Shaping robot and system and grain processing method thereof

Abstract

The invention discloses a shaping robot, a shaping system and a grain processing method thereof. An integrated moving and transferring device is used as a chassis for bearing all modules; the shaping industrial robot is used for driving a cutter on the mechanical arm to conduct shaping machining. The medicine scrap sucking and cleaning device is used for cleaning scraps generated by processing; the tool changing magazine is used for placing and managing tools and comprises a quick-changing tool rest, and a detection sensor used for detecting whether the tools exist or not is arranged on the quick-changing tool rest; the control system comprises a coordinate system management module, a tool path planning module, a robot kinematics module, a collision detection module, a motion simulation module and a robot program generation module. Automatic machining positioning, automatic machining path planning and automatic cutting tool switching and management can be achieved; the automation degree of grain cutting machining is effectively improved; in the shaping process, temperature and contact force detection sensors are used for detection, and early warning protection in the machining process is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of machining and shaping, and in particular to a shaping robot, a system and a drug column processing method thereof. Background Art

[0002] The combustion chamber grain is a solid propellant with geometric shape and size. At present, the outer surface processing process of the grain is basically done by manual machine tools, which requires multiple employees to operate on site. The operation process mainly includes loading, product clamping, machine tool processing, product turning, unloading and other steps. The process technology is backward, the labor intensity is high, and the production efficiency is low. At the same time, the processing tools of this product are somewhat dangerous, and the industry hygiene and safety hazards are prominent.

[0003] For example, the patent CN117047477A discloses an automated drug column cutting device and cutting method, which comprises a frame with a material setting station on the outside, a material transfer clamping mechanism is arranged on the bottom side of the material setting station, a top clamping mechanism and a chuck clamping mechanism are arranged on the frame directly above the material transfer clamping mechanism, the top clamping mechanism is driven and connected by the top lifting mechanism, the top lifting mechanism is connected to the top counterweight mechanism, the chuck clamping mechanism is driven and connected by the chuck lifting mechanism, and the chuck lifting mechanism is connected to the chuck counterweight mechanism; a feeding detection component is arranged beside the bottom of the material setting station, a slot detection component is arranged beside the top of the material setting station, a cutting mechanism is arranged beside the material setting station, the cutting mechanism is driven and connected by the cutting lifting mechanism, the cutting lifting mechanism is connected to the cutting counterweight mechanism, the cutting mechanism comprises at least one set of feed components, a cutting detection component, a chip cleaning component and at least one tool are arranged on the feed component, and a thermocouple sensor is arranged on the tool. The labor intensity and safety production problems in some manual cutting processes are solved.

[0004] However, the cutting and shaping equipment still has technical defects such as weak automated chip cutting operation capabilities (for example, the tool position cannot be automatically and accurately positioned, and the feed path and tool switching still require manual adjustment), and the degree of automation is not high. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a shaping robot, a system and a drug column processing method thereof, so as to achieve the purpose of improving the degree of automation of shaping processing.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A plastic surgery robot, comprising:

[0008] An integrated mobile transfer device is used as a chassis to carry each module, and the integrated mobile transfer device is a liftable AGV vehicle;

[0009] The plastic surgery industrial robot is used to drive the tool on the mechanical arm to perform plastic surgery. The plastic surgery industrial robot includes a mechanical arm and a torque sensor and a tool quick-change module arranged on the mechanical arm;

[0010] The medicine chip suction and cleaning device is used to remove the chips generated during processing;

[0011] A tool change magazine is used for placing and managing tools. The tool change magazine includes a quick-change tool holder, and a detection sensor for detecting the presence of a tool is provided on the quick-change tool holder;

[0012] A control system, wherein the control system includes a coordinate system management module, a tool path planning module, a robot kinematics module, a collision detection module, a motion simulation module and a robot program generation module.

[0013] It also includes a workbench test component, which includes a waste box, a simulated processing table and a tool cleaning room; the simulated processing table is a physical processing simulation test platform, and the tool cleaning room includes a dust removal chamber and a brush assembly arranged in the dust removal chamber, and the bottom of the dust removal chamber is connected to an explosion-proof vacuum cleaner.

[0014] It also includes a machining tool assembly, which includes a group of tools and a quick-change disk, and the tools are installed on the corresponding quick-change disk.

[0015] The group of tools includes a drug column cutting tool, which includes a frame, a clamping claw structure for clamping the drug column, a cutting knife and a driving cylinder for driving the cutting knife to move and cut. The cutting knife is movably arranged on the frame through a guide rail.

[0016] The medicine scraps suction and cleaning device includes a dust-proof vacuum cleaner, a negative pressure sensor, a vacuum tube and a dust hood. The dust-proof vacuum cleaner includes a filter barrel and an explosion-proof fan that are connected to each other. A filter is provided in the filter barrel, and a dust storage bucket is provided at the bottom of the filter barrel. The negative pressure sensor is provided on the vacuum tube for detecting the vacuum degree in the dust collection pipeline. The dust hood is installed at the processing position on the robotic arm.

[0017] The plastic surgery industrial robot is an explosion-proof plastic surgery robot, which includes a positive pressure robotic arm, a positive pressure air circuit system and a flameproof electrical box. An explosion-proof six-dimensional force sensor is provided between the end of the robotic arm and the tool to detect sudden changes or excessive contact force of the end tool during the plastic surgery process.

[0018] A system of the plastic surgery robot includes an electric control system, a visual positioning system, a plastic surgery size data modeling software system, a camera tracking monitoring system and a temperature detection interlocking system, wherein the electric control system, the visual positioning system, the plastic surgery size data modeling software system, the camera tracking monitoring system and the temperature detection interlocking system are all connected to the control system.

[0019] The shaping size data modeling software system includes point cloud registration, point cloud denoising, point cloud segmentation, 3D modeling, visual positioning and visual measurement; the point cloud registration realizes the error misalignment correction of the point cloud scanned by the 3D scanner; the point cloud denoising realizes the noise data removal of the point cloud scanned by the 3D scanner; the point cloud segmentation realizes the segmentation and extraction of the point cloud in the key area; the 3D modeling realizes the conversion from point cloud data to triangular patch data, and realizes the establishment of the scanned object point cloud to the scanned object model; the visual positioning realizes the registration and positioning between the point cloud and the 3D model; the visual measurement realizes the error distribution calculation between the point cloud and the model.

[0020] The camera tracking monitoring system uses a monitoring camera to take fixed-point photos of the processing process and processing results in the designated area, and presents them on the display for real-time video monitoring; the temperature detection interlocking system realizes real-time temperature monitoring of the core processing area.

