Double-robot measuring and processing system for grinding and polishing arc-shaped stone plate

Abstract

The invention provides a double-robot measuring and machining system for stone arc-shaped plate grinding and polishing, and relates to the technical field of grinding and polishing machining. The double-robot measuring and machining system is composed of a measuring system, a grinding and polishing system, a rotary table and an integrated control system; the measuring system utilizes high-precision measuring equipment at the tail end of the robot to realize rapid positioning of a workpiece and accurate identification of machining allowance; the grinding and polishing system is provided with the flexible floating grinding head, the grinding and polishing path and force can be automatically adjusted according to measured data under the guidance of the control system, and the machining quality is ensured. The rotary table provides stable rotary support for the workpiece, so that the robot can make contact with the surface of the workpiece in all directions. The control system serves as a core brain and comprehensively coordinates actions of all parts, and automatic control is achieved in the whole process from measurement to grinding and polishing. And the limitation of a traditional grinding and polishing mode is broken through, the machining efficiency is improved, the stability of the machining quality is guaranteed, and the method is particularly suitable for customized machining of small-batch and multi-variety stone arc-shaped plates and has wide application prospects.

Description

Technical Field

[0001] The invention relates to the technical field of grinding and polishing, and in particular to a double-robot measuring and processing system for grinding and polishing stone curved plates. Background Art

[0002] In the stone processing industry, the grinding and polishing process is a key link in improving the surface quality and aesthetics of stone. Traditional grinding and polishing methods mainly rely on manual operation, which has many disadvantages. First, the efficiency of manual grinding and polishing is low and it is difficult to meet the needs of large-scale production. Secondly, the quality of manual grinding and polishing is greatly affected by the skill level and experience of the operator, resulting in unstable processing quality and difficulty in ensuring product consistency. In addition, manual grinding and polishing is labor-intensive, which is harmful to the workers' health, and it is difficult to achieve high-precision processing of complex-shaped stones.

[0003] With the development of robotics technology, robotic grinding and polishing has gradually become a solution to replace manual grinding and polishing. Robotic grinding and polishing has high flexibility and repeatability, and can adapt to the processing needs of stones of different shapes and sizes. However, existing robotic grinding and polishing systems still have some limitations. On the one hand, most traditional robotic grinding and polishing systems rely on offline programming, which not only increases the complexity and time cost of programming, but also makes it difficult to adapt to the processing needs of small batches and multiple varieties of stones. On the other hand, when dealing with stones with uneven distribution of excess after rough processing, existing grinding and polishing systems often cannot achieve precise adaptive processing, resulting in reduced processing efficiency and quality.

[0004] In addition, the existing grinding and polishing systems still need to be improved in terms of automation and intelligence. For example, during the processing, it is difficult for the robot to obtain the precise size and shape information of the workpiece in real time, and it is impossible to make dynamic adjustments according to the actual state of the workpiece. This not only limits the improvement of grinding and polishing accuracy, but may also cause problems such as over-grinding or under-grinding during the processing. At the same time, when processing complex-shaped stones, such as curved plates, the existing grinding and polishing systems often need to frequently adjust the robot's posture and processing parameters, which increases the difficulty of operation and processing time.

[0005] Therefore, developing an automated, intelligent, and flexible stone curved plate grinding and polishing system is of great significance for improving stone processing efficiency, improving product quality, and reducing production costs. This system should have functions such as real-time measurement, adaptive processing, and allowance recognition to meet the needs of different stone processing scenarios.

[0006] In view of this, this application is filed. Summary of the invention

[0007] The present invention provides a dual-robot measurement and processing system for grinding and polishing stone curved plates, which can at least partially improve the above-mentioned problems.

[0008] To achieve the above object, the present invention adopts the following technical solutions: A dual-robot measurement and processing system for grinding and polishing a stone curved plate, comprising: a control component, a rotary table component, a measurement component and a grinding and polishing component, wherein the measurement component and the grinding and polishing component are symmetrically arranged on both sides of the rotary table component, a data end of the control component is electrically connected to a data end of the rotary table component, a data end of the measurement component and a data end of the grinding and polishing component, and the rotary table component is configured to carry and fix a workpiece to be processed; The control component is configured to implement the following steps by executing a computer program stored therein: When receiving the start signal, the grinding and polishing assembly is calibrated and self-checked; When it is determined that the self-test has passed, the measuring component is driven to a preset planned position, and the rotary turntable component is driven to rotate the workpiece to be processed to complete the fixed support, wherein the preset planned position is a position that enables the workpiece to be located within the working range of the measuring device of the measuring component; Acquire the image of the workpiece to be processed collected by the measuring component, and convert the image of the workpiece to be processed to obtain workpiece data; Performing trajectory planning processing on the workpiece data, and determining whether there is machining allowance at each trajectory point in the machining trajectory; When it is determined that there is a machining allowance, the parameters of each trajectory point are adaptively matched to obtain a trajectory path with parameters. Based on the trajectory path with parameters, the grinding and polishing component is controlled to perform grinding and polishing on the workpiece to be machined until the workpiece meets the preset requirements.

