A robot intelligent control method based on polishing surface force feedback regulation

Abstract

The present invention discloses a robot intelligent control method based on polishing surface force feedback adjustment, which relates to the field of robot control, including: constructing a three-dimensional standard model of a workpiece through a three-dimensional detection device, and importing it into a control platform, discretizing the three-dimensional model into multiple standard units, meshing the actual processed product of the workpiece to obtain multiple actual units, obtaining the contour curve data points of the multiple actual units through the sensor probe at the end of the robot, and calculating the surface roughness parameters of the actual unit based on the contour curve data points of the actual unit during correction, calculating the curvature of the actual unit and the robot polishing force, arranging the actual unit robot polishing forces from high to low, and planning the path according to the arrangement order. The advantages of the present invention are: it can detect the surface state of the actual processed product, calculate the polishing force required for different areas of the processed product, and autonomously plan the path according to the polishing force to achieve the effect of feedback adjustment.

Description

Technical Field

[0001] The invention relates to the field of robot control, and in particular to a robot intelligent control method based on polishing surface force feedback regulation. Background Art

[0002] With the continuous development of the manufacturing industry, various industries have higher and higher requirements for product surface quality, and traditional manual polishing is difficult to ensure high precision and consistency. Therefore, robot polishing can achieve more stable and precise operations to meet the needs of high-quality production.

[0003] Most of the existing robots are composed of multiple parts such as a mechanical body, a drive system, a control system and a polishing tool. However, the robot applies a fixed force to the polishing tool, which increases the friction between the tool and the workpiece, causing increased tool wear and shortened tool life. At the same time, the robot cannot sense and adjust the size and direction of the force in time, which may cause excessive cutting or uneven polishing at the edges and corners of the workpiece, thereby affecting the shape accuracy of the workpiece and causing the workpiece size deviation to exceed the allowable range. Summary of the invention

[0004] In order to solve the above technical problems, a robot intelligent control method based on polishing surface force feedback adjustment is provided. This technical solution solves the problem raised in the above background technology that the polishing workpiece cannot be sensed and the polishing force cannot be adjusted, resulting in shortened tool life and excessive cutting or uneven polishing.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is: A robot intelligent control method based on polishing surface force feedback adjustment, which obtains the three-dimensional coordinate values ​​of the surface points of the standard workpiece through a three-dimensional detection device, constructs a three-dimensional standard model of the workpiece, and imports the three-dimensional standard model into the control platform; Meshing the three-dimensional standard model of the workpiece based on the control platform, and discretizing the three-dimensional model into multiple standard units; According to the meshing of the three-dimensional standard model, the actual processed product of the workpiece is meshed to obtain multiple actual units; The sensor probe at the end of the robot is used to obtain the contour curve data points of multiple actual units, and the contour curve data points of the actual units are fed back to the control platform; During correction, the surface roughness parameters of the actual unit and the curvature of the actual unit are calculated based on the contour curve data points of the actual unit; The hardness of the actual unit and the wear of the polishing tool are input into the control platform, and the polishing force of the robot is calculated in combination with the surface roughness parameters and curvature of the actual unit; The control platform arranges the polishing strength of the actual unit robots from high to low, and plans the path according to the arrangement order; The planned path is fed back to the control platform, and the polishing process is monitored by the detection equipment of the control platform.

[0006] Preferably, the step of acquiring contour curve data points of a plurality of actual units through a sensor probe at the end of the robot and feeding back the contour curve data points of the actual units to the control platform specifically includes: The sensor probe at the end of the robot moves on the surface of the actual unit to obtain the contour curve data points of the actual unit, and feeds back the contour curve data points of the actual unit to the control platform; The control platform compares the contour curve data points of the actual unit with the contour curve data points of the standard unit in the three-dimensional model to determine whether the contour curve data points of the actual unit are consistent with the contour curve data points of the standard unit. If they are consistent, no processing is performed. If they are inconsistent, the three-dimensional standard model is compared to correct the error items of the contour curve data points of the actual unit.