[0021] A method for automatically cutting a drug column using the system includes the following steps:

[0022] S1. Positioning of integrated mobile transfer device: determining and controlling the position and posture of the integrated mobile transfer device relative to the workpiece;

[0023] S2, drug column positioning measurement: locate all drug column positions and measure the protrusion height of drug column; re-precisely locate the spatial posture relationship between the workpiece and the robot;

[0024] S3, grain shaping processing: first cut all the grains one by one, then perform "scanning-fine milling" cycle measurement and processing on each grain;

[0025] S4, Ring belt positioning measurement: It is realized by the robot 3D vision measurement system, and the workpiece ring belt is scanned and measured by the robot 3D vision measurement system;

[0026] S5, Ring belt shaping processing: precision milling ring belt - measurement cycle execution, each cycle cuts off a circle of residual medicine body;

[0027] S6, automatic tool disassembly and installation process: through the system and robot program execution, the tool is removed and placed in the tool library to update the tool management data.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] The shaping robot, system and method for processing the grain are reasonably designed and can realize autonomous positioning, automatic planning of processing paths and automatic switching and management of cutting tools; effectively improve the degree of automation in grain cutting processing; and realize early warning protection of the processing process through temperature and contact force detection sensors during the shaping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following is a brief description of the contents and symbols in the drawings of this specification:

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0032] Figure 2 This is a schematic diagram of the AGV structure of the present invention.

[0033] Figure 3 It is a schematic diagram of the chip suction system of the present invention.

[0034] Figure 4 It is a schematic diagram of the structure of the explosion-proof dust collection system of the present invention.

[0035] Figure 5 This is a schematic diagram of the explosion-proof modification of an industrial robot according to the present invention.

[0036] Figure 6 This is a schematic diagram of the robot quick-change disk of the present invention.

[0037] Figure 7 It is a schematic diagram of the tool change magazine support system of the present invention.

[0038] Figure 8 Schematic diagram of machining tools at different positions according to the present invention.

[0039] Fig. 9 This is a control architecture diagram of the electronic control system of the present invention.

[0040] Fig.10 It is a schematic diagram of the high-precision three-dimensional visual scanning and positioning traction device of the present invention.

[0041] Fig.11 It is a schematic diagram of the structure of the drug column cutting tool of the present invention.

[0042] Fig.12 It is a schematic diagram of the processing of the cutting knife of the present invention.

[0043] Fig.13 It is a schematic diagram of the drug column cutting tool of the present invention.

[0044] Fig.14 It is a schematic diagram of the milling tool assembly for the root of the drug column of the present invention.

[0045] Fig.15 This is a schematic diagram of the pneumatic spindle speed control system of the present invention.

[0046] Fig.16 It is a schematic diagram of the buckle structure for quickly installing the dust collector cover of the present invention.

[0047] Fig.17 It is a schematic diagram of the inner cavity annular belt milling tool of the present invention.

[0048] Fig.18 It is a schematic diagram of processing of the multi-blade disc milling cutter of the present invention.

[0049] Fig.19 It is a schematic diagram of the end face ring band milling tool of the present invention.

[0050] Fig. 20 It is a schematic diagram of the structure of the workbench assembly of the present invention.

[0051] Fig.21 It is a schematic diagram of the dust removal chamber structure of the present invention.

[0052] Fig. 22 It is a schematic diagram of the overall structure of the electronic control system of the present invention.

[0053] Fig.23 This is a workflow diagram for positioning the integrated mobile transfer device of the present invention.

[0054] Fig.24 This is a flow chart of the drug column positioning measurement of the present invention.

[0055] Fig.25 This is a flowchart of the drug column shaping process of the present invention.

[0056] Fig.26 This is a flow chart of the ring belt positioning measurement of the present invention.

[0057] Fig. 27 This is a flow chart of the ring belt shaping process of the present invention. DETAILED DESCRIPTION

[0058] The specific implementation modes of the present invention will be further explained in detail below through the description of embodiments with reference to the accompanying drawings.

[0059] like Figures 1 to 27 As shown, a fully automated drug column cutting and shaping robot device can realize autonomous positioning of the processed drug column, automatic planning of the processing path, and automated switching and management of the cutting tool.

[0060] like Figure 1 As shown in the figure, the fully automated drug column cutting device mainly includes: 3D visual scanning system, explosion-proof shaping robot, control system, camera tracking monitoring system, temperature detection interlocking system, drug chip suction and cleaning device, tool changer, integrated mobile transfer device, shaping size data modeling software system, etc. In order to achieve the functional requirements of shaping processing, a movable device is used to carry the shaping functional components, which is convenient for moving to the workpiece assembly. The shaping equipment determines the position of the workpiece through the scanning and positioning device. In order to improve the flexibility of the shaping equipment, the action execution device is planned to use a six-joint robot to carry the shaping tool for multi-position automatic processing. During the shaping process, the temperature and contact force detection sensors are used to realize the early warning protection of the processing process.

[0061] like Figure 2 As shown in the figure, the integrated mobile transfer device (main body is AGV) uses Mecanum wheels as AGV drive components according to the needs of plastic processing, and ground support devices are set at the four corners to level the AGV during operation. The main components of the vehicle body include: AGV chassis, omnidirectional drive wheels, electric outriggers, lead-acid explosion-proof batteries, electrical control cabinets, AGV display panels, safety protection components, etc. The base can move forward, backward, turn, and move sideways at multiple free angles to adapt to more different factory layouts.

[0062] The bottom of the integrated mobile transfer device has been optimized, mainly including:

[0063] 1) Considering the good flatness of the ground on site and the stable load on the upper end of the equipment, the driving wheel suspension adopts a hinged swing suspension. This structure has the advantages of high reliability and easy maintenance. The four driving wheels are independently suspended, and the moving process is smoother.

[0064] 2) The shaping system uses an electric servo cylinder as the jacking drive device and uses four supporting points for support. Since the jacking device needs to be in contact with the ground, considering the unevenness of the ground, the feet of the jacking device use a universal ball connection method to adapt to the unevenness of the ground. At the same time, soft materials are also provided on the feet to protect the ground.

[0065] The vehicle is equipped with a high-precision inclinometer, and the four-corner support electric cylinders are used to adjust the level of the vehicle body when the manipulator is working; the sensor uses a high-resolution differential analog-to-digital converter, with built-in automatic compensation and filtering algorithms, which greatly reduces the error caused by environmental changes. The change of the static gravity field is converted into a change in inclination, and the current roll angle and pitch angle are directly output digitally.

[0066] like Figure 3 and Figure 4 As shown in the figure, the device for sucking out and cleaning medicine chips will generate chips during shaping and milling. Excessive accumulation and extrusion in the processing area will cause risks. At the same time, the accumulated chips will also affect the detection of the processing status of the processing area by 3D visual inspection, affecting the final processing accuracy. Therefore, it is necessary to discharge the chips generated in the processing area in time. Since the chips are mostly light powder particles, the design uses vacuum suction to absorb the chips in the processing area. The medicine chip suction system mainly includes explosion-proof vacuum cleaners, negative pressure sensors, transparent pipes, and terminal dust hoods.

