Robot deburring method and device and electronic equipment

Abstract

The invention provides a robot deburring method and device and electronic equipment. The method comprises the steps that a robot is controlled to conduct deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset polishing track, and the preset polishing track comprises initial polishing preset robot poses of a plurality of preset coordinate points; according to the result of the deburring operation, the actual pose of the robot corresponding to each coordinate point is obtained; corresponding to each coordinate point in a plurality of preset coordinate points, obtaining a secondary grinding preset robot pose according to the actual pose, the expected grinding force and the actual grinding force of the robot; and a second deburring program is generated according to the secondary grinding preset robot poses corresponding to the coordinate points in the multiple preset coordinate points, and the robot is controlled to conduct deburring operation according to the second deburring program. According to the robot deburring method and device and the electronic equipment, the influence of the part machining precision on the deburring effect is effectively reduced, and the consistency of the deburring effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a robot deburring method, a robot deburring device and an electronic device. Background Art

[0002] Deburring with robots refers to the use of industrial robots to automatically remove irregular edges or excess material from metal or plastic parts during the manufacturing process. These irregular edges are often called "burrs" and they may hinder the function of the part or cause problems during assembly. Deburring is an important post-processing step that is necessary in many industries.

[0003] However, the machining accuracy of parts has an impact on the deburring effect. Different machining accuracy of parts may cause inconsistent deburring effects. Summary of the invention

[0004] The present invention provides a robot deburring method, device and electronic equipment, which are used to solve the defects of the robot deburring method in the prior art that the deburring effect is affected by the part processing accuracy and the consistency of the deburring effect is poor, thereby effectively reducing the influence of the part processing accuracy on the deburring effect and improving the consistency of the deburring effect.

[0005] The present invention provides a robot deburring method, comprising the following steps: controlling a robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory comprises a preset robot posture for initial grinding of a preset plurality of coordinate points; obtaining the actual robot posture corresponding to each of the coordinate points according to the result of the deburring operation; corresponding to each of the preset plurality of coordinate points, obtaining a secondary grinding preset robot posture according to the actual robot posture, expected grinding force and actual grinding force; generating a second deburring program according to the secondary grinding preset robot posture corresponding to each of the preset plurality of coordinate points, and controlling the robot to perform a deburring operation according to the second deburring program.

[0006] According to a robot deburring method provided by the present invention, the secondary grinding preset robot posture is obtained according to the actual posture of the robot, the expected grinding force and the actual grinding force, including: in response to the actual grinding force being greater than or equal to the expected grinding force, the secondary grinding preset robot posture is set to the actual posture of the robot; in response to the actual grinding force being less than the expected grinding force, difference data representing the degree of difference between the expected grinding force and the actual grinding force is obtained, and the secondary grinding preset robot posture is obtained according to the actual posture of the robot, the difference data and a preset force control equation; wherein the preset force control equation is used to represent the relationship between the secondary grinding preset robot posture, the actual posture of the robot and the difference data.

[0007] According to a robot deburring method provided by the present invention, the difference data includes the difference of the joint torque of the robot, and the preset force control equation is expressed as: in, represents the difference between the desired joint angle and the actual joint angle of the robot, represents the difference between the desired angular velocity and the actual angular velocity of the robot, represents the difference between the desired angular acceleration and the actual angular acceleration of the robot, Represents the difference in joint torque of the robot.

[0008] According to a robot deburring method provided by the present invention, corresponding to each of the preset multiple coordinate points, before obtaining the secondary grinding preset robot posture according to the actual posture of the robot, the difference data and the preset force control equation, the method also includes: using a particle swarm algorithm to determine the damping characteristic parameters, the inertia characteristic parameters and the stiffness characteristic parameters.

[0009] According to a robot deburring method provided by the present invention, the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter are determined by using a particle swarm algorithm, comprising: initializing a particle swarm; wherein the parameters of the particles in the particle swarm include a combination of the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter; using the initial grinding preset robot posture, the actual robot posture and the difference data as inputs of the particle swarm algorithm, and obtaining the global optimal solution of the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter by optimizing a cost function; wherein the cost function represents the minimum value of the Euclidean distance between the robot posture under the parameter constraints of the particles and the initial grinding preset robot posture.

[0010] According to a robot deburring method provided by the present invention, the acquisition of difference data used to represent the degree of difference between the expected grinding force and the actual grinding force includes: performing Kalman filtering and gravity compensation on the expected grinding force to obtain an updated expected grinding force, and obtaining the expected torque of each joint according to the updated expected grinding force and the Jacobian matrix of each joint of the robot; performing Kalman filtering and gravity compensation on the actual grinding force to obtain an updated actual grinding force, and obtaining the actual torque of each joint according to the updated actual grinding force and the Jacobian matrix of each joint of the robot; and obtaining the difference between the joint torques according to the expected torque of each joint and the actual torque of each joint.