[0007] Preferably, the calculation of the actual unit surface roughness parameter based on the contour curve data points of the actual unit specifically includes: Based on the contour curve of the actual unit, calculating the centroid of the contour curve of the actual unit; The contour curve of the actual unit is translated to pass through the centroid and recorded as the center line; Based on the data points of the contour curve, the distance from the data points of the contour curve to the center line is calculated to obtain the deviation of the data points of the contour curve relative to the center line, which is recorded as the contour deviation value; Based on the data points of the three-dimensional coordinate values ​​in the three-dimensional standard model, the distance from the data points of the surface points of the standard workpiece to the center line is calculated to obtain the deviation of the surface points of the standard workpiece relative to the center line, which is recorded as the contour standard value; Based on the profile deviation value and the profile standard value, the actual unit surface roughness parameters are calculated through the roughness equation; The roughness equation is: , in: is the actual unit surface roughness parameter, is the actual unit length, is the contour deviation value, is the standard value of the contour.

[0008] Preferably, the calculating the curvature of the actual unit specifically includes: Construct an interpolation function based on the contour curve data points of the actual unit; The interpolation equation is calculated through the interpolation function and the interpolation polynomial; Based on the interpolation equation, the curvature of the standard unit is calculated by the curvature formula; The interpolation function is: , in: is the interpolation function, is the horizontal coordinate of the center line corresponding to the i-th contour curve data point, is the horizontal coordinate of the center line corresponding to the jth contour curve data point, is the horizontal coordinate of the standard data value in the three-dimensional standard model, is the total number of contour curve data points in a single actual unit; The interpolation polynomial is: , in: is the interpolation equation of the actual unit, is the ordinate corresponding to the i-th contour curve data point; The curvature formula is: , in: is the curvature of the actual unit, is the surface area of ​​the actual unit, is the first derivative of the interpolation equation of the actual unit, is the second derivative of the interpolation equation for the actual element.

[0009] Preferably, the inputting of the hardness of the actual unit and the wear of the polishing tool in the control platform, and combining the surface roughness parameter and curvature of the actual unit to calculate the polishing force of the robot specifically includes: Acquire historical data of hardness, surface roughness parameters, curvature of the unit workpiece and wear of the polishing tool during historical polishing; The historical data are classified into four categories according to data type: hardness, surface roughness, curvature and wear of polishing tools, which are set as feature items; Based on the historical data within each feature item, the feature items are arranged in order from low to high to form feature vectors. The feature items are paired with the feature vectors, and the average of at least one feature vector is taken to obtain the average vector. Calculate the difference between the eigenvector and the average vector to obtain the characteristic difference of the eigenvector; Add the characteristic differences of the four eigenvectors to get the total characteristic difference; The weight of each feature item is obtained by dividing the feature difference of the feature item by the total feature difference; Based on the hardness, surface roughness parameters, curvature, wear of the polishing tool and the weights of each characteristic item of the actual unit, the robot polishing force is calculated through the force equation.

[0010] Preferably, the force equation is: , Where: F is the polishing force of the robot, H is the hardness, r is the length of the unit workpiece, W is the wear of the polishing tool, β is the actual unit surface roughness parameter, U is the curvature of the actual unit, is the weight of the actual element hardness, is the weight of the polishing tool wear, is the weight of the actual unit surface roughness parameter, is the weight of the actual element curvature.

[0011] Preferably, the control platform arranges the polishing strengths of the actual unit robots from high to low, and plans the paths according to the arrangement order, specifically including: The control platform arranges the polishing strength of the actual unit robots from high to low, and divides the overall arrangement into several sub-areas, with the polishing strength within each sub-area differing by no more than 10%; Arrange the plurality of sub-areas in order from high to low according to the polishing intensity, and polish the plurality of sub-areas in order according to the arrangement order; Acquire multiple curvature data inside each sub-region, and subtract any two curvature data to obtain multiple sub-region curvature differences; Screen the sub-region curvature differences, connect the curvature positions with a sub-region curvature difference of zero end to end to form a plane region, connect the curvature positions with a sub-region curvature difference between three and thirty degrees end to end to form a curved surface region, connect the curvature positions with a sub-region curvature difference greater than thirty degrees end to end to form a corner region, and the plane region, curved surface region, and corner region do not overlap; Connect the centers of multiple plane areas, curved surface areas, and corner areas in the sub-area, and connect the centers of each plane area, curved surface area, and corner area only once, so as to form multiple corner-curved surface-plane movement paths; Multiple corner-curved-surface-plane moving paths with the shortest moving path distance are screened out and recorded as the optimal path.