[0067] The composition of the medicine scraps suction and cleaning device includes:

[0068] 1) Dust-proof vacuum cleaner: The vacuum suction is generated by an explosion-proof fan, which generates negative pressure through suction to absorb the medicine chips produced during processing. The sucked medicine chips pass through the filter and remain inside the filter barrel. The filtration system also has an automatic backwash cleaning system, which can clean the filter in real time, increase the service life of the filter and reduce the maintenance cycle. The bottom of the vacuum cleaner is also equipped with a detachable dust bucket, which can quickly collect the accumulated medicine chips.

[0069] 2) Negative pressure sensor: The negative pressure sensor is used to detect the vacuum degree in the vacuum pipeline, and determine whether the pipeline is blocked based on the vacuum degree. A certain threshold will be set when in use, and an alarm will be triggered if the set threshold is exceeded.

[0070] 3) Steel wire lined vacuum tube: In order to ensure the convenience of pipeline maintenance and facilitate manual inspection, the pipeline is divided into multiple sections, and each section is fixedly connected with clamps. Manual inspection only requires the section with problems.

[0071] 4) Dust hood: The dust hood is mainly installed at the processing position to wrap the tool to the maximum extent, which is used to limit the splash of debris generated by processing and increase the efficiency of the vacuum cleaner to collect chips. Considering that the structure of the suction nozzle has a great influence on the suction effect, the structure of the dust hood is optimized by fluid simulation software analysis to achieve the best dust collection effect.

[0072] like Figure 5 and Figure 6 As shown, the explosion-proof plastic surgery robot: The robot system consists of a robot and its carried torque sensor and quick-change module. In order to achieve explosion-proofness of the robot, the robot is subjected to explosion-proof treatment. The measures are as follows: (1) The wires and motors of the robot arm are sealed; (2) The motors of the robot arm are subjected to positive pressure treatment.

[0073] The shell of the explosion-proof six-axis robot arm is shown in Figure 5 , which consists of a positive pressure mechanical arm, a positive pressure gas system, and a flameproof electrical box. At the joint where the motor is installed, the outer shell is made of cold-rolled thin steel plates that are folded and welded to fit the OEM curved surface, and a flame-retardant sealing strip is used for double-layer sealing to form a sealed cavity. An intrinsically safe explosion-proof micro-pressure differential sensor and a cast-in explosion-proof exhaust solenoid valve are installed inside the cavity, and a fire-blocking sheet is set at the exhaust port. It can make the compressed air or other non-flammable gases on site become pure micro-pressure gas after decompression and enter the positive pressure cavity, and continue to maintain positive pressure to prevent flammable gases and dust from entering the interior, making the interior of the positive pressure electrical cabinet a safe place.

[0074] The explosion-proof six-dimensional force sensor is installed between the end of the robot and the tool to detect sudden changes or excessive contact force of the end tool during the shaping process, and to perform alarm processing. Since there are many types of tools used in shaping, each tool will be calibrated during the use of the sensor to eliminate the influence of tool gravity on the change of detection force. At the same time, different safety thresholds are set for each tool to adapt to different processing conditions. At the same time, since there are many types of tools used in processing, in order to realize automated shaping processing, it is planned to use a robot quick-change plate to realize the automated switching of processing tools.

[0075] like Figure 7 As shown, tool magazine system: The tool magazine is mainly composed of tools used in processing and tool storage devices, and has the function of managing and recording tools. According to the characteristics and location of the processing object and the current manual processing method, the tool magazine functional components are planned, mainly including: quick-change tool holder, tool detection camera system and tool management system.

[0076] The quick-change tool holder is mainly used for storing various types of machining tool components, which is convenient for the robot to perform quick-change operations on the tool. A group of positions for storing tools are arranged on the tool holder, and a tool presence detection sensor is also provided on the quick-change tool holder. The quick-change tool holder is mainly composed of: a bracket, a box cover, a driving cylinder, a tool storage box and a tool placement position. Folding box cover: used to protect the quick-change disk and prevent dust from entering the quick-change position, and is in a normally closed state; driving cylinder: drives the box cover to fold, and the cylinder control adopts a mid-position pressure relief valve to ensure that the box cover can be opened manually for operation in manual state; tool storage box: located at the bottom of the bracket, used to store tool consumables; tool placement position: docked with the quick-change disk, used to store tools, and a detection switch is provided there to detect the status of tool placement;

[0077] In order to ensure the accuracy of manual tool placement, the positioning pin holes of each tool assembly are placed in different positions to ensure that the tool can only be placed in the corresponding position to avoid manual operation errors that lead to tool placement errors. At the same time, a detection switch is also set at the placement. If the tool is not placed in place, the switch will not be able to detect the tool, and an alarm will be issued. In order to ensure the stability of the bracket part, the bracket is annealed multiple times after welding to eliminate stress and prevent the bracket from deformation.

[0078] Tool optical detection system: In order to ensure the safety of the shaping process, a tool optical detection system is also set up. Before the equipment is shaped, the robot will move the tool it carries to the visual detection system for inspection. The main inspection contents include: whether the tool is selected correctly, whether the tool is damaged, the position of the tool tip (for processing trajectory compensation), whether there are foreign objects on the tool, etc.

[0079] The tool optical detection system, in conjunction with the tool management system, mainly realizes tool model detection and tool compensation. Tool model detection is mainly verified by double verification of tool character number recognition and tool contour detection to avoid tool mismatch caused by manual tool installation errors. Considering the consistency of workers' tool installation and quick-change disk consistency, the tool visual detection system is used to detect the side profile of the tool on the quick-change disk at the end of the robot, and necessary tool Z-direction compensation is performed. In order to correct the distortion error of the tool optical detection system, Zhang's calibration method is used to perform internal reference calibration on the tool visual imaging system. The calibration tool is a chessboard. After calibration, the images used to detect the tool hub are all distortion-corrected to improve measurement accuracy.

[0080] Tool storage management system. In order to achieve unified management of tool information, the tool magazine is also equipped with a tool management system. Its main functions include: management of tool storage location information, reminding maintenance personnel to place the tools in the correct position, ensuring the correctness of robot tool selection; management of tool status, real-time update of tool storage or use status, recording the total time of tool use and the status after each tool visual inspection, and reminding manual tool replacement and maintenance; storage of tool usage records. Through a large amount of stored record information, relevant data can be exported as the basis for tool structure optimization and tool configuration optimization analysis.

