Track reproduction device and reproduction method

Abstract

The invention discloses a track reproduction device and method. The track reproduction device comprises a mounting frame, a polishing head, a handle, a six-dimensional force sensor, a six-axis sensor and a stay wire position obtaining mechanism. According to the teaching robot, the mounting frame, the polishing head and the handle are arranged, offline programming software is adopted in a matched mode to generate track data, when the polishing track is reproduced, the teaching robot does not need to be manually dragged, the polishing process can be completed only by manually dragging the polishing head on the mounting frame, the polishing mode is more free when the track is reproduced, and the polishing efficiency is improved. The reproduction of the polishing track is more accurate; the six-dimensional force sensor, the six-axis sensor and the stay wire position obtaining mechanism are matched, the posture and track in the grinding process can be read, the force and torque in different directions can be read through the six-dimensional force sensor, and therefore the precision of the grinding process of the robot can be guaranteed in combination with the force in the track reproduction process; and the polishing effect of the robot is better.

Description

Technical Field

[0001] The present invention relates to the field of robot automated processing technology, and in particular to a trajectory reproduction device and a reproduction method. Background Art

[0002] Grinding is a type of surface modification technology. It generally refers to a processing method that uses rough objects (such as sandpaper containing high-hardness particles) to change the physical properties of the material surface through friction. The main purpose is to obtain a specific surface roughness. In the process of grinding and spraying, it is necessary to first reproduce the processing trajectory through manual collaboration with the robotic arm, and then the robot independently completes the subsequent processing.

[0003] The existing trajectory reproduction method is to manually drag the teaching robot to perform a processing process, and the teaching robot records the trajectory. Human-machine coordination is required when dragging the teaching robot, and the robot's six-axis motors will produce torque coupling, which is inconsistent with human perception. Therefore, the force used by people to drag the robot is not controllable, resulting in the dragging of the teaching robot. The grinding method is not free; and the existing teaching robot can only record the route, and it cannot read the grinding force, so that it can only reproduce the grinding trajectory during grinding, but cannot reproduce the grinding force, which affects the effect of the robot's grinding processing. Therefore, it is necessary to further improve the existing trajectory reproduction method. Summary of the invention

[0004] In view of this, the present invention aims to address the deficiencies in the prior art, and its main purpose is to provide a trajectory reproduction device and a reproduction method, which can effectively solve the problems of the existing trajectory reproduction method, such as the uncontrollable force of dragging the teaching robot, the inability to read the magnitude of the grinding force, and the impact on the robot's grinding effect.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A trajectory reproduction device comprises a mounting frame, a grinding head, a handle, a six-dimensional force sensor, a six-axis sensor and a wire position acquisition mechanism; the grinding head is arranged at one end of the mounting frame; the handle is arranged at the other end of the mounting frame; the six-dimensional force sensor and the six-axis sensor are clamped between the mounting frame and the handle in sequence; the wire position acquisition mechanism is arranged on the handle, and the wire position acquisition mechanism comprises a wire distance sensor assembly, a first encoder and a second encoder, one end of the wire distance sensor assembly is connected to the handle through an elastically recyclable wire and hangs below the handle; the first encoder and the second encoder are both arranged on the wire distance sensor assembly and sense its rotation angle in different directions.

[0007] As a preferred solution, the first encoder is extended vertically, and the second encoder is extended horizontally.

[0008] As a preferred solution, the pull-wire type distance sensor assembly includes a pull-wire box and a distance sensor. One end of the pull-wire box is connected to the handle through a pull wire and hangs below the handle. The distance sensor is arranged on the pull-wire box.

[0009] As a preferred solution, the handle is provided with a button connecting the six-dimensional force sensor, the six-axis sensor and the wire position acquisition mechanism.

[0010] A reproduction method using a trajectory reproduction device comprises the following steps:

[0011] (1) Manually hold the handle and use the grinding head to grind the existing shape of the product on the grinder as needed;

[0012] (2) Collecting data during the grinding process through a six-dimensional force sensor, a six-axis sensor, a wire-drawing distance sensor assembly, a first encoder, and a second encoder, wherein the six-dimensional force sensor is used to measure forces in three directions (Fx, Fy, Fz) and moments in three directions (Mx, My, Mz); the first encoder is used to read the rotation angle, and the second encoder is used to read the pitch angle; the wire-drawing distance sensor assembly is used to read the length of the wire; thereby calculating the coordinates in space; the six-axis sensor is used to measure the linear acceleration and angular velocity during the grinding process, thereby sensing the overall posture changes;

[0013] (3) Importing the generated trajectory data into the offline programming software;

[0014] (4) Import the trajectory data generated by the offline programming software into the robot.

[0015] As a preferred solution, before starting step (1), the six-dimensional force sensor, the six-axis sensor, the wire-drawing distance sensor assembly, the first encoder and the second encoder need to be zeroed.

[0016] As a priority solution, when programming in step (3), the trajectories that are usable and do not interfere with or have no singular points are checked and retained, while those that are not usable are eliminated.