[0012] Preferably, the step of feeding back the planned path to the control platform and using the detection equipment of the control platform to monitor the polishing process specifically includes: Feedback the optimal path to the control platform, which controls the robot to polish in sequence according to the strength of the sub-areas based on the optimal path; Based on the sensor probe at the end of the robot, the sensor probe monitors the workpiece after the robot polishes and feeds back the detection signal to the control platform; The control platform determines the polishing effect based on the monitoring signal of the sensor probe. If it meets the polishing requirements, no output is made. If it does not meet the polishing requirements, the robot is controlled to perform a second polishing operation on the previous path.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention proposes a robot intelligent control method based on force feedback adjustment of the polishing surface. The three-dimensional coordinate values ​​of the surface points of the standard workpiece are obtained by a three-dimensional detection device to construct a three-dimensional standard model, and the model and the actual processed product are meshed. The visual sensor is installed on the end of the robot or the polishing tool to measure the polishing in the polishing process in real time, monitor the workpiece surface in real time, obtain image information of the workpiece surface, and transmit the collected data to the control platform. The control platform uses a data analysis algorithm to process and analyze the data, and performs targeted adjustment on the polishing force of different areas of the polished part. If it is found that the polishing force is abnormal or the surface quality of the workpiece does not meet the requirements, the control platform will promptly send an alarm signal and take corresponding measures. The present invention proposes a robot intelligent control method based on polishing surface force feedback adjustment. The method arranges the polishing force of actual unit robots from high to low, divides the robot into multiple sub-areas, distinguishes planes, curved surfaces and corner areas according to the curvature difference of the sub-areas, connects the centers of each area to form multiple moving paths, and screens out the optimal path with the shortest distance. Therefore, the robot polishing path can be made more reasonable according to the characteristics of different areas of the polished workpiece and the polishing force requirements, and the polishing time and energy consumption can be reduced. At the same time, the robot polishing is controlled based on the optimal path, and the robot end sensor probe is used to monitor the workpiece after polishing. The polishing effect is judged according to the monitoring signal. If it does not meet the requirements, the robot is controlled to perform a secondary polishing operation again, forming a real-time monitoring and feedback adjustment mechanism, which can timely discover and correct problems in the polishing process and ensure the stability of the polishing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the process of the present invention; Figure 2 A schematic diagram of a process of acquiring contour curve data points of a plurality of actual units through a sensor probe at the end of a robot and feeding back the contour curve data points of the actual units to a control platform in the present invention; Figure 3 It is a schematic diagram of a process of calculating the surface roughness parameters of the actual unit based on the contour curve data points of the actual unit in the present invention; Figure 4 A schematic diagram of the process of inputting the hardness of the actual unit and the wear of the polishing tool into the control platform in the present invention, and calculating the polishing force of the robot in combination with the surface roughness parameters and curvature of the actual unit; Figure 5 It is a schematic diagram of a process in which the control platform in the present invention arranges the polishing forces of the actual unit robots from high to low, and plans the paths according to the arrangement sequence; Figure 6 This is a flow chart of feeding back the planned path to the control platform and monitoring the polishing process by the detection equipment of the control platform in the present invention. DETAILED DESCRIPTION

[0015] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0016] Reference Figure 1 As shown in FIG. 1 , a robot intelligent control method based on force feedback regulation of polishing surface is shown in FIG. Figure 1 As shown, the three-dimensional coordinate values ​​of the surface points of the standard workpiece are obtained through the three-dimensional detection equipment, a three-dimensional standard model of the workpiece is constructed, and the three-dimensional standard model is imported into the control platform; Meshing the three-dimensional standard model of the workpiece based on the control platform, and discretizing the three-dimensional model into multiple standard units; According to the meshing of the three-dimensional standard model, the actual processed product of the workpiece is meshed to obtain multiple actual units; The sensor probe at the end of the robot is used to obtain the contour curve data points of multiple actual units, and the contour curve data points of the actual units are fed back to the control platform; During correction, the surface roughness parameters of the actual unit and the curvature of the actual unit are calculated based on the contour curve data points of the actual unit; The hardness of the actual unit and the wear of the polishing tool are input into the control platform, and the polishing force of the robot is calculated in combination with the surface roughness parameters and curvature of the actual unit; The control platform arranges the polishing strength of the actual unit robots from high to low, and plans the path according to the arrangement order; The planned path is fed back to the control platform, and the polishing process is monitored by the detection equipment of the control platform.