[0081] Processing tool assembly: The workpiece processing position includes the grain column and the annular belt in the cavity and on the end surface. Due to the differences in the processing volume and structural characteristics of each position, a single tool cannot efficiently complete all processing. Multiple tools are required for combined processing. According to the shaping position, size and structural characteristics, the designed tools mainly include: grain column cutting tools, grain column milling cutters, annular belt milling cutters, dust collection tools, etc. Since many types of tools are required, in order to realize the full automation of the processing process and avoid manual participation in tool changing, all processing tools and other tools are installed on the quick-change disk, and the quick-change disk is used to realize automatic tool switching.

[0082] The grain column cutting tool is used to cut the entire grain column, complete the one-time cutting of most of the grain column, and realize the efficient processing of the grain column. Fig.11 shown.

[0083] (1) Tool composition

[0084] 1) Polyurethane limit block: used to limit the medicine column during processing. The shape of the limit block is manually replaced according to the shape of the medicine column;

[0085] 2) Needle-type clamp: used to clamp the medicine column. It pierces the medicine column to ensure that the medicine column will not fall off during the cutting process. At the same time, the needle-type clamp can also adapt to medicine columns of different shapes, reducing the part of tool replacement;

[0086] 3) Gripper cylinder: used to clamp the powder column when it is cut off. After cutting, the cylinder is used to transfer the powder column as a whole to the outside of the workpiece to avoid residue inside.

[0087] 4) Cutting knife: a high-speed steel thin-sheet knife, fixed to the knife assembly by screws, etc., and replaced manually when abnormalities such as wear occur;

[0088] 5) Pneumatic switch: used to detect whether the cylinder can be driven into place, whether the clamping claw is in place, and to realize the limit alarm during the cutting process;

[0089] 6) Driving cylinder: used to drive the tool for cutting;

[0090] 7) Limit roller: used to limit the overall tool during processing to avoid collision and interference. The roller is made of soft material to avoid damage to the non-processing surface.

[0091] The drug column cutting tool comprises a tool holder, a movable frame, a cutting knife, a driving cylinder for driving the movable frame to move, and a clamping claw mechanism for clamping the cut drug column; the cutting knife is arranged on the movable frame, the movable frame is arranged on the tool holder through a guide rail structure, the driving cylinder is arranged on the tool holder, and the clamping claw mechanism is arranged on the tool holder and located on the inner side of the movable frame; a sliding block is arranged on the guide rail structure of the tool holder, the driving part of the driving cylinder is connected to the sliding block, the movable frame is a pair, the pair of movable frames are arranged on opposite sides of the sliding block, the cutting knife is arranged between one end of the pair of movable frames, and the cutting knife is reliably arranged; the cutting knife is driven to cut by the movable frames on both sides, and the drug column cutting processing tool is used for cutting the drug column as a whole, completing the one-time cutting of most drug columns, and realizing efficient processing of drug columns.

[0092] Furthermore, a pushing structure for pushing down the cut-off charge column is provided on the base plate. Preferably, the pushing structure comprises a feeding cylinder and a pushing block provided at the end of the piston rod of the feeding cylinder, a positioning groove is provided on the base plate, the feeding cylinder is provided in the positioning groove, and the pushing block is provided corresponding to the clamping claw.

[0093] The tool used in the processing is a high-speed steel thin sheet type, which can be made by wire cutting and grinding the cutting edge, and is connected to the tool assembly by screw fixing. The shape of the tool is consistent with the arc size of the processing position such as the inner cavity of the workpiece to achieve the maximum removal of the drug column and reduce the processing time.

[0094] In order to achieve the final processing of the grain column, the remaining part of the grain column needs to be further processed (finishing). The remaining part of the root of the grain column is processed by milling. The milling method has good adaptability to the size and structure of the remaining part. The grain chips produced by milling are granular and small in size. They can be sucked up by vacuum suction. The structure of the milling tool is as follows: Fig.14 shown.

[0095] (1) Tool composition

[0096] Pneumatic spindle: The power source for milling processing, drives the milling cutter for processing. The pneumatic spindle is adjusted by the flow valve to control the speed of the pneumatic spindle.

[0097] End mill: A flat end mill is used as the processing tool for the medicine column. According to the results of the previous processing technology test, a three-edge milling cutter was selected as the processing tool. The cutting edge of the tool is sharp, and the surface quality and burrs of the cutting high-elastic material are less.

[0098] Vacuum pipe: As the vacuum connection channel, it is planned to use a transparent steel hose to facilitate manual observation of the internal debris residue;

[0099] Dust hood: used to wrap around the processing tool during processing to prevent debris from splashing;

[0100] The dust collection hood is planned to be processed by 3D printing, and its structure will be optimized using fluid simulation technology to improve its ability to absorb debris. The hood is connected by snap-on method for easy installation and disassembly.

[0101] Since the cutters need to be replaced frequently and the dust cover needs to be removed frequently, the dust cover is designed to have a quick-disassembly structure. Fig.16 This is a schematic diagram of the snap-on structure of the dust collector cover. The cover and the fixing block are made of plastic, and the snaps can be quickly removed manually.

[0102] like Fig.17 As shown, the inner cavity ring milling tool:

[0103] The inner cavity ring is mainly located at the corners of the workpiece and is distributed in a circular pattern. The cross-sectional size of the part to be processed is relatively small, so it is planned to use milling for processing.

[0104] (1) Tool composition

[0105] Pneumatic spindle: milling power source, drives the milling cutter for processing, and the pneumatic spindle is adjusted by the flow valve to control the speed of the pneumatic spindle;

[0106] Disc milling cutter: The disc milling cutter is used as the processing tool for the ring belt inside the cavity;

[0107] Dust cover: processed by 3D printing, used to wrap around the processing tool to prevent debris from splashing;

[0108] Dust collection pipeline: As a dust collection channel, it is made of transparent material to facilitate observation of the internal situation;

[0109] According to the structure and position characteristics of the ring belt, a multi-edge disc milling cutter is used for processing.

[0110] In order to carry out safe processing, infrared and video monitoring are set up. Fig.12 This is a simulation diagram of the field of view of the infrared camera and the monitoring camera. It can be seen from the figure that the processing area is within the monitoring range. Through the above monitoring method, the interlocking protection of the processing process can be achieved.

[0111] like Fig.19 As shown, the face ring milling tool:

[0112] The end face ring band is mainly located at the corners of the workpiece and is distributed in a circular pattern. According to the structural characteristics of the end face ring band, it is planned to use a disc milling cutter for processing.

[0113] (1) Tool composition

[0114] Pneumatic spindle: the power source for milling, drives the milling cutter for processing, and the pneumatic spindle is adjusted by the flow valve to control the speed of the pneumatic spindle; disc milling cutter: the disc milling cutter used is used as the processing tool for the ring belt in the cavity; dust suction cover: used to wrap around the processing tool during 3D printing to prevent debris from splashing; dust suction pipeline: a transparent pipeline is used as the dust suction channel for easy manual observation.

[0115] The workbench assembly consists of a waste box, a simulated processing table, and a tool cleaning room.