[0011] According to a robot deburring method provided by the present invention, after obtaining the secondary grinding preset robot posture according to the robot actual posture, expected grinding force and actual grinding force, the method further includes: in response to the secondary grinding preset robot posture exceeding the preset trajectory range, setting the secondary grinding preset robot posture to the robot actual posture.

[0012] According to a robot deburring method provided by the present invention, before controlling the robot to perform a deburring operation according to a preset first deburring program, the method also includes: using an intelligent camera to locate the deep hole to be polished in the workpiece, and guiding the robot to the polishing position of the deep hole to be polished.

[0013] The present invention also provides a robot deburring device, comprising the following modules: a primary grinding module, used to control the robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory comprises a preset robot posture for primary grinding of a plurality of preset coordinate points; a robot actual posture acquisition module, used to obtain the robot actual posture corresponding to each of the coordinate points according to the result of the deburring operation; a secondary grinding preset robot posture acquisition module, used to obtain a secondary grinding preset robot posture according to the robot actual posture, expected grinding force and actual grinding force corresponding to each of the plurality of preset coordinate points; a secondary grinding module, used to generate a second deburring program according to the secondary grinding preset robot posture corresponding to each of the plurality of preset coordinate points, and control the robot to perform a deburring operation according to the second deburring program.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the robot deburring method described above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the robot deburring method as described in any one of the above is implemented.

[0016] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the robot deburring method as described above is implemented.

[0017] The robot deburring method, device and electronic device provided by the present invention control the robot to perform a deburring operation according to a preset first deburring program, the first deburring program is provided with a preset grinding trajectory, the preset grinding trajectory includes a preset robot posture for initial grinding of a preset plurality of coordinate points, the actual robot posture corresponding to each of the preset plurality of coordinate points is obtained according to the result of the deburring operation, corresponding to each of the preset plurality of coordinate points, the secondary grinding preset robot posture is obtained according to the actual robot posture, the expected grinding force and the actual grinding force, a second deburring program is generated according to the secondary grinding preset robot posture corresponding to each of the preset plurality of coordinate points, and the robot is controlled to perform a deburring operation according to the second deburring program, thereby effectively reducing the influence of part processing accuracy on the deburring effect and improving the consistency of the deburring effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is one of the flow charts of the robot deburring method provided by the present invention.

[0020] Figure 2 is an example diagram of a robotic deburring system.

[0021] Figure 3 yes Figure 2 A partial enlarged view of .

[0022] Figure 4 This is the second flow chart of the robot deburring method provided by the present invention.

[0023] Figure 5 It is a structural schematic diagram of the robot deburring device provided by the present invention.

[0024] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0026] One solution for robot deburring is to adjust the robot's single-direction movement in real time according to force feedback information to ultimately achieve the desired force. However, since the robot has usually moved a certain distance when the control command is issued when the desired force is reached, this method is greatly affected by the signal transmission speed between components and is prone to uneven cutting, which affects the accuracy of deburring control and causes inconsistent deburring effects.

[0027] Another solution for robot deburring is to collect a large amount of feedback data, pre-train the network model, and apply the network model to sensorless robot grinding operations. However, due to the difference between the data during network training and the accuracy of the current workpiece being processed, the deburring effect will be affected by the part processing accuracy, resulting in inconsistent deburring effects. Therefore, extremely high requirements are placed on workpiece processing consistency and workpiece clamping position.

[0028] Figure 1 FIG. 1 is one of the flow charts of the robot deburring method provided by the present invention, such as Figure 1 As shown, the method includes: Step S1, controlling the robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory includes a preset robot posture for initial grinding of a plurality of preset coordinate points.

[0029] The present invention uses an industrial six-axis robot with a six-dimensional force sensor to intelligently remove burrs at eccentric cross holes or other parts inside metal shell parts. It is mainly used for intelligent burr removal of complex contours at eccentric cross holes inside metal shell parts after machining, which can effectively reduce the impact of part machining accuracy on deburring control and greatly improve the consistency of deburring effect.