[0017] The three-dimensional detection equipment uses optical principles to accurately measure the three-dimensional coordinate values ​​of numerous points on the surface of the standard workpiece, and stores the coordinate values ​​in a specific data format inside the equipment. When the three-dimensional detection equipment is physically connected to the control platform through a data cable, the three-dimensional coordinate values ​​of the surface points of the standard workpiece collected by the three-dimensional detection equipment can be accurately transmitted to the control platform. At the same time, the control platform is installed with data receiving software that matches the three-dimensional detection equipment. Through the software interface, the control platform can identify and process data from the three-dimensional detection equipment, and then construct a three-dimensional standard model of the workpiece. At this time, the control platform uses the grid division information of the three-dimensional standard model as a template, and maps the grid division rules to the actual processed product according to the geometric similarity between the actual processed product and the standard model, and grids the constructed three-dimensional standard model. According to the division results, the same grid division rules are applied to the actual processed product of the workpiece, so that the grid division information of the three-dimensional standard model is associated with the relevant information of the actual processed product, and the actual processed product is also discretized into multiple actual units corresponding to the standard units.

[0018] During polishing, the robot controller has a built-in data acquisition and processing module, which converts the electrical signals collected by the sensor probe into digital signals, and performs filtering, calibration and other processing. The robot controller packages the processed data and sends it to the control platform to compare the contour curve data points of the actual unit with the contour curve data points of the standard unit, and performs processing correction on the error terms. After the correction is completed, the visual sensor installed at the end of the robot can monitor the workpiece surface in real time, obtain image information of the workpiece surface, and transmit the collected data to the control platform, so that the control platform uses data analysis algorithms to process and analyze the data. If the polishing force is abnormal or the surface quality of the workpiece does not meet the requirements, the control platform will promptly issue an alarm signal and take corresponding measures.

[0019] During the correction period, the control platform uses the internal data analysis and calculation software modules to process and analyze the received actual unit contour curve data points, calculate the actual unit surface roughness parameters and curvature, and the operator inputs the hardness of the actual unit and the wear of the polishing tool through the human-machine interface of the control platform. At this time, after the control platform receives these data, it combines the actual unit surface roughness parameters and curvature calculated previously, and calls the internal polishing force calculation model for calculation, thereby achieving the effect of autonomously calculating the actual unit polishing force according to the surface state of the polished part. After calculating the polishing force of the actual unit in each area, the control platform can use the path planning algorithm to sort the actual unit robot polishing force from high to low, and plan the robot's polishing path according to the sorting results, and send the planned path information to the robot controller through the network interface. After receiving the path information, the robot controller parses it into motion instructions for each joint of the robot, and controls the robot to perform polishing operations according to the planned path.

[0020] Reference Figure 2 As shown, the contour curve data points of multiple actual units are obtained through the sensor probe at the end of the robot, and the contour curve data points of the actual units are fed back to the control platform, which specifically includes: The sensor probe at the end of the robot moves on the surface of the actual unit to obtain the contour curve data points of the actual unit, and feeds back the contour curve data points of the actual unit to the control platform; The control platform compares the contour curve data points of the actual unit with the contour curve data points of the standard unit in the three-dimensional model to determine whether the contour curve data points of the actual unit are consistent with the contour curve data points of the standard unit. If they are consistent, no processing is performed. If they are inconsistent, the three-dimensional standard model is compared to correct the error items of the contour curve data points of the actual unit.

[0021] Before using it, the sensor probe at the end of the robot is connected to the robot through a physical interface to ensure that the sensor probe can accurately move with the robot. The robot and the control platform are connected through a network interface to quickly transmit a large number of contour curve data points collected by the sensor probe to the control platform.

[0022] During its use, the control platform sends motion instructions to the robot. The robot's controller drives the motors of each joint according to the received instructions, so that the sensor probe at the end of the robot can accurately scan along the actual unit surface. During the movement, the robot will record its own position information in real time, and associate it with the distance data collected by the sensor probe to form a complete contour curve data point. The collected contour curve data points are packaged and sent to the control platform through the network interface. The control platform receives the contour curve data point data.

[0023] The control platform reads the contour curve data points of the actual unit and the contour curve data points of the standard unit in the three-dimensional model from the database. For each data point, it determines whether they are consistent by calculating the coordinate difference in the three-dimensional space. When it is found that the contour curve data points of the actual unit are inconsistent with the contour curve data points of the standard unit, the control platform will compare the three-dimensional standard model, analyze the cause and location of the error, and use the curve fitting method to smooth the contour curve data points of the actual unit according to the size and direction of the error, so as to achieve the effect of processing correction and make it more consistent with the contour characteristics of the standard unit.