[0116] Waste box: used to store the whole piece of medicine column after it is cut. After the robot cuts the medicine column, the whole piece of medicine column is placed in it, and it is taken out manually after processing.

[0117] Simulation processing table: used for physical processing simulation test before formal processing. The shaping system is equipped with a processing detection platform, and the simulated workpiece is installed manually. The shaping system performs pre-processing before each processing. After processing, the cutting position processing effect is manually detected to determine whether each module of the equipment is working normally and whether the tool is worn, etc., to ensure the safety of processing.

[0118] Dust removal room: When milling, the debris generated may splash and adhere to the surface of the quick-change device. In order to ensure safety during quick change, a tool dust removal room is also arranged to clean the chips that may adhere to the surface of the tool quick-change position.

[0119] A brush assembly is arranged inside the dust removal chamber. After the robot extends the processing tool into the dust removal chamber, it uses the brush to clean the medicine chips that may remain on the surface. The bottom of the dust removal chamber is connected to an explosion-proof vacuum cleaner, which sucks the medicine chips generated by cleaning into the vacuum cleaner to avoid residue inside the dust removal chamber. The bottom of the dust removal chamber is connected to the vacuum cleaner through a hose valve, which is closed during non-cleaning time to reduce the impact on milling dust collection.

[0120] The system of the plastic surgery robot of the present invention includes an electric control system, a visual positioning system, a plastic surgery size data modeling software system, a camera tracking monitoring system and a temperature detection interlocking system. The electric control system, the visual positioning system, the plastic surgery size data modeling software system, the camera tracking monitoring system and the temperature detection interlocking system are all connected to the control system.

[0121] Electronic control system: mainly composed of the on-board main control cabinet (low-voltage electrical, switch, PLC controller, SCADA server, on-board operator terminal), control room operator terminal (operating console, SCADA client), control room switch, control interface components, etc.

[0122] Visual positioning system: It consists of an explosion-proof industrial robot and a high-precision 3D camera. The explosion-proof industrial robot acts as an actuator and carries a high-precision 3D camera to achieve 360-degree scanning and measurement of the workpiece's charge and annulus. The main functions of the 3D scanner are the positioning and measurement of charge and the positioning and measurement of the mouth annulus. By covering and scanning a single charge and scanning the bottom surface, the spatial position of a single charge is located, and the charge position information is provided for the overall cutting of the charge; the 3D scanner covers and scans the cross section of the cut charge, measures the residual error map of the charge protrusion, and provides position information and processing feed information for the milling of the charge section. By performing a circumferential scan on the mouth annulus, the annulus position is located and the annulus resection thickness is measured, providing position information and feed information for mouth processing.

[0123] Plastic dimension data modeling software system: The plastic dimension data modeling software mainly realizes the following functions: (1) Point cloud registration, realizing the error and misalignment correction of the point cloud scanned by the 3D scanner, and improving the accuracy of the point cloud data; (2) Point cloud denoising, realizing the noise data removal of the point cloud scanned by the 3D scanner, and improving the quality of the point cloud data; (3) Point cloud segmentation, realizing the segmentation and extraction of point clouds in key areas, including the protruding part of the drug column, the processed part of the mouth ring, etc.; (4) 3D modeling, realizing the conversion from point cloud data to triangular patch data, and realizing the establishment of the scanned object point cloud to the scanned object model; (5) Visual positioning, realizing the registration and positioning between the point cloud and the 3D model; (6) Visual measurement, realizing the error distribution calculation between the point cloud and the model.

[0124] Camera tracking monitoring system: Video monitoring function of the end processing area, that is, the processing process and processing effect of the designated area are photographed at a fixed point through the monitoring camera, and the real-time video monitoring is displayed on the display. By installing a high-definition camera at a suitable position at the end of the explosion-proof industrial robot, the field of view is focused on the tool processing area. During the processing, the software collects video data in real time and displays it on the high-definition display, realizing the remote real-time monitoring function. After the processing is completed, the explosion-proof industrial robot can carry a camera to take pictures of the specific processing area for archiving, realize the processing quality image data recording, and facilitate the later quality process traceability. The overall video monitoring function of the equipment, that is, the explosion-proof camera installed on the integrated mobile transfer device is used to conduct real-time video monitoring of the entire equipment and the movement status of the explosion-proof industrial robot.

[0125] Temperature detection interlock system (infrared temperature detection): The temperature monitoring function mainly realizes real-time temperature monitoring of the core processing area, especially the temperature monitoring of the cutter head position area, to prevent the temperature from being too high and causing danger. The infrared temperature monitoring camera is installed at a suitable position at the end of the robot so that its field of view completely covers the tool handle, cutter head and surrounding areas. The temperature field data is collected in real time through the software and presented on the software interface. ROI areas are added to the core areas such as the cutter head position for key monitoring, and the temperature range threshold is set. Once the temperature exceeds the limit, the alarm stops immediately to ensure the processing safety.

[0126] Control system:

[0127] The control system mainly includes coordinate system management module, tool path planning module, robot kinematics module, collision detection module, motion simulation module, and robot program generation module. The coordinate system management module realizes the setting, compensation, and conversion of the workpiece coordinate system and the tool coordinate system; the tool path planning module plans a series of measurement postures of the visual sensor according to the measurement requirements, plans the tool path according to the processing technology, and optimizes the planned tool path to increase the processing flexibility and reduce the processing cycle; the robot kinematics module mainly realizes the robot inverse kinematics solution, solves the robot joint angle when the robot reaches the specified measurement posture or processing posture, realizes the robot forward kinematics solution, settles the spatial posture of each robot link, sensor, tool, etc., and performs collision detection in conjunction with the collision detection algorithm; the collision detection module mainly realizes the spatial collision detection between the tool and the workpiece, the self-collision detection of the robot body, and the collision detection between the robot body and the peripheral equipment. The collision detection is based on the intersection detection of the CAD model; the motion simulation module realizes the simulation of the specified tool action and the robot path, which is convenient for personnel to observe and confirm the relative safety of the path; the robot program generation module realizes the generation and download of the robot measurement code and processing code. The core of the offline programming software is the tool path planning module. For this project, the tool in the measurement phase is the visual sensor, and the corresponding visual sensor measurement path is planned. In the processing phase, the tool is the tool, and the corresponding tool processing path is planned.

[0128] The core of measurement path planning is to plan a series of measurement postures of the visual sensor. These measurement postures meet the measurement of the specified area of ​​the workpiece under unobstructed lines, the visual sensor has no collision with peripheral equipment, and the measurement area has a certain proportion of overlap and splicing to completely cover the area to be measured. Sensor measurement posture planning is achieved through the following core algorithms:

[0129] (1) Visual sensor modeling, including 3D modeling of the body, 3D modeling of the measurement space, and coordinate system modeling;

[0130] (2) Modeling the surface to be measured: picking up the measured surface from the 3D model and expressing it parameterizedly to achieve surface meshing;

[0131] (3) Posture sampling algorithm, which performs posture exclusion sampling under constraint conditions to obtain the sensor measurement posture;

[0132] (4) Heuristic planning: for simple measurement entities (such as planes, cylinders, etc.), sampling heuristic methods are used to plan the measurement pose;

[0133] (5) Parameter management: the core parameter is the repeated scanning ratio.