[0017] As a priority solution, after step (4) is completed, the collected force values ​​are used for force calibration: guided by the force, the robot reproduces the trajectory, and the number, force, and posture of manual grinding are slightly adjusted to adapt to and approach the grinding force value at the same position.

[0018] As a priority solution, the complete parameters of multiple force calibrations are used to ensure that the robot can quickly adjust the grinding force during the grinding process and make corresponding adjustments to the force based on existing data.

[0019] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical solution that:

[0020] By providing a mounting frame, a grinding head, and a handle, and using offline programming software to generate trajectory data, there is no need to manually drag the teaching robot when reproducing the grinding trajectory. The grinding process can be completed by manually dragging the grinding head on the mounting frame, so that the grinding method during trajectory reproduction is more free and the reproduction of the grinding trajectory is more accurate. In combination with a six-dimensional force sensor, a six-axis sensor, and a wire position acquisition mechanism, not only can the posture and trajectory during the grinding process be read, but also the force and torque in different directions can be read through the six-dimensional force sensor, so that the force can be combined in the process of trajectory reproduction to ensure the accuracy of the robot's grinding process, so that the robot's grinding effect is also better.

[0021] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the track reproduction device in a preferred embodiment of the present invention;

[0023] Figure 2 It is a flow chart of the trajectory reproduction method in the preferred embodiment of the present invention.

[0024] Description of the accompanying drawings:

[0025] 10. Mounting frame 20. Grinding head

[0026] 30. Handle 40. Six-dimensional force sensor

[0027] 50. Six-axis sensor 60. Wire position acquisition mechanism

[0028] 61. Pull-wire distance sensor assembly 611. Pull-wire

[0029] 612, cable box 613, distance sensor

[0030] 62. First encoder 63. Second encoder. DETAILED DESCRIPTION

[0031] Please refer to Figure 1 to Figure 2 As shown, it shows the specific structure of a preferred embodiment of the present invention, which includes a mounting frame 10, a grinding head 20, a handle 30, a six-dimensional force sensor 40, a six-axis sensor 50 and a wire position acquisition mechanism 60.

[0032] The grinding head 20 is disposed at one end of the mounting frame 10 .

[0033] The handle 30 is disposed at the other end of the mounting frame 10 . When grinding, a person manually holds the handle 30 to drive the grinding head 20 to complete the grinding process.

[0034] The six-dimensional force sensor 40 and the six-axis sensor 50 are clamped between the mounting frame 10 and the handle 30 in sequence; the six-axis sensor 50, also known as a 6-degree-of-freedom (6DoF) sensor or an inertial measurement unit (IMU), usually includes three accelerometers and three gyroscopes. The accelerometer is used to measure the linear acceleration of an object in three-dimensional space, while the gyroscope is used to measure the angular velocity of an object in three-dimensional space. By combining the data of these two sensors, the posture position and velocity information of the object in three-dimensional space can be obtained. The six-dimensional force sensor 40 mainly measures the force and torque of an object in three-dimensional space by deforming the internal elastic body under force, and converts the force / torque signal into an electrical signal output.

[0035] The wire position acquisition mechanism 60 is arranged on the handle 30, and the wire position acquisition mechanism 60 includes a wire distance sensor assembly 61, a first encoder 62 and a second encoder 63. One end of the wire distance sensor assembly 61 is connected to the handle 30 through an elastically recyclable wire 611 and hangs below the handle 30, wherein the wire 611 on the wire distance sensor assembly 61 is in a tensioned state; the first encoder 62 and the second encoder 63 are both arranged on the wire distance sensor assembly 61 and sense its rotation angle in different directions. In this embodiment, the first encoder 62 is extended up and down, and the second encoder 63 is extended laterally; the first encoder 62 is used to sense the rotation angle in the horizontal direction during the grinding process, and the second encoder 63 is used to sense the pitch angle in the vertical direction during the grinding process. The wire-pull distance sensor assembly 61 includes a wire box 612 and a distance sensor 613. One end of the wire box 612 is connected to the handle 30 through a wire 611 and hangs below the handle 30. The distance sensor 613 is arranged on the wire box 612 and is used to sense the distance of the wire 611. The handle 30 is provided with a button that connects the six-dimensional force sensor 40, the six-axis sensor 50 and the wire position acquisition mechanism 60, so as to facilitate the data calibration and data recording process during manual grinding.

[0036] The steps of the reproduction method in this embodiment are described in detail as follows:

[0037] (1) Manually hold the handle and use the grinding head to grind the existing shape of the product on the grinder as needed; in this embodiment, the six-dimensional force sensor, six-axis sensor, wire-type distance sensor assembly, first encoder and second encoder need to be calibrated before starting step (1).