[0024] Reference Figure 3 As shown, based on the contour curve data points of the actual unit, the actual unit surface roughness parameters are calculated, including: Based on the contour curve of the actual unit, calculating the centroid of the contour curve of the actual unit; The contour curve of the actual unit is translated to pass through the centroid and recorded as the center line; Based on the data points of the contour curve, the distance from the data points of the contour curve to the center line is calculated to obtain the deviation of the data points of the contour curve relative to the center line, which is recorded as the contour deviation value; Based on the data points of the three-dimensional coordinate values ​​in the three-dimensional standard model, the distance from the data points of the surface points of the standard workpiece to the center line is calculated to obtain the deviation of the surface points of the standard workpiece relative to the center line, which is recorded as the contour standard value; Based on the profile deviation value and the profile standard value, the actual unit surface roughness parameters are calculated through the roughness equation; The roughness equation is: , in: is the actual unit surface roughness parameter, is the actual unit length, is the contour deviation value, is the standard value of the contour.

[0025] Calculating the curvature of the actual element specifically involves: Construct an interpolation function based on the contour curve data points of the actual unit; The interpolation equation is calculated by using the interpolation function and the interpolation polynomial; Based on the interpolation equation, the curvature of the standard unit is calculated by the curvature formula; The interpolation function is: , in: is the interpolation function, is the horizontal coordinate of the center line corresponding to the i-th contour curve data point, is the horizontal coordinate of the center line corresponding to the jth contour curve data point, is the horizontal coordinate of the standard data value in the three-dimensional standard model, is the total number of contour curve data points in a single actual unit; The interpolation polynomial is: , in: is the interpolation equation of the actual unit, is the ordinate corresponding to the i-th contour curve data point; The curvature formula is: , in: is the curvature of the actual unit, is the surface area of ​​the actual unit, is the first derivative of the interpolation equation of the actual unit, is the second derivative of the interpolation equation for the actual element.

[0026] The control platform performs coordinate transformation on the contour curve data points of the actual unit according to the centroid calculation formula, so that the contour curve is translated to the position passing through the centroid to obtain the center line, and then the distance from each data point of the contour curve to the center line is calculated, and the distance formula from the point to the curve is used to calculate to obtain the contour deviation value. The same method is then used to calculate the distance from the data point on the surface of the standard workpiece in the three-dimensional standard model to the center line to obtain the contour standard value. The control platform can substitute the contour deviation value and the contour standard value into the roughness equation established in advance to calculate and obtain the surface roughness parameters of the actual unit. At this time, the operator inputs the hardness of the actual unit and the wear of the polishing tool through the human-machine interface of the control platform, and the control platform uses the algorithm module in the software to combine the surface roughness parameters and curvature to calculate the polishing force of the robot.

[0027] Reference Figure 4 As shown, the hardness of the actual unit and the wear of the polishing tool are input into the control platform, and combined with the surface roughness parameters and curvature of the actual unit, the polishing force of the robot is calculated, including: Acquire historical data of hardness, surface roughness parameters, curvature of the unit workpiece and wear of the polishing tool during historical polishing; The historical data are classified into four categories according to data type: hardness, surface roughness, curvature and wear of polishing tools, which are set as feature items; Based on the historical data within each feature item, the feature items are arranged in order from low to high to form feature vectors. The feature items are paired with the feature vectors, and the average of at least one feature vector is taken to obtain the average vector. Calculate the difference between the eigenvector and the average vector to obtain the characteristic difference of the eigenvector; Add the characteristic differences of the four eigenvectors to get the total characteristic difference; The weight of each feature item is obtained by dividing the feature difference of the feature item by the total feature difference; Based on the hardness, surface roughness parameters, curvature, wear of the polishing tool and the weights of each characteristic item of the actual unit, the robot polishing force is calculated through the force equation.

[0028] The force equation is: , Where: F is the polishing force of the robot, H is the hardness, r is the length of the unit workpiece, W is the wear of the polishing tool, β is the actual unit surface roughness parameter, U is the curvature of the actual unit, is the weight of the actual element hardness, is the weight of the polishing tool wear, is the weight of the actual unit surface roughness parameter, is the weight of the actual element curvature.