[0134] The core of machining path planning is to plan the tool cutting path according to the specific structure of the tool and the machining process parameters. The focus of tool path planning is the process parameter setting. The preset process parameters include:

[0135] (1) Tool speed, tool rotation speed;

[0136] (2) Tool compensation, mainly compensation in the Z-axis direction of the tool, provided by the tool vision inspection system;

[0137] (3) Tool feed rate and single cutting depth of the tool;

[0138] (4) Tool recutting rate, the ratio of tool recutting twice;

[0139] (5) Workpiece compensation, measured by the robot 3D vision measurement system;

[0140] (6) Robot movement speed, the movement speed of the robot carrying the tool;

[0141] (7) Robot path interval, tool path point interval;

[0142] (8) Others;

[0143] When the robot uses an integral cutting tool to cut off the charge column, the tool path is designed as a broken line path connected by several key points; when the robot uses a sampling end mill to mill the cross-section of the charge column, the tool path is designed as a bow-shaped path slicing downward milling process; when the robot uses a disc milling cutter to mill the mouth ring, the tool path is designed as a circular path for milling.

[0144] The automatic cutting processing method and principle of the present invention are as follows: the whole operation process includes six steps: positioning of the integrated mobile transfer device, positioning and measuring of the grain, shaping of the grain, positioning and measuring of the annular belt, shaping of the annular belt and automatic disassembly and assembly of the knife.

[0145] (I) Positioning of integrated mobile transfer device:

[0146] It is used to determine and control the position and posture of the integrated mobile transfer device relative to the workpiece. The charge column positioning measurement process is used to locate the circumferential distribution position of the charge column and measure the charge column height. The charge column shaping process is used to perform overall cutting, charge column cross-section scanning measurement and charge column cross-section milling. The ring belt positioning measurement process is used to accurately locate the ring belt position at the mouth of the workpiece and perform circumferential measurement of the ring belt thickness. The ring belt shaping process is used to control the milling cutter to perform milling on the ring belt and visually inspect the residual surface of the ring belt. By setting "whether to perform charge column processing" and "whether to perform ring belt processing", the charge column positioning process and the ring belt positioning process are independent of each other.

[0147] The positioning of the integrated mobile transfer device is mainly achieved through the visual positioning system, with the goal of moving the translation relative to the workpiece to the target position and posture.

[0148] The visual positioning system collects the three-dimensional point cloud of the workpiece end face through a large-range 3D camera, and realizes positioning by registering it with the 3D digital model of the workpiece input by the user (or extracting the flange features of the workpiece for positioning), and feeds back the positioning information to the integrated mobile transfer device. The integrated mobile transfer device moves autonomously to the preset position to ensure that the position and posture relationship between the robot and the workpiece meets the scanning path requirements. This process can be repeated many times to ensure the final position and posture error requirements between the robot and the workpiece, such as Fig.23 As shown, the detailed process of positioning the integrated mobile transfer device is set as follows:

[0149] (1) Workpiece loading (manual);

[0150] (2) Manually control the movement of the integrated mobile transfer device so that the large-range 3D camera installed on the integrated mobile transfer device can fully capture the end face of the workpiece (the range of the integrated mobile transfer device can be pre-demarcated on the ground, and the camera displays the 3D camera point cloud data in real time) (integrated mobile transfer device);

[0151] (3) Set the processing object model through software (the model has been registered in advance);

[0152] (4) Equipment power-on self-test (software communication connection, robot status detection (at home position, no tool installed, others), other system status detection) (software, robot, control system, etc.)

[0153] (5) After the integrated mobile transfer device is in place, manually start the software integrated mobile transfer device positioning function (software);

[0154] (6) The software triggers a large-scale 3D camera to collect the point cloud of the workpiece end surface;

[0155] (7) The algorithm processes the workpiece end face point cloud to locate the workpiece spatial position and posture (method 1: aligning the workpiece end face point cloud with the workpiece 3D digital model; method 2: extracting the workpiece flange geometric features for positioning);

[0156] (8) If the algorithm locates successfully, the software interface displays the registration result and the registration effect diagram, and proceeds to the next step. If the positioning fails, the software prompts the user that the positioning fails (prompting the user to control the movement of the integrated mobile transfer device and restart from step 5);

[0157] (9) When the positioning is successful, confirm whether the integrated mobile transfer device is in place according to the positional relationship between the positioned robot and the workpiece and the pre-planned positional relationship between the robot and the workpiece. If the integrated mobile transfer device is in place, proceed to (13). If the integrated mobile transfer device is not in place, calculate the movement amount of the integrated mobile transfer device.

[0158] (10) In the case of not being in place, the manual control software outputs the target motion position and orientation of the integrated mobile transfer device;

[0159] (11) After the integrated mobile transfer device receives the target motion position and posture, it executes the motion (manual control or automatic control), and after reaching the target position, it gives a signal of arrival (integrated mobile transfer device);

[0160] (12) In order to fully ensure that the position and posture of the integrated mobile transfer device are within the specified error range with the registered position and posture, the workpiece positioning needs to be repeated, and the movement of the integrated mobile transfer device needs to be controlled multiple times if necessary. The final result is confirmed by the software and the worker (software confirmation: the error between the positioning posture and the registered posture must be within a certain range, manual confirmation: observe the registration and positioning effect);

[0161] (13) Manually confirm that the positioning is complete, press the software positioning success button, the software sends a positioning success signal to the integrated mobile transfer device, and the integrated mobile transfer device self-locks (integrated mobile transfer device);

[0162] (14) The software receives a self-locking completion signal from the integrated mobile transfer device;

[0163] (15) The system waits for subsequent measurement and processing instructions.

