided by the embodiments of the present invention first obtain the coordinate information of the surface of the object to be polished through a 3D camera, and select the area to be polished according to the height information in the coordinate information; then set the overall grinding path according to the selected grinding area; then plan the specific grinding route of each grinding area according to the contact area between the grinding tool and the object to be polished; finally, for the specific grinding route of each grinding area, according to the speed influence of the force on the grinding depth, combined with the measured height information corresponding to the contact area between the grinding tool and the object to be polished, set the force and residence time for each contact grinding on the specific grinding route; and send the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route. The present invention uses 3D camera machine vision to identify the area that needs to be polished and accurately obtain height information to perform path planning. At the same time, it comprehensively considers multiple factors such as the contact area between the mold and the object to be polished and the influence of the force on the speed of the polishing depth to adjust the constant force size of the constant force floating device, thereby improving the polishing efficiency while improving the flexibility. It solves the problem that the existing constant force floating device needs to accurately adjust the force size to balance the accuracy and efficiency during the polishing process, which is difficult. At the same time, the height information measured during the polishing process is not accurate.

[0148] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for surface grinding, characterized in that: The method comprises: Obtain the coordinate information of the surface of the polished object through a 3D camera; Filter out the area that needs to be polished according to the height information in the coordinate information; Set the overall grinding path according to the selected grinding area; Planning a specific grinding route for each grinding area according to the contact area between the grinding tool and the object to be ground; For each specific grinding route of the grinding area, according to the influence of the force on the speed of the grinding depth, combined with the height information corresponding to the contact area between the grinding tool and the object being grinded, the force and the dwell time are set for each contact grinding on the specific grinding route; The grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route are sent to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route.

2. The method according to claim 1, characterized in that The step of obtaining the coordinate information of the surface of the polished object by using a 3D camera specifically includes: Collect surface information of the polished object through a 3D camera; The collected surface information is subjected to coordinate transformation to obtain the coordinate information.

3. The method according to claim 2, characterized in that The 3D camera is based on a line structured light mode. Before collecting surface information of the polished object by the 3D camera, the method further includes: The sampling points and sampling intervals of the 3D camera line structured light are set according to the polishing accuracy requirements.

4. The method according to claim 2, characterized in that: The 3D camera is arranged on the pulley trolley, and the surface information of the polished object is collected by the 3D camera, specifically including: A control instruction is sent to the robot control cabinet according to the initial center point of the 3D camera or the pulley trolley, and the control instruction is used to control the pulley trolley to move and scan the entire polished object, so that the 3D camera can collect surface information of the polished object.

5. The method according to claim 1, characterized in that The overall grinding path is set according to the selected grinding area, specifically including: Divide the object to be polished into four quadrants; The grinding path planning is performed in quadrants according to a preset order. The grinding route planning in any quadrant can be planned in the order of X-axis from small to large and Y-axis from small to large, and is planned by connecting the maximum value point of the X-axis of the previous grinding area to the minimum value point of the X-axis of the next grinding area.

6. The method according to claim 1, characterized in that The specific grinding route is planned according to the order of X-axis from small to large and Y-axis from small to large.

7. The method according to claim 1, characterized in that At the same time or after setting the force magnitude and dwell time for each contact grinding on the specific grinding route for each grinding area, according to the speed effect of the force magnitude on the grinding depth, combined with the measured height information corresponding to the contact area between the grinding tool and the object to be ground, the method further includes: Plan the magnitude and dwell time of the stress of the constant force floating device during the movement from the last time the abrasive tool contacts the object to the next time the abrasive tool contacts the object; The magnitude of the stress and the dwell time of the constant force floating device during the movement are sent to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete corresponding adjustment and movement operations according to the magnitude of the stress and the dwell time of the constant force floating device during the movement.

8. A surface grinding device, characterized in that: include: A coordinate information acquisition module is used to acquire the coordinate information of the surface of the polished object through a 3D camera; A polishing area screening module, connected to the coordinate information acquisition module, for screening out the area to be polished according to the height information in the coordinate information; A polishing path planning module, connected to the polishing area screening module, for setting an overall polishing path according to the screened polishing area; A grinding route planning module, connected to the grinding path planning module, is used to plan a specific grinding route for each grinding area according to the contact area between the grinding tool and the object to be ground; A contact grinding setting module, connected to the grinding route planning module, is used to set the force and dwell time for each contact grinding on the specific grinding route for each grinding area according to the speed influence of the force on the grinding depth and the height information corresponding to the contact area between the grinding tool and the object being grinded; The plane grinding module is connected to the contact grinding setting module, and is used to send the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route to the robot control cabinet, so that the robot control cabinet controls the constant force floating device and the robot to complete the corresponding plane grinding work according to the grinding path, the specific grinding route of each grinding area, and the force and residence time set for each contact grinding on the specific grinding route.

9. A surface grinding device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the surface grinding method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the surface grinding method according to any one of claims 1 to 7 is implemented.

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