[0029] The database of the control platform stores historical data such as the hardness, surface roughness parameters, curvature and wear of polishing tools of the unit workpiece during historical polishing. The data processing software running on the control platform is connected to the database through a database interface, and the historical data is read from the database. The historical data is divided into four categories: hardness, surface roughness, curvature and wear of polishing tools. Each category of data is sorted in order from small to large to form a feature vector. Based on the calculation module inside the control platform, for at least one feature vector, its mean is calculated to obtain an average vector. Then, the difference between each feature vector and the corresponding element of the average vector is calculated to obtain the feature difference of the feature vector. The feature differences of the four feature vectors are added to obtain the total feature difference. The weight of each feature item is obtained by dividing the feature difference of each feature item by the total feature difference, and the weight is substituted into the force equation to calculate the polishing force of the robot.

[0030] Reference Figure 5 As shown, the control platform arranges the polishing strength of the actual unit robots from high to low, and plans the path according to the arrangement order, including: The control platform arranges the polishing strength of the actual unit robots from high to low, and divides the overall arrangement into several sub-areas, with the polishing strength within each sub-area differing by no more than 10%; Arrange the plurality of sub-areas in order from high to low according to the polishing intensity, and polish the plurality of sub-areas in order according to the arrangement order; Acquire multiple curvature data inside each sub-region, and subtract any two curvature data to obtain multiple sub-region curvature differences; Screen the sub-region curvature differences, connect the curvature positions with a sub-region curvature difference of zero end to end to form a plane region, connect the curvature positions with a sub-region curvature difference between three and thirty degrees end to end to form a curved surface region, connect the curvature positions with a sub-region curvature difference greater than thirty degrees end to end to form a corner region, and the plane region, curved surface region, and corner region do not overlap; Connect the centers of multiple plane areas, curved surface areas, and corner areas in the sub-area, and connect the centers of each plane area, curved surface area, and corner area only once, so as to form multiple corner-curved surface-plane movement paths; Multiple corner-curved-surface-plane moving paths with the shortest moving path distance are screened out and recorded as the optimal path.

[0031] Before polishing, the network interface inside the control platform can be used to connect to the database server that stores information such as the polishing force and curvature data of the actual unit robot to ensure accurate data transmission. At the same time, the control platform is connected to the robot controller via industrial Ethernet to realize command and data interaction between the control platform and the robot.

[0032] During the polishing operation, the data reading and processing module of the control platform can read the actual unit robot polishing force data from the database, and then sort these data from high to low, and then divide the sorted overall data into several sub-areas. For each sub-area, the data reading and processing module of the control platform reads multiple curvature data inside the sub-area from the database, and then, any two curvature data are subtracted to obtain multiple sub-area curvature differences. By screening and analyzing these curvature differences, the sub-areas are divided into plane areas, curved surface areas and corner areas according to different curvature difference ranges, and multiple corner-curved surface-plane moving paths are generated, and the moving distance of each path is calculated. Multiple paths with the shortest moving path distances are screened out and recorded as optimal paths. The robot control module of the control platform sends the optimal path information to the robot controller, and the robot performs the polishing task based on this information.

[0033] Among them: the difference in polishing force within each sub-area does not exceed 10%, which can make the polishing tasks in each sub-area have similar difficulty and requirements, facilitating the robot to perform unified operations. During the division process, the control platform will determine the boundaries of the sub-areas based on the difference in polishing force according to the sorted data. At the same time, the curvature difference of the plane area is zero, indicating that the surface of the area is relatively flat; the curvature difference of the curved area is between three and thirty degrees, indicating that the area has a certain degree of curvature; the curvature difference of the corner area is greater than thirty degrees, which means that there are obvious corners or sharp parts in the area, which can help the robot adjust the polishing strategy and movement mode according to the characteristics of different areas.

[0034] Reference Figure 6As shown, the planned path is fed back to the control platform, and the detection equipment of the control platform monitors the polishing process, including: Feedback the optimal path to the control platform, which controls the robot to polish in sequence according to the strength of the sub-areas based on the optimal path; Based on the sensor probe at the end of the robot, the sensor probe monitors the workpiece after the robot polishes and feeds back the detection signal to the control platform; The control platform determines the polishing effect based on the monitoring signal of the sensor probe. If it meets the polishing requirements, no output is made. If it does not meet the polishing requirements, the robot is controlled to perform a second polishing operation on the previous path.