[0164] (II) Measurement of the positioning of the drug column

[0165] The positioning and measurement of the drug column is achieved through the robot 3D vision measurement system. This process mainly realizes two functions: first, positioning all drug column positions and measuring the protrusion height of the drug column; second, re-precisely positioning the spatial posture relationship between the workpiece and the robot. The main method to achieve this task is: first roughly positioning a drug column, then precisely positioning each drug column, and finally precisely positioning the workpiece, such as Fig.24 As shown in the figure, the task workflow is as follows:

[0166] (1) The software receives a signal from the user confirming that the integrated mobile transfer device has completed positioning (self-locking completion signal), and receives a signal from the user confirming that the drug column has completed positioning;

[0167] (2) Status self-check (robot system status, control system, tool management system, etc.);

[0168] (3) The software sends a drug column positioning signal to the robot;

[0169] (4) Robot movement: from the Home position to the starting point of positioning inside the workpiece (robot);

[0170] (5) Robot movement: Coarse positioning and scanning of a single drug column. The robot moves along a series of joint path points, stops at the photo path point and triggers a high-precision 3D camera for data collection (robot, software);

[0171] (6) The software sends the data pair <photographing path points, 3D point cloud> to the algorithm;

[0172] (7) The algorithm stitches the point cloud, transfers it to the workpiece coordinate system, and calculates the center position and angle of the drug column;

[0173] (8) The algorithm sequentially gives the center positions and angles of all drug columns;

[0174] (9) The software sends the position and angle of the drug column to the robot;

[0175] (10) Robot movement: Precise positioning and scanning of a single drug column. The robot moves along a series of joint path points, stops at the photo path point and triggers a high-precision 3D camera for data collection (robot, software);

[0176] (11) The software sends the data pair <photographing path points, 3D point cloud> to the algorithm;

[0177] (12) The algorithm calculates the accurate point cloud model and pose of the drug column;

[0178] (13) Steps (9) to (11) are executed cyclically to precisely position all drug columns;

[0179] (14) The algorithm obtains the precise position and model of all the charge columns and precisely locates the workpiece;

[0180] (15) Robot movement: Return to Home (robot) from the positioning starting point;

[0181] (16) The software waits for the user to confirm the result and gives a processing signal.

[0182] (III) Grain column shaping processing:

[0183] First, all the grains are cut one by one, and then each grain is measured and processed by the "scanning-fine milling" cycle. Fig.25 As shown, the detailed process of the drug column shaping process is as follows:

[0184] (1) The software receives a signal from the user confirming that the measurement of the grain positioning is complete, and receives a signal from the user for grain shaping processing;

[0185] (2) Status self-check (robot system status, control system, tool management system, etc.);

[0186] (3) The software sends tool information to the robot, and the robot performs tool change operations: installing the cutting tool (software, robot);

[0187] (4) The robot performs tool detection: the robot carries the tool to the detection position, and the software algorithm detects the tool (robot, software, algorithm);

[0188] (5) Robot movement: entering the workpiece, from the Home position to the starting point of cutting inside the workpiece (robot);

[0189] (6) Robotic cutting: cutting of each drug column (robot);

[0190] (7) Robot movement: Return to Home (robot) from the starting point of cutting processing inside the workpiece;

[0191] (8) The user determines whether further fine milling processing (software) is required. If yes, the process proceeds to step 20; otherwise, the process proceeds to step 20;

[0192] (9) The software sends tool information to the robot;

[0193] (10) Robotic tool disassembly: disassembly of cutting tools (robot);

[0194] (11) Robot tool installation: installing milling tools (robot);

[0195] (12) The robot performs tool detection: the robot carries the tool to the detection position, and the software algorithm detects the tool (robot, software, algorithm);

[0196] (13) Robot movement: moving from the Home position to the starting point of scanning / milling the cross section of the internal grain column of the workpiece (robot);

[0197] (14) Robot scanning of drug column cross section: scanning the cutting surface of the i-th drug column (robot);

[0198] (15) The software collects point cloud data of the cross section of the drug column and uses the algorithm to detect the residual amount of the drug column;

[0199] (16) The software determines the quality of the last processing. If the processing is completed, it goes to step 14 to perform the next grain cutting surface scan. Otherwise, it calculates the workpiece coordinate system offset for the next fine milling process.

[0200] (17) Robot movement: fine milling of the cutting surface of the i-th drug column, go to step 14 to execute (robot);

[0201] (18) cyclically executing steps 14 to 17, so that all the cutting surfaces of the grain are subjected to the "scanning-fine milling" process;

[0202] (19) Robot movement: from the starting point of scanning / milling the cross section of the internal grain column of the workpiece to Home (robot);

[0203] (20) Robot tool disassembly: disassemble the current tool (robot);

[0204] (21) The grain shaping process is completed.

[0205] (IV) Ring belt positioning measurement

[0206] It is realized by the robot 3D vision measurement system. The robot 3D vision measurement system scans and measures the workpiece ring belt, which mainly realizes two functions: first, re-precisely locates the spatial posture relationship between the ring belt center and the robot; second, measures the processing amount of the ring belt. Fig.26 The detailed workflow of this task is as follows:

[0207] (1) The software detects the integrated mobile transfer device positioning completion signal status (self-locking completion signal) and receives the ring belt positioning signal given by the user;

[0208] (2) Status self-check (robot system status, control system, tool management system, etc.);

[0209] (3) The software sends a ring belt positioning signal to the robot;

[0210] (4) Robot movement: from the Home position to the starting point of positioning inside the workpiece (robot);

[0211] (5) Robot movement: Scanning the circumference of each belt area, the robot moves along a series of joint path points, stops at the photo path point and triggers a high-precision 3D camera for data collection (robot, software);

[0212] (6) The software sends the data pair <photographing path points, 3D point cloud> to the algorithm;

[0213] (7) The algorithm stitches the point cloud, relocates the position and posture of the ring, and calculates the thickness distribution of the ring;

[0214] (8) The software displays the annulus positioning results and is manually confirmed;

[0215] (9) Robot movement: Return to Home (robot) from the positioning starting point;

[0216] (10) The software waits for the user to confirm the result and gives a processing signal.

[0217] (V) Ring belt shaping processing

[0218] The “fine milling-measurement” cycle is executed, and each cycle removes a circle of residual medicine. Fig. 27 As shown, the detailed process of ring belt shaping is as follows:

[0219] (1) The software receives the user's confirmation signal that the ring belt positioning measurement is completed, and receives the ring belt shaping processing signal given by the user;

[0220] (2) Status self-check (robot system status, control system, tool management system, etc.);

[0221] (3) The software sends tool information to the robot, and the robot performs tool change operations: installing the milling tool (software, robot);

[0222] (4) The robot performs tool detection: the robot carries the tool to the detection position, and the software algorithm detects the tool (robot, software, algorithm);

[0223] (5) Robot movement: entering the workpiece, from the Home position to the starting point of milling / scanning inside the workpiece (robot);

[0224] (6) Robot motion: milling ring (robot) for the i-th milling process;

[0225] (7) Robot scanning of the annular belt processing surface: Scanning and measuring the annular belt after the i-th milling process (robot);

[0226] (8) The software collects point cloud data of the ring belt processing surface and the algorithm detects the residual amount of the ring belt;

[0227] (9) The software determines the quality of the last machining. If the machining is completed, the process goes to step 14 for execution. Otherwise, the software calculates the workpiece coordinate system offset for the next fine milling process (software, algorithm), and goes to step 6 for execution.