[0030] Figure 2 is an example diagram of a robotic deburring system. Figure 3 yes Figure 2 A partial enlarged view of Figure 2 , Figure 3As shown, the system includes a six-axis robot, a six-dimensional force sensor, an electric spindle, a grinding tool, an intelligent camera and a control system (not shown). The robot end flange is connected to the hollow six-dimensional force sensor, the electric spindle is connected to the six-dimensional force sensor, and the spindle motor passes through the flange to shorten the end effector length and improve grinding stability. The industrial intelligent camera locates the deep hole to be ground in the workpiece and guides the six-axis robot to the grinding position, further reducing the impact of part processing accuracy on the deburring effect.

[0031] Understandably, Figure 2 , Figure 3 The robot system shown is only an implementation example and can also be embodied in other structural styles.

[0032] The robot deburring method provided by the present invention is applied to a control system in a robot deburring system. First, the robot is controlled to perform a deburring operation according to a preset first deburring program. The first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory includes a preset robot posture for initial grinding of a plurality of preset coordinate points. The preset plurality of coordinate points are discrete dense points, and the density of the preset plurality of coordinate points can be adjusted as needed.

[0033] Step S2: acquiring the actual posture of the robot corresponding to each of the coordinate points according to the result of the deburring operation.

[0034] The first deburring program is used to control the robot to perform deburring operations. At each preset coordinate point, the robot is controlled to perform a grinding operation with the preset robot posture for the initial grinding corresponding to the coordinate point, so as to perform a round of grinding under the control of the first deburring program. However, the actual posture of the robot when grinding at the preset coordinate point is not necessarily completely consistent with the preset robot posture for the initial grinding, and there may be deviations. Here, the actual posture of the robot corresponding to each coordinate point is obtained based on the result of the robot deburring operation.

[0035] Step S3, corresponding to each of the preset multiple coordinate points, obtaining a preset robot posture for secondary grinding according to the actual posture of the robot, the expected grinding force and the actual grinding force.

[0036] When the robot is grinding at each of the preset multiple coordinate points, the actual grinding force is obtained through the six-dimensional force sensor corresponding to each coordinate point, and the actual grinding force is related to the actual posture of the robot. The expected grinding force is pre-set, and it is hoped that constant force grinding can be performed at each coordinate point with the expected grinding force. If constant force grinding is performed at each coordinate point with the expected grinding force, the robot posture at each coordinate point is the expected state. If there is a gap between the actual grinding force and the expected grinding force, it means that the actual posture of the robot is not the robot posture in the expected state, and there is also a certain deviation. This deviation is related to the gap between the expected grinding force and the actual grinding force. Therefore, corresponding to each of the preset multiple coordinate points, the secondary grinding preset robot posture can be obtained according to the actual posture of the robot, the expected grinding force and the actual grinding force. The robot uses the corresponding secondary grinding preset robot posture at each coordinate point for grinding, in order to achieve grinding with the expected grinding force.

[0037] Step S4, generating a second deburring program according to the preset robot posture for secondary grinding corresponding to each of the preset multiple coordinate points, and controlling the robot to perform a deburring operation according to the second deburring program.

[0038] It should be noted that, for each coordinate point in the preset multiple coordinate points, the corresponding secondary grinding preset robot posture is obtained respectively. A second deburring program is generated according to the secondary grinding preset robot posture corresponding to each coordinate point in the preset multiple coordinate points, and the secondary grinding preset robot posture of the preset multiple coordinate points included in the second deburring program forms a secondary grinding trajectory. According to the second deburring program, the robot is controlled to perform deburring operation, that is, secondary grinding is performed according to the secondary grinding trajectory, so as to improve the grinding accuracy.

[0039] The robot deburring method provided by the present invention first performs initial grinding according to a preset grinding trajectory. After the initial grinding is completed, a secondary grinding trajectory is further generated according to the grinding effect, and grinding is performed again according to the secondary grinding trajectory. After the trajectory is pre-set, the robot is controlled to grind according to the trajectory, which avoids the influence of the signal transmission speed of the component when the robot's movement is adjusted in real time according to the force feedback information by monitoring the force state, which is conducive to improving the grinding control accuracy, realizing constant force grinding, and improving the consistency of the grinding effect. By adjusting the trajectory according to the grinding effect after the initial grinding, it adapts to the actual situation of the parts, and the grinding effect is not affected by the machining accuracy of the parts, thereby further improving the consistency of the grinding effect.

[0040] The robot deburring method provided by the present invention controls the robot to perform a deburring operation according to a preset first deburring program, the first deburring program is provided with a preset grinding trajectory, the preset grinding trajectory includes a preset robot posture for initial grinding of a preset plurality of coordinate points, obtains the robot actual posture corresponding to each of the preset plurality of coordinate points according to the result of the deburring operation, obtains the robot actual posture, expected grinding force and actual grinding force for each of the preset plurality of coordinate points, generates a second deburring program according to the preset robot posture for secondary grinding corresponding to each of the preset plurality of coordinate points, controls the robot to perform a deburring operation according to the second deburring program, effectively reduces the influence of part processing accuracy on the deburring effect, and improves the consistency of the deburring effect.