[0038] (2) Collecting data during the grinding process through a six-dimensional force sensor, a six-axis sensor, a wire-drawing distance sensor assembly, a first encoder, and a second encoder, wherein the six-dimensional force sensor is used to measure forces in three directions (Fx, Fy, Fz) and moments in three directions (Mx, My, Mz); the first encoder is used to read the rotation angle, and the second encoder is used to read the pitch angle; the wire-drawing distance sensor assembly is used to read the length of the wire; thereby calculating the coordinates in space; the six-axis sensor is used to measure the linear acceleration and angular velocity during the grinding process, thereby sensing the overall posture changes;

[0039] (3) Importing the generated trajectory data into the offline programming software; in this embodiment, when programming in step (3), the trajectory that does not interfere and is not a singular point is checked and retained, and the unusable ones are eliminated to prevent the subsequent robot from interfering with the outside during the execution of the reproduced trajectory.

[0040] (4) Import the trajectory data generated by the offline programming software into the robot. In this embodiment, after the step (4) is completed, the collected force value is used for force calibration: guided by the force, the trajectory is reproduced by the robot, and the number of manual grinding, force, posture, and polishing posture are slightly adjusted to adapt to and approach the grinding force value at the same position. Through the complete parameters of multiple force calibrations, it is ensured that the robot can quickly adjust the grinding force during the grinding process, and make corresponding adjustments to the force with reference to the existing data. During calibration, compensation processing is performed through the six-dimensional force sensor in the robot. Through multiple force calibrations, the robot grinding accuracy is further improved.

[0041] The design focus of the present invention is that by providing a mounting frame, a grinding head, and a handle, and using offline programming software to generate trajectory data, there is no need to manually drag the teaching robot when reproducing the grinding trajectory. The grinding process can be completed by manually dragging the grinding head on the mounting frame, so that the grinding method during trajectory reproduction is more free and the reproduction of the grinding trajectory is more accurate; and in conjunction with a six-dimensional force sensor, a six-axis sensor, and a wire position acquisition mechanism, not only can the posture and trajectory during the grinding process be read, but also the force and torque in different directions can be read through the six-dimensional force sensor, so that the force can be combined in the trajectory reproduction process to ensure the accuracy of the robot's grinding process, so that the robot's grinding effect is also better.

[0042] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A trajectory reproduction device, characterized in that: It includes a mounting frame, a grinding head, a handle, a six-dimensional force sensor, a six-axis sensor and a wire position acquisition mechanism; the grinding head is arranged at one end of the mounting frame; the handle is arranged at the other end of the mounting frame; the six-dimensional force sensor and the six-axis sensor are clamped between the mounting frame and the handle in sequence; the wire position acquisition mechanism is arranged on the handle, and the wire position acquisition mechanism includes a wire distance sensor assembly, a first encoder and a second encoder, one end of the wire distance sensor assembly is connected to the handle through an elastically recyclable wire and hangs below the handle; the first encoder and the second encoder are both arranged on the wire distance sensor assembly and sense its rotation angle in different directions.

2. The track reproduction device according to claim 1, characterized in that: The first encoder is extended vertically, and the second encoder is extended horizontally.

3. The track reproduction device according to claim 1, characterized in that: The pull-wire type distance sensor assembly includes a pull-wire box and a distance sensor. One end of the pull-wire box is connected to the handle through a pull wire and hangs below the handle. The distance sensor is arranged on the pull-wire box.

4. The track reproduction device according to claim 1, characterized in that: The handle is provided with a button which is connected with the six-dimensional force sensor, the six-axis sensor and the wire position acquisition mechanism.

5. A reproduction method using the trajectory reproduction device according to any one of claims 1 to 4, characterized in that: The following steps are included: (1) Manually hold the handle and use the grinding head to grind the existing shape of the product on the grinder as needed; (2) Collecting data during the grinding process through a six-dimensional force sensor, a six-axis sensor, a wire-drawing distance sensor assembly, a first encoder, and a second encoder, wherein the six-dimensional force sensor is used to measure forces in three directions (Fx, Fy, Fz) and moments in three directions (Mx, My, Mz); the first encoder is used to read the rotation angle, and the second encoder is used to read the pitch angle; the wire-drawing distance sensor assembly is used to read the length of the wire; thereby calculating the coordinates in space; the six-axis sensor is used to measure the linear acceleration and angular velocity during the grinding process, thereby sensing the overall posture changes; (3) Importing the generated trajectory data into the offline programming software; (4) Import the trajectory data generated by the offline programming software into the robot.

6. The reproduction method according to claim 5, characterized in that: Before starting step (1), the six-dimensional force sensor, the six-axis sensor, the wire-drawing distance sensor assembly, the first encoder and the second encoder need to be calibrated to zero.

7. The reproduction method according to claim 5, characterized in that: When programming in step (3), the usable trajectories that do not interfere with or have non-singular points are checked and retained, and those that cannot be used are eliminated.

8. The reproduction method according to claim 5, characterized in that: After step (4) is completed, the collected force value is used for force calibration: guided by the force, the trajectory is reproduced by the robot, and the number of manual grinding times, force, posture, and grinding posture are slightly adjusted to adapt to and approach the grinding force value at the same position.

9. The reproduction method according to claim 8, characterized in that: Through the complete parameters of multiple force calibrations, the robot can quickly adjust the grinding force during the grinding process and make corresponding adjustments to the force with reference to existing data.

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