[0009] In summary, the dual robot measurement and processing system for grinding and polishing of stone curved plates is mainly aimed at solving the problems of low efficiency, unstable quality and difficulty in adapting to complex-shaped workpieces in existing stone processing technology. The system integrates two functional modules of measurement and grinding and polishing, and uses advanced robot technology to achieve efficient and precise processing of stone curved plates.

[0010] Specifically, the measurement module can quickly obtain the shape information and processing allowance of the workpiece, providing accurate data support for subsequent grinding and polishing operations. The grinding and polishing module automatically adjusts the grinding and polishing path and force according to the measurement data to ensure the flexibility and adaptability of the processing process. The entire processing process is coordinated by an intelligent control system, which realizes the automation of the entire process from measurement to grinding and polishing, greatly improving the processing efficiency and quality stability. In addition, the system also has good flexibility and can easily cope with the processing needs of stone curved plates of different shapes and sizes, providing an efficient and reliable solution for the stone processing industry.

[0011] Compared with the existing technology, this system has the following advantages. First, the system can be used for grinding and polishing of stone curved plates. The measuring system measures the workpiece while the grinding and polishing robot polishes the processed surface of the workpiece. There is no need to perform specific offline programming for specific objects to be processed, which can effectively improve the automation level and processing efficiency of grinding and polishing of stone curved plates. Secondly, the system uses a dual robot for measurement and processing to replace the traditional processing process. The system is more flexible and can adapt to different processing objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a general architecture diagram of a dual-robot measurement and processing system for grinding and polishing a stone curved plate provided by an embodiment of the present invention; Figure 2 This is a hardware composition diagram of a dual-robot measurement and processing system for grinding and polishing a stone curved plate provided by an embodiment of the present invention; Figure 3 It is a partial enlarged view of a dual robot measurement and processing system for grinding and polishing a stone curved plate provided by an embodiment of the present invention; Figure 4 The present invention is a schematic diagram of the working process of a dual-robot measurement and processing system for grinding and polishing curved stone plates provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0014] refer to Figure 1 , Figure 2 , Figure 3 As shown, the first embodiment of the present invention discloses a dual robot measurement and processing system for grinding and polishing of stone curved plates, which includes: a control component 11, a rotary turntable component 7, a measurement component and a grinding and polishing component, wherein the measurement component and the grinding and polishing component are symmetrically arranged on both sides of the rotary turntable component 7, the data end of the control component 11 is electrically connected to the data end of the rotary turntable component 7, the data end of the measurement component and the data end of the grinding and polishing component, and the rotary turntable component 7 is configured to carry and fix the workpiece to be processed; In this embodiment, the system mainly includes a control component 11, a rotary table component 7, a measuring component and a grinding and polishing component. The measuring component and the grinding and polishing component are symmetrically arranged on both sides of the rotary table component 7. This symmetrical layout not only optimizes space utilization, but also improves the collaborative efficiency during the processing. The data end of the control component 11 is electrically connected to the data end of the rotary table component 7, the measuring component and the grinding and polishing component, respectively, to achieve centralized control and data interaction of the entire processing system. The rotary table component 7 is the core supporting part of the entire system, and its main function is to carry and fix the stone arc plate to be processed. Through its unique design, the component can realize 360° rotation of the workpiece, thereby ensuring that the measuring component and the grinding and polishing component can contact the workpiece surface in all directions for accurate measurement and efficient grinding and polishing operations. This all-round processing capability greatly improves the flexibility and adaptability of processing, allowing the system to easily cope with various complex shapes of stone arc plates.

[0015] The measuring component is installed on one side of the rotary table component 7, and its main function is to accurately measure the curved stone plate to be processed. The component is equipped with high-precision measuring equipment, which can quickly obtain the shape information and processing allowance of the workpiece before processing. Through close cooperation with the control component 11, the measuring component can transmit the acquired data to the control system in real time, providing accurate data support for subsequent grinding and polishing operations. This real-time data interaction mechanism not only improves the processing accuracy, but also greatly shortens the preparation time before processing and improves the overall processing efficiency.