[0035] Before the polishing operation begins, the control platform, as the sender of instructions, packages and sends the planned optimal path data. The sensor probe is installed at the end of the robot and is closely connected to the mechanical mounting base and the robot through the electrical interface responsible for transmitting the sensor probe detection signal. The robot controller, as the receiving end, continuously monitors the network port. Once the data is received, it can parse the data packet to extract the optimal path information, and then convert it into motion control instructions for each joint of the robot, driving the robot to perform polishing operations in the order of sub-area strength.

[0036] During the polishing process, the control platform calculates the movement angle and speed of each joint of the robot based on the optimal path information, converts these parameters into pulse signals or analog voltage signals of the motor, drives the motor to operate, and enables the robot to perform polishing operations according to the planned path. After the robot performs the polishing operation, the sensor probe starts working. After receiving the detection signal from the sensor probe, the detection signal can be compared with the preset polishing requirements. If the detection signal meets the polishing effect requirements, the software module will not perform additional output; if it does not meet the requirements, the control platform will generate a control instruction and send it to the robot through the communication interface, instructing the robot to perform a second polishing operation on the previous path.

[0037] In summary, the advantages of the present invention are: through the sensor probe at the end of the robot, the actual surface state of the processed product is detected, the polishing force required for different areas of the processed product is calculated, and the path is independently planned according to the polishing force to achieve the effect of feedback adjustment.

[0038] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot intelligent control method based on polishing surface force feedback regulation, characterized in that: include: Through the three-dimensional detection equipment, the three-dimensional coordinate values ​​of the surface points of the standard workpiece are obtained, the three-dimensional standard model of the workpiece is constructed, and the three-dimensional standard model is imported into the control platform; Meshing the three-dimensional standard model of the workpiece based on the control platform, and discretizing the three-dimensional model into multiple standard units; According to the meshing of the three-dimensional standard model, the actual processed product of the workpiece is meshed to obtain multiple actual units; The sensor probe at the end of the robot is used to obtain the contour curve data points of multiple actual units, and the contour curve data points of the actual units are fed back to the control platform; During correction, the surface roughness parameters of the actual unit and the curvature of the actual unit are calculated based on the contour curve data points of the actual unit; The hardness of the actual unit and the wear of the polishing tool are input into the control platform, and the polishing force of the robot is calculated in combination with the surface roughness parameters and curvature of the actual unit; The control platform arranges the polishing strength of the actual unit robots from high to low, and plans the path according to the arrangement order; The planned path is fed back to the control platform, and the polishing process is monitored by the detection equipment of the control platform.

2. The robot intelligent control method based on polishing surface force feedback adjustment according to claim 1 is characterized in that: The method of obtaining contour curve data points of a plurality of actual units through the sensor probe at the end of the robot and feeding back the contour curve data points of the actual units to the control platform specifically includes: The sensor probe at the end of the robot moves on the surface of the actual unit to obtain the contour curve data points of the actual unit, and feeds back the contour curve data points of the actual unit to the control platform; The control platform compares the contour curve data points of the actual unit with the contour curve data points of the standard unit in the three-dimensional model to determine whether the contour curve data points of the actual unit are consistent with the contour curve data points of the standard unit. If they are consistent, no processing is performed. If they are inconsistent, the three-dimensional standard model is compared to correct the error items of the contour curve data points of the actual unit.

3. The robot intelligent control method based on polishing surface force feedback adjustment according to claim 2 is characterized in that: The calculation of the surface roughness parameters of the actual unit based on the contour curve data points of the actual unit specifically includes: Based on the contour curve of the actual unit, calculating the centroid of the contour curve of the actual unit; The contour curve of the actual unit is translated to pass through the centroid and recorded as the center line; Based on the data points of the contour curve, the distance from the data points of the contour curve to the center line is calculated to obtain the deviation of the data points of the contour curve relative to the center line, which is recorded as the contour deviation value; Based on the data points of the three-dimensional coordinate values ​​in the three-dimensional standard model, the distance from the data points of the surface points of the standard workpiece to the center line is calculated to obtain the deviation of the surface points of the standard workpiece relative to the center line, which is recorded as the contour standard value; Based on the profile deviation value and the profile standard value, the actual unit surface roughness parameters are calculated through the roughness equation; The roughness equation is: , in: is the actual unit surface roughness parameter, is the actual unit length, is the contour deviation value, is the standard value of the contour.