[0041] According to a robot deburring method provided by the present invention, the secondary grinding preset robot posture is obtained according to the actual posture of the robot, the expected grinding force and the actual grinding force, including: in response to the actual grinding force being greater than or equal to the expected grinding force, the secondary grinding preset robot posture is set to the actual posture of the robot; in response to the actual grinding force being less than the expected grinding force, difference data representing the degree of difference between the expected grinding force and the actual grinding force is obtained, and the secondary grinding preset robot posture is obtained according to the actual posture of the robot, the difference data and a preset force control equation; wherein the preset force control equation is used to represent the relationship between the secondary grinding preset robot posture, the actual posture of the robot and the difference data.

[0042] When the preset robot posture for secondary grinding is obtained according to the actual posture of the robot, the expected grinding force and the actual grinding force, if the actual grinding force is greater than or equal to the expected grinding force, there is no need to adjust the robot posture, so the preset robot posture for secondary grinding is set as the actual posture of the robot.

[0043] If the actual grinding force is less than the expected grinding force, the robot posture needs to be adjusted. A preset force control equation can be set in advance based on empirical data. The preset force control equation is used to express the relationship between the preset robot posture for secondary grinding, the actual robot posture, and the difference data indicating the degree of difference between the expected grinding force and the actual grinding force. Among them, depending on the different robot conditions or different application scenarios, the difference data indicating the degree of difference between the expected grinding force and the actual grinding force can be the difference in grinding force or the difference in torque obtained according to the grinding force, both of which can reflect the degree of difference between the expected grinding force and the actual grinding force.

[0044] When determining the preset robot posture for secondary grinding, difference data representing the difference between the expected grinding force and the actual grinding force is obtained, and the preset robot posture for secondary grinding is obtained according to the actual posture of the robot, the difference data and the preset force control equation.

[0045] The robot deburring method provided by the present invention sets the secondary grinding preset robot posture as the actual robot posture in response to the actual grinding force being greater than or equal to the expected grinding force, and obtains difference data representing the degree of difference between the expected grinding force and the actual grinding force in response to the actual grinding force being less than the expected grinding force, and obtains the secondary grinding preset robot posture according to the actual robot posture, the difference data and the preset force control equation, thereby realizing the rapid determination of the secondary grinding preset robot posture.

[0046] According to a robot deburring method provided by the present invention, the difference data includes the difference of the joint torque of the robot, and the preset force control equation is expressed as: in, represents the difference between the desired joint angle and the actual joint angle of the robot, represents the difference between the desired angular velocity and the actual angular velocity of the robot, represents the difference between the desired angular acceleration and the actual angular acceleration of the robot, Represents the difference in joint torque of the robot.

[0047] Among them, the preset robot posture for secondary grinding is represented by the expected joint angle, expected angular velocity and expected angular acceleration of the robot, and the actual robot posture is represented by the actual joint angle, actual angular velocity and actual angular acceleration of the robot.

[0048] The robot deburring method provided by the present invention improves the accuracy of deburring control and the deburring effect by reasonably setting a preset force control equation.

[0049] According to a robot deburring method provided by the present invention, corresponding to each of the preset multiple coordinate points, before obtaining the secondary grinding preset robot posture according to the actual posture of the robot, the difference data and the preset force control equation, the method also includes: using a particle swarm algorithm to determine the damping characteristic parameters, the inertia characteristic parameters and the stiffness characteristic parameters.

[0050] In order to obtain the accurate preset robot posture for secondary grinding by using the preset force control equation, it is necessary to reasonably determine the parameters of the preset force control equation. In this embodiment, before obtaining the preset robot posture for secondary grinding according to the actual posture of the robot, the difference data and the preset force control equation, the particle swarm algorithm is used to determine the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters of the preset force control equation.

[0051] Among them, the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters of the preset force control equation are optimized corresponding to each coordinate point using the particle swarm algorithm, that is, the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters of the force control equation at different coordinate points may be different, so as to accurately determine the corresponding preset force control equation in units of coordinate points to improve the accuracy of the secondary grinding preset robot posture corresponding to the coordinate point, in order to achieve or get closer to the expected state.