[0016] The grinding and polishing assembly is installed on the other side of the rotary turntable assembly 7, symmetrically arranged with the measuring assembly. The main function of this assembly is to perform grinding and polishing operations on the stone curved plate. The grinding and polishing assembly is equipped with advanced grinding and polishing equipment, which can automatically adjust the grinding and polishing path and force according to the data provided by the measuring assembly under the guidance of the control assembly 11. This automated grinding and polishing method not only improves the efficiency and quality of processing, but also reduces manual intervention and reduces labor intensity. In addition, the grinding and polishing assembly also has smooth control and margin self-adaptation functions, which can adjust the grinding and polishing parameters in real time according to the actual processing conditions of the workpiece to ensure the stability and consistency of the processing process.

[0017] In actual operation, the stone arc plate to be processed is first fixed on the rotary turntable assembly 7. Then, under the instruction of the control component 11, the measuring component moves above the workpiece and starts precise measurement. After the measurement is completed, the measuring component transmits the acquired data to the control component 11. The control component 11 plans the optimal grinding and polishing path based on these data, and sends the path information to the grinding and polishing component. After receiving the instruction, the grinding and polishing component starts grinding and polishing the workpiece. During the entire processing process, the rotary turntable assembly 7 rotates as needed to ensure that the grinding and polishing assembly can contact the workpiece surface in all directions. After the processing is completed, the measuring component measures the workpiece again to ensure that the processing quality meets the expected standards.

[0018] Preferably, the rotary table assembly 7 comprises a rotary table body and a fixing fixture, wherein the fixing fixture is arranged on the rotary table body, the rotary table body can realize 360° omnidirectional rotation about the Z axis, and the fixing fixture is used to fix the workpiece to be processed.

[0019] In this embodiment, the design of the turntable body allows it to achieve 360° full-directional rotation in the Z-axis direction. This feature brings significant flexibility and adaptability to the entire processing system. Through 360° full-directional rotation, the turntable body can ensure that the measuring component and the grinding and polishing component can contact the surface of the stone curved plate from all angles, thereby achieving all-round measurement and processing. This all-round processing capability not only improves the accuracy and quality of processing, but also reduces the extra time and labor costs caused by adjusting the position of the workpiece.

[0020] Furthermore, the design of the fixing fixture fully considers the shape and size characteristics of the stone curved plate. Its structure can firmly clamp the stone curved plate to be processed, ensuring that the workpiece will not move or shake during the processing. This stable fixing method is crucial to ensure processing accuracy and quality. In the actual processing process, the fixing fixture can be adjusted accordingly according to the stone curved plates of different shapes and sizes, thereby realizing universal fixing of various workpieces. This versatility greatly improves the flexibility and scope of application of the system, enabling it to meet the needs of small-batch and multi-variety stone processing.

[0021] In actual operation, the stone curved plate to be processed is first placed on the turntable body and fixed firmly by a fixing fixture. Then, according to the processing requirements, the turntable body rotates in the Z-axis direction under the command of the control system, so that each part of the workpiece can be exposed to the working range of the measuring component and the grinding and polishing component in turn.

[0022] Preferably, the control component 11 includes a hand-eye calibration module, a workpiece positioning module, a trajectory planning module, a margin identification module, a parameter matching module and a communication module, wherein the hand-eye calibration module and the workpiece positioning module are electrically connected to the measuring component through the communication module, and the trajectory planning module, the margin identification module and the parameter matching module are electrically connected to the grinding and polishing component through the communication module; Among them, the hand-eye calibration module is configured to calibrate the measurement component, the workpiece positioning module is configured to obtain point cloud information of the workpiece to be processed, the trajectory planning module is configured to obtain trajectory points and posture constraints of the workpiece to be processed, the margin identification module is configured to identify the normal margin of the trajectory points of the workpiece to be processed, and the parameter matching module is configured to optimize process parameters.