4. The robot intelligent control method based on polishing surface force feedback adjustment according to claim 3 is characterized in that: The calculating the curvature of the actual unit specifically includes: Construct an interpolation function based on the contour curve data points of the actual unit; The interpolation equation is calculated by using the interpolation function and the interpolation polynomial; Based on the interpolation equation, the curvature of the standard unit is calculated by the curvature formula; The interpolation function is: , in: is the interpolation function, is the horizontal coordinate of the center line corresponding to the i-th contour curve data point, is the horizontal coordinate of the center line corresponding to the jth contour curve data point, is the horizontal coordinate of the standard data value in the three-dimensional standard model, is the total number of contour curve data points in a single actual unit; The interpolation polynomial is: , in: is the interpolation equation of the actual unit, is the ordinate corresponding to the i-th contour curve data point; The curvature formula is: , in: is the curvature of the actual unit, is the surface area of ​​the actual unit, is the first derivative of the interpolation equation of the actual unit, is the second derivative of the interpolation equation for the actual element.

5. The robot intelligent control method based on polishing surface force feedback adjustment according to claim 4 is characterized in that: The inputting of the hardness of the actual unit and the wear of the polishing tool into the control platform, and combining the surface roughness parameter and curvature of the actual unit to calculate the polishing force of the robot specifically includes: Acquire historical data of hardness, surface roughness parameters, curvature of the unit workpiece and wear of the polishing tool during historical polishing; The historical data are classified into four categories according to data type: hardness, surface roughness, curvature and wear of polishing tools, which are set as feature items; Based on the historical data within each feature item, the feature items are arranged in order from low to high to form feature vectors. The feature items are paired with the feature vectors, and the average of at least one feature vector is taken to obtain the average vector. Calculate the difference between the eigenvector and the average vector to obtain the characteristic difference of the eigenvector; Add the characteristic differences of the four eigenvectors to get the total characteristic difference; The weight of each feature item is obtained by dividing the feature difference of the feature item by the total feature difference; Based on the hardness, surface roughness parameters, curvature, wear of the polishing tool and the weights of each characteristic item of the actual unit, the robot polishing force is calculated through the force equation.

6. The robot intelligent control method based on polishing surface force feedback adjustment according to claim 5 is characterized in that: The force equation is: , Where: F is the polishing force of the robot, H is the hardness, r is the length of the unit workpiece, W is the wear of the polishing tool, β is the actual unit surface roughness parameter, U is the curvature of the actual unit, is the weight of the actual element hardness, is the weight of the polishing tool wear, is the weight of the actual unit surface roughness parameter, is the weight of the actual element curvature.

7. The robot intelligent control method based on polishing surface force feedback adjustment according to claim 6 is characterized in that: The control platform arranges the polishing strengths of the actual unit robots from high to low, and plans the paths according to the arrangement order, specifically including: The control platform arranges the polishing strength of the actual unit robots from high to low, and divides the overall arrangement into several sub-areas, with the polishing strength within each sub-area differing by no more than 10%; Arrange the plurality of sub-areas in order from high to low according to the polishing intensity, and polish the plurality of sub-areas in order according to the arrangement order; Acquire multiple curvature data inside each sub-region, and subtract any two curvature data to obtain multiple sub-region curvature differences; Screen the sub-region curvature differences, connect the curvature positions with a sub-region curvature difference of zero end to end to form a plane region, connect the curvature positions with a sub-region curvature difference between three and thirty degrees end to end to form a curved surface region, connect the curvature positions with a sub-region curvature difference greater than thirty degrees end to end to form a corner region, and the plane region, curved surface region, and corner region do not overlap; Connect the centers of multiple plane areas, curved surface areas, and corner areas in the sub-area, and connect the centers of each plane area, curved surface area, and corner area only once, so as to form multiple corner-curved surface-plane movement paths; Multiple corner-curved-surface-plane moving paths with the shortest moving path distance are screened out and recorded as the optimal path.

8. The robot intelligent control method based on polishing surface force feedback adjustment according to claim 7 is characterized in that: Feeding back the planned path to the control platform, and using the detection equipment of the control platform to monitor the polishing process specifically includes: Feedback the optimal path to the control platform, which controls the robot to polish in sequence according to the strength of the sub-areas based on the optimal path; Based on the sensor probe at the end of the robot, the sensor probe monitors the workpiece after the robot polishes and feeds back the detection signal to the control platform; The control platform determines the polishing effect based on the monitoring signal of the sensor probe. If it meets the polishing requirements, no output is made. If it does not meet the polishing requirements, the robot is controlled to perform a second polishing operation on the previous path.

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