[0052] The robot deburring method provided by the present invention corresponds to each coordinate point in the preset multiple coordinate points, and before obtaining the preset robot posture for secondary grinding according to the actual posture of the robot, difference data and the preset force control equation, a particle swarm algorithm is used to determine the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters, thereby improving the accuracy of the preset force control equation, thereby improving the accuracy of the preset robot posture for secondary grinding and further improving the deburring effect.

[0053] According to a robot deburring method provided by the present invention, the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter are determined by using a particle swarm algorithm, comprising: initializing a particle swarm; wherein the parameters of the particles in the particle swarm include a combination of the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter; using the initial grinding preset robot posture, the actual robot posture and the difference data as inputs of the particle swarm algorithm, and obtaining the global optimal solution of the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter by optimizing a cost function; wherein the cost function represents the minimum value of the Euclidean distance between the robot posture under the parameter constraints of the particles and the initial grinding preset robot posture.

[0054] When using the particle swarm algorithm to determine the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters, the following operations are included: initializing the particle swarm; wherein the parameters of the particles in the particle swarm include a combination of damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters; using the preset robot posture for the initial grinding, the actual robot posture and the difference data indicating the degree of difference between the expected grinding force and the actual grinding force as the input of the particle swarm algorithm, and obtaining the global optimal solution of the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters by optimizing the cost function. wherein the cost function represents the minimum value of the Euclidean distance between the robot posture under the parameter constraints of the particles and the preset robot posture for the initial grinding. wherein the robot posture under the parameter constraints of the particles can be obtained by inputting the values ​​of the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters of the particles into the preset force control equation, and combining the actual robot posture and the difference data indicating the degree of difference between the expected grinding force and the actual grinding force.

[0055] The following is an example of using the particle swarm algorithm to determine the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters: enter: 1. Preset grinding trajectory: desired angle, angular velocity, and angular acceleration.

[0056] 2. Actual position of the robot: including the current angle, angular velocity, and angular acceleration.

[0057] 3. External force sensor data: the torque deviation of each joint collected by the sensor.

[0058] 4. Particle initial value range: Set the range of inertia M, damping coefficient B, and spring stiffness K as the initial conditions for particle swarm optimization.

[0059] Output: Adjusted optimal parameters: The optimal parameters of admittance control (M, B, K) calculated by the particle swarm algorithm.

[0060] Main steps: 1. Initialize the particle swarm: Initialize the parameters of each particle within a given range (corresponding to the combination of the three parameters M, B, and K).

[0061] 2. Evaluate particle state: Calculate the cost function of each particle and compare the difference between the robot posture under the particle parameter constraints and the preset robot posture for the first grinding. The cost function inputs the parameters corresponding to each particle into the force control equation to find the robot posture for the next round of grinding, including angle, angular velocity and angular acceleration, and then finds the Euclidean distance between it and the expected state (the preset robot posture for the first grinding). The smaller this distance is, the more suitable its parameters M, B, and K are for the current external force conditions.

[0062] 3. Parameter update: If the gap is too large, the particle will update its M, B, and K parameters according to the update rules, such as the inertia weight w, the individual cognitive coefficient c1, and the group cognitive coefficient c2.

[0063] 4. Repeat the cycle: Each particle must repeat steps 2 and 3 multiple times. The specific number of times depends on the situation.

[0064] 5. Individual optimum and global optimum: Each particle will retain the set of M, B, K parameters with the smallest individual cost function when repeating 2 and 3, which is called individual optimum. After the cycle is over, all particles will select the individual optimal parameters with the smallest cost function from all particles, which is called global optimum. Finally, the global optimal parameters are output.

[0065] Final result: The global optimal parameters (M, B, K) are formally input into the preset force control equation to calculate a desired joint angle.

[0066] The robot deburring method provided by the present invention initializes a particle swarm, wherein the parameters of the particles in the particle swarm include a combination of damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters, and uses the preset robot posture for the initial grinding, the actual robot posture and difference data as inputs of the particle swarm algorithm, and obtains the global optimal solution of the damping characteristic parameters, inertia characteristic parameters and stiffness characteristic parameters by optimizing the cost function, thereby realizing the optimization of the force control equation parameters, further improving the accuracy of the deburring control, and improving the deburring effect.

[0067] According to a robot deburring method provided by the present invention, the acquisition of difference data used to represent the degree of difference between the expected grinding force and the actual grinding force includes: performing Kalman filtering and gravity compensation on the expected grinding force to obtain an updated expected grinding force, and obtaining the expected torque of each joint according to the updated expected grinding force and the Jacobian matrix of each joint of the robot; performing Kalman filtering and gravity compensation on the actual grinding force to obtain an updated actual grinding force, and obtaining the actual torque of each joint according to the updated actual grinding force and the Jacobian matrix of each joint of the robot; and obtaining the difference between the joint torques according to the expected torque of each joint and the actual torque of each joint.