[0228] (10) Robot movement: Return to Home (robot) from the milling / scanning starting point inside the workpiece;

[0229] (11) Robot tool disassembly: disassembly of milling tools (robot);

[0230] (12) The ring belt shaping process is completed.

[0231] (VI) Automatic knife disassembly and assembly process

[0232] In order to conduct reliable tool management and prevent tool confusion, tool removal and installation must be performed through software and robot-specific programs. The automatic tool removal and installation process is as follows:

[0233] (1) Manually move the robot to the Home position and switch the robot to automatic mode;

[0234] (2) Set the tool number in the software and click on automatic tool removal;

[0235] (3) The software detects whether the tool position is abnormally occupied. If not, the tool removal program is automatically activated, otherwise an alarm is issued;

[0236] (4) After the tool removal is completed, the tool management system updates the status;

[0237] (5) Complete the disassembly of the specified tool.

[0238] The automatic tool loading process is as follows:

[0239] (1) Manually move the robot to the Home position and switch the robot to automatic mode;

[0240] (2) Set the tool number in the software and click on automatic tool loading;

[0241] (3) The software detects whether there is a tool at the tool position. If so, the tool loading program is automatically started, otherwise an alarm is issued;

[0242] (4) After the tool is installed, the tool management system updates the status;

[0243] (5) Complete the installation of the specified tool.

[0244] The above two processes can be automatically carried out in the process of powder column and ring belt shaping.

[0245] The shaping robot, system and method for processing a grain of medicine of the present invention are reasonably designed and can realize autonomous positioning, automatic planning of processing paths and automatic switching and management of cutting tools; effectively improve the degree of automation of grain cutting processing; and realize early warning protection of the processing process through temperature and contact force detection sensors during the shaping process.

[0246] The above is only an explanation of the preferred embodiments of the present invention, and the above technical features can be arbitrarily combined to form multiple embodiments of the present invention.

[0247] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A plastic surgery robot, characterized in that: include: An integrated mobile transfer device is used as a chassis to carry each module, and the integrated mobile transfer device is a liftable AGV vehicle; The plastic surgery industrial robot is used to drive the tool on the mechanical arm to perform plastic surgery. The plastic surgery industrial robot includes a mechanical arm and a torque sensor and a tool quick-change module arranged on the mechanical arm; The medicine chip suction and cleaning device is used to remove the chips generated during processing; A tool change magazine is used for placing and managing tools. The tool change magazine includes a quick-change tool holder, and a detection sensor for detecting the presence of a tool is provided on the quick-change tool holder; A control system, wherein the control system includes a coordinate system management module, a tool path planning module, a robot kinematics module, a collision detection module, a motion simulation module and a robot program generation module.

2. The plastic surgery robot according to claim 1, characterized in that: It also includes a workbench test component, which includes a waste box, a simulated processing table and a tool cleaning room; the simulated processing table is a physical processing simulation test platform, and the tool cleaning room includes a dust removal chamber and a brush assembly arranged in the dust removal chamber, and the bottom of the dust removal chamber is connected to an explosion-proof vacuum cleaner.

3. The plastic surgery robot according to claim 1, characterized in that: It also includes a machining tool assembly, which includes a group of tools and a quick-change disk, and the tools are installed on the corresponding quick-change disk.

4. The plastic surgery robot according to claim 3, characterized in that: The group of tools includes a drug column cutting tool, which includes a frame, a clamping claw structure for clamping the drug column, a cutting knife and a driving cylinder for driving the cutting knife to move and cut. The cutting knife is movably arranged on the frame through a guide rail.

5. The plastic surgery robot according to claim 1, characterized in that: The medicine scraps suction and cleaning device includes a dust-proof vacuum cleaner, a negative pressure sensor, a vacuum tube and a dust hood. The dust-proof vacuum cleaner includes a filter barrel and an explosion-proof fan that are connected to each other. A filter is provided in the filter barrel, and a dust storage bucket is provided at the bottom of the filter barrel. The negative pressure sensor is provided on the vacuum tube for detecting the vacuum degree in the dust collection pipeline. The dust hood is installed at the processing position on the robotic arm.

6. The plastic surgery robot according to claim 1, characterized in that: The plastic surgery industrial robot is an explosion-proof plastic surgery robot, which includes a positive pressure robotic arm, a positive pressure air circuit system and a flameproof electrical box. An explosion-proof six-dimensional force sensor is provided between the end of the robotic arm and the tool to detect sudden changes or excessive contact force of the end tool during the plastic surgery process.

7. A system of a plastic surgery robot as described in any one of claims 1 to 6, which is specific in that it includes an electronic control system, a visual positioning system, a plastic surgery size data modeling software system, a camera tracking and monitoring system, and a temperature detection interlocking system, and the electronic control system, the visual positioning system, the plastic surgery size data modeling software system, the camera tracking and monitoring system, and the temperature detection interlocking system are all connected to the control system.

8. The system according to claim 7, characterized in that: The shaping size data modeling software system includes point cloud registration, point cloud denoising, point cloud segmentation, 3D modeling, visual positioning and visual measurement; the point cloud registration realizes the error misalignment correction of the point cloud scanned by the 3D scanner; the point cloud denoising realizes the noise data removal of the point cloud scanned by the 3D scanner; the point cloud segmentation realizes the segmentation and extraction of the point cloud in the key area; the 3D modeling realizes the conversion from point cloud data to triangular patch data, and realizes the establishment of the scanned object point cloud to the scanned object model; the visual positioning realizes the registration and positioning between the point cloud and the 3D model; the visual measurement realizes the error distribution calculation between the point cloud and the model.

9. The system according to claim 8, characterized in that: The camera tracking monitoring system uses a monitoring camera to take fixed-point photos of the processing process and processing results in the designated area, and presents them on the display for real-time video monitoring; the temperature detection interlocking system realizes real-time temperature monitoring of the core processing area.

10. A method for automatically cutting a grain column using the system of claim 9, characterized in that: The following steps are involved: S1. Positioning of integrated mobile transfer device: determining and controlling the position and posture of the integrated mobile transfer device relative to the workpiece; S2, drug column positioning measurement: locate all drug column positions and measure the protrusion height of drug column; re-precisely locate the spatial posture relationship between the workpiece and the robot; S3, grain shaping processing: first cut all the grains one by one, then perform "scanning-fine milling" cycle measurement and processing on each grain; S4, Ring belt positioning measurement: It is realized by the robot 3D vision measurement system, and the workpiece ring belt is scanned and measured by the robot 3D vision measurement system; S5, Ring belt shaping processing: precision milling ring belt - measurement cycle execution, each cycle cuts off a circle of residual medicine body; S6, automatic tool disassembly and installation process: through the system and robot program execution, the tool is removed and placed in the tool library to update the tool management data.

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