[0068] The difference data can be taken as the difference in joint torque of the robot. When obtaining the difference in joint torque, the expected grinding force is subjected to Kalman filtering and gravity compensation to obtain the updated expected grinding force, and the expected torque of each joint is obtained according to the updated expected grinding force and the Jacobian matrix of each joint of the robot; the actual grinding force is subjected to Kalman filtering and gravity compensation to obtain the updated actual grinding force, and the actual torque of each joint is obtained according to the updated actual grinding force and the Jacobian matrix of each joint of the robot; the difference in joint torque is obtained according to the expected torque of each joint and the actual torque of each joint.

[0069] The robot deburring method provided by the present invention performs Kalman filtering and gravity compensation on the expected grinding force to obtain an updated expected grinding force, obtains the expected torque of each joint according to the updated expected grinding force and the Jacobian matrix of each joint of the robot, performs Kalman filtering and gravity compensation on the actual grinding force to obtain an updated actual grinding force, obtains the actual torque of each joint according to the updated actual grinding force and the Jacobian matrix of each joint of the robot, obtains the difference between the joint torques according to the expected torque of each joint and the actual torque of each joint, improves the accuracy of the difference between the joint torques, thereby further improving the accuracy of deburring control and improving the deburring effect.

[0070] According to a robot deburring method provided by the present invention, after obtaining the secondary grinding preset robot posture according to the robot actual posture, expected grinding force and actual grinding force, the method further includes: in response to the secondary grinding preset robot posture exceeding the preset trajectory range, setting the secondary grinding preset robot posture to the robot actual posture.

[0071] Affected by different application scenarios, the robot's posture range may be constrained. The preset trajectory range can be set according to the constraints of the robot's posture. If the obtained secondary grinding preset robot posture exceeds the preset trajectory range, the robot posture of the coordinate point will not be adjusted during the secondary grinding, that is, the secondary grinding preset robot posture is set as the actual robot posture.

[0072] The robot deburring method provided by the present invention improves the adaptability of the secondary grinding preset robot posture setting by setting the secondary grinding preset robot posture as the actual robot posture in response to the secondary grinding preset robot posture exceeding the preset trajectory range.

[0073] According to a robot deburring method provided by the present invention, before controlling the robot to perform a deburring operation according to a preset first deburring program, the method also includes: using an intelligent camera to locate the deep hole to be polished in the workpiece, and guiding the robot to the polishing position of the deep hole to be polished.

[0074] An intelligent camera may be provided to locate the deep hole to be polished in the workpiece, so as to guide the robot to the polishing position of the deep hole to be polished before controlling the robot to perform the deburring operation according to a preset first deburring program.

[0075] The robot deburring method provided by the present invention uses an intelligent camera to locate the deep hole to be polished in the workpiece, guides the robot to the polishing position of the deep hole to be polished, and further reduces the influence of the part processing accuracy on the deburring effect.

[0076] Figure 4 FIG. 2 is a flow chart of the robot deburring method provided by the present invention. Figure 4 As shown, the method includes: When the robot is grinding at each coordinate point, the detection system uses a six-dimensional force sensor to obtain six-dimensional force (Fx FyFz Mx My Mz), (Fx Fy Fz Mx My Mz) represents three force components and three torque components. After the control system performs Kalman filtering and gravity compensation on the six-dimensional force obtained by the detection system, it calculates the torque of each joint in combination with the Jacobian matrix of each joint calculated by the robot, and converts the sensor coordinate system to the robot coordinate system. The optimal solution of the parameters of the preset force control equation is determined by the particle swarm algorithm, and the difference between the actual posture of the robot, the expected force and the joint torque of the actual force is input into the preset force control equation, and the expected posture control amount is output. The robot moves to the target position during the secondary grinding according to the expected posture control amount.

[0077] In the specific implementation, the workpiece to be polished can be fixed, and the end of the robot can be equipped with a six-dimensional force sensor, a high-speed electric spindle and a polishing tool to perform preset trajectory polishing. The grinding force is sensed by the end sensor, and the actual grinding force is compared with the preset constant grinding force. The adaptive force / position hybrid control algorithm (preset force control equation) is used to build the robot motion model, calculate the robot posture deviation, and perform compensatory polishing to ensure the grinding effect.

[0078] The six-axis robot performs complete trajectory grinding along the preset deburring program and obtains the real-time force of the tool during grinding through the six-dimensional force sensor, binds the force condition to the robot trajectory coordinates, and the supporting control system calculates the force of each coordinate and determines whether the force reaches or exceeds the threshold. For positions that do not reach the threshold, a certain feed amount (offset) is compensated, and no compensation is made for positions that reach or exceed the threshold. The revised deburring program is generated and sent to the robot. The robot completes the final deburring grinding task along the new deburring program.

[0079] After collecting the robot position coordinates and the filtered and compensated six-dimensional force sensor data, the force / position hybrid control algorithm is used to generate additional positions, which are used to correct the preset positions and complete the final position control. After all positions are generated, the data is transmitted to the robot through ProfiNet communication to form the final deburring program.

[0080] The robot deburring method provided by the present invention has the following characteristics: 1) It can remove burrs on complex contours of internal eccentric cross holes.

[0081] 2) The grinding effect is highly consistent.

[0082] 3) It can be adjusted in real time according to the different machining accuracy of the workpiece.

[0083] The robot deburring device provided by the present invention is described below. The robot deburring device described below and the robot deburring method described above can be referred to each other.

[0084] Figure 5 Schematic diagram of the structure of the robot deburring device provided by the present invention. Figure 5 As shown, the device includes: a primary grinding module 10 is used to control the robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory includes a preset robot posture for primary grinding of a plurality of preset coordinate points; a robot actual posture acquisition module 20 is used to obtain the robot actual posture corresponding to each of the coordinate points according to the result of the deburring operation; a secondary grinding preset robot posture acquisition module 30 is used to obtain a secondary grinding preset robot posture according to the robot actual posture, expected grinding force and actual grinding force corresponding to each of the preset plurality of coordinate points; a secondary grinding module 40 is used to generate a second deburring program according to the secondary grinding preset robot posture corresponding to each of the preset plurality of coordinate points, and control the robot to perform a deburring operation according to the second deburring program.

[0085] The robot deburring method provided by the present invention controls the robot to perform a deburring operation according to a preset first deburring program, the first deburring program is provided with a preset grinding trajectory, the preset grinding trajectory includes a preset robot posture for initial grinding of a preset plurality of coordinate points, the actual robot posture corresponding to each of the preset plurality of coordinate points is obtained according to the result of the deburring operation, corresponding to each of the preset plurality of coordinate points, the secondary grinding preset robot posture is obtained according to the actual robot posture, the expected grinding force and the actual grinding force, the second deburring program is generated according to the secondary grinding preset robot posture corresponding to each of the preset plurality of coordinate points, the robot is controlled to perform a deburring operation according to the second deburring program, the influence of part processing accuracy on the deburring effect is effectively reduced and the consistency of the deburring effect is improved.

[0086] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the robot deburring method, which includes: controlling the robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory includes a preset robot posture for the initial grinding of a plurality of preset coordinate points; obtaining the actual robot posture corresponding to each of the coordinate points according to the result of the deburring operation; corresponding to each of the plurality of preset coordinate points, obtaining the preset robot posture for the secondary grinding according to the actual robot posture, the expected grinding force and the actual grinding force; generating a second deburring program according to the preset robot posture for the secondary grinding corresponding to each of the plurality of preset coordinate points, and controlling the robot to perform a deburring operation according to the second deburring program.

[0087] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0088] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the robot deburring method provided by the above-mentioned methods, which includes: controlling the robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory includes a preset robot posture for initial grinding of a preset plurality of coordinate points; obtaining the actual robot posture corresponding to each of the coordinate points according to the result of the deburring operation; corresponding to each of the preset plurality of coordinate points, obtaining a secondary grinding preset robot posture according to the actual robot posture, expected grinding force and actual grinding force; generating a second deburring program according to the secondary grinding preset robot posture corresponding to each of the preset plurality of coordinate points, and controlling the robot to perform a deburring operation according to the second deburring program.

[0089] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the robot deburring method provided by the above-mentioned methods, the method comprising: controlling the robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory comprises a preset robot posture for initial grinding of a preset plurality of coordinate points; obtaining the actual robot posture corresponding to each of the coordinate points according to the result of the deburring operation; corresponding to each of the preset plurality of coordinate points, obtaining a preset robot posture for secondary grinding according to the actual robot posture, expected grinding force and actual grinding force; generating a second deburring program according to the preset robot posture for secondary grinding corresponding to each of the preset plurality of coordinate points, and controlling the robot to perform a deburring operation according to the second deburring program.

[0090] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0091] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot deburring method, characterized in that: include: Control the robot to perform deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset grinding trajectory, and the preset grinding trajectory includes a preset robot posture for initial grinding of a plurality of preset coordinate points; Acquire the actual posture of the robot corresponding to each of the coordinate points according to the result of the deburring operation; Corresponding to each of the preset multiple coordinate points, a preset robot posture for secondary grinding is obtained according to the actual posture of the robot, the expected grinding force and the actual grinding force; A second deburring program is generated according to the preset robot posture for secondary grinding corresponding to each of the preset multiple coordinate points, and the robot is controlled to perform a deburring operation according to the second deburring program.

2. The robot deburring method according to claim 1, characterized in that: The method of obtaining a preset robot posture for secondary grinding according to the actual posture of the robot, the expected grinding force and the actual grinding force includes: In response to the actual grinding force being greater than or equal to the expected grinding force, setting the secondary grinding preset robot posture as the robot actual posture; In response to the actual grinding force being less than the expected grinding force, obtaining difference data indicating the degree of difference between the expected grinding force and the actual grinding force, and obtaining the preset robot posture for secondary grinding according to the actual posture of the robot, the difference data and a preset force control equation; Among them, the preset force control equation is used to express the relationship between the preset robot posture of the secondary grinding, the actual posture of the robot and the difference data.

3. The robot deburring method according to claim 2, characterized in that: The difference data includes the difference in joint torque of the robot, and the preset force control equation is expressed as: in, represents the difference between the desired joint angle and the actual joint angle of the robot, represents the difference between the desired angular velocity and the actual angular velocity of the robot, represents the difference between the desired angular acceleration and the actual angular acceleration of the robot, Represents the difference in joint torque of the robot.

4. The robot deburring method according to claim 3, characterized in that: Corresponding to each of the preset multiple coordinate points, before obtaining the secondary grinding preset robot posture according to the actual posture of the robot, the difference data and the preset force control equation, the method further includes: The damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter are determined using a particle swarm algorithm.

5. The robot deburring method according to claim 4, characterized in that: The method of determining the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter by using a particle swarm algorithm includes: Initializing a particle swarm; wherein the parameters of the particles in the particle swarm include a combination of the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter; The preset robot posture for initial grinding, the actual robot posture and the difference data are used as inputs of a particle swarm algorithm, and a global optimal solution of the damping characteristic parameter, the inertia characteristic parameter and the stiffness characteristic parameter is obtained by optimizing a cost function; The cost function represents the minimum value of the Euclidean distance between the robot posture under the parameter constraints of the particles and the preset robot posture for the initial polishing.

6. The robot deburring method according to claim 3, characterized in that: The obtaining of difference data indicating the degree of difference between the expected grinding force and the actual grinding force includes: Performing Kalman filtering and gravity compensation on the expected grinding force to obtain an updated expected grinding force, and obtaining the expected torque of each joint according to the updated expected grinding force and the Jacobian matrix of each joint of the robot; Performing Kalman filtering and gravity compensation on the actual grinding force to obtain an updated actual grinding force, and obtaining the actual torque of each joint according to the updated actual grinding force and the Jacobian matrix of each joint of the robot; The difference between the joint torques is obtained according to the expected torques of the joints and the actual torques of the joints.

7. The robot deburring method according to claim 1, characterized in that: After obtaining the preset robot posture for secondary grinding according to the actual posture of the robot, the expected grinding force and the actual grinding force, the method further includes: In response to the secondary grinding preset robot posture exceeding a preset trajectory range, the secondary grinding preset robot posture is set as the actual robot posture.

8. The robot deburring method according to claim 1, characterized in that: Before controlling the robot to perform a deburring operation according to the preset first deburring program, the method further includes: The deep hole to be polished of the workpiece is positioned by using an intelligent camera, and the robot is guided to the polishing position of the deep hole to be polished.

9. A robot deburring device, characterized in that: include: The initial polishing module is used to control the robot to perform a deburring operation according to a preset first deburring program; wherein the first deburring program is provided with a preset polishing trajectory, and the preset polishing trajectory includes a preset robot posture for initial polishing of a plurality of preset coordinate points; A robot actual posture acquisition module is used to: acquire the robot actual posture corresponding to each of the coordinate points according to the result of the deburring operation; A secondary polishing preset robot posture acquisition module is used to: correspond to each of the preset multiple coordinate points, and obtain the secondary polishing preset robot posture according to the actual posture of the robot, the expected polishing force and the actual polishing force; The secondary polishing module is used to: generate a second deburring program according to the secondary polishing preset robot posture corresponding to each of the preset multiple coordinate points, and control the robot to perform a deburring operation according to the second deburring program.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the robot deburring method according to any one of claims 1 to 8 is implemented.

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