[0023] In this embodiment, first, the hand-eye calibration module is an important component of the control component, and its main function is to calibrate the measuring component, obtain the coordinate transformation relationship between the measuring device and the measuring robot, and use the fixed coordinate relationship between the two robots to perform coordinate transformation on the measuring point cloud, unify it to the coordinate system of the grinding and polishing robot, and the result is used for subsequent processes. Through the hand-eye calibration module, the measuring component can accurately obtain the coordinate transformation relationship between the measuring device and the measuring robot. This process not only improves the accuracy of the measurement, but also ensures the accuracy and reliability of the measurement data. The hand-eye calibration module is electrically connected to the measuring component through the communication module, realizing real-time calibration and calibration of the measuring component. This real-time calibration mechanism can effectively reduce the measurement deviation caused by equipment errors or environmental changes, thereby improving the stability and reliability of the entire system.

[0024] Secondly, the workpiece positioning module is responsible for obtaining the point cloud information of the workpiece to be processed. Through high-precision measuring equipment, the workpiece positioning module can quickly capture the three-dimensional shape and size information of the workpiece and convert it into point cloud data. These point cloud data provide an accurate workpiece model for subsequent processing. The workpiece positioning module is also electrically connected to the measuring component through the communication module to ensure the real-time transmission and processing of point cloud data. This precise workpiece positioning method not only improves the processing accuracy, but also reduces the processing error caused by the workpiece position deviation, further improving the processing quality.

[0025] Again, the trajectory planning module is another key module in the control component. Its main function is to obtain the trajectory points and posture constraints of the workpiece to be processed based on the point cloud information of the workpiece, and complete the trajectory in the coordinate system of the grinding and polishing robot. Through advanced algorithms and boundary condition processing, the trajectory planning module can generate the optimal processing trajectory and add posture constraints to each trajectory point. These trajectory points and posture constraints provide detailed processing paths and operation instructions for the grinding and polishing components. The trajectory planning module is electrically connected to the grinding and polishing components through the communication module to ensure the real-time transmission and execution of the processing trajectory. This precise trajectory planning not only improves the efficiency of processing, but also ensures the stability and consistency of the processing process, and reduces processing defects caused by unreasonable path planning.

[0026] Next, the allowance recognition module is responsible for identifying the normal allowance size of the trajectory point of the workpiece to be processed, and the result is used to match the process parameters of each point. Through local surface analysis, the allowance recognition module can accurately identify the allowance size of each trajectory point and transmit these data to the parameter matching module. The high-precision recognition capability of the allowance recognition module provides reliable data support for subsequent process parameter optimization. This allowance recognition mechanism not only improves the processing accuracy, but also reduces the processing error caused by uneven allowance, further improving the processing quality.

[0027] Finally, the parameter matching module optimizes the process parameters for each trajectory point based on the data provided by the margin identification module, that is, the margin size and matching relationship of each point on the trajectory. Through the intelligent algorithm, the parameter matching module can dynamically adjust the parameters such as grinding and polishing force and speed according to the margin size and processing requirements, so as to achieve the best processing effect. The parameter matching module is electrically connected to the grinding and polishing component through the communication module, ensuring that the optimized process parameters can be transmitted to the grinding and polishing component in real time. This dynamic parameter optimization mechanism not only improves the processing efficiency, but also ensures the stability and consistency of the processing process, and reduces processing defects caused by unreasonable parameters.

[0028] In addition, the communication module is used to control the communication between the component 11 and the grinding and polishing robot, and sends the final trajectory point obtained above to the grinding and polishing robot through the Socket / TCP communication method to perform grinding and polishing. Among them, the arc plate to be processed can refer to: a stone arc plate with a width greater than 300mm, a length greater than 900mm, and a curvature not greater than 0.0005.

[0029] In actual operation, the point cloud information of the workpiece to be processed is first obtained through the measurement component, and the hand-eye calibration module calibrates the measurement component to ensure the accuracy of the measurement data. The workpiece positioning module transmits the point cloud information to the trajectory planning module to generate the optimal processing trajectory and posture constraints. The margin recognition module identifies the normal margin of each trajectory point and transmits the data to the parameter matching module to optimize the process parameters. Finally, the grinding and polishing component accurately grinds and polishes the workpiece according to the optimized process parameters. During the entire processing process, the communication module ensures real-time data transmission and collaborative work between modules, improving the overall efficiency and stability of the system.

[0030] Preferably, the measuring component includes: a measuring device 6, a measuring fixture 5, a measuring robot body 3 and a measuring robot control cabinet 1. The measuring device 6 is connected to the measuring fixture 5 through an adapter L-shaped steel plate to be fixed to the upper end of the measuring fixture 5. A cylindrical protective shell is provided at the end of the measuring robot body 3. The measuring fixture 5 is fixed to the end of the measuring robot body 3 by being installed on the cylindrical protective shell. The measuring robot control cabinet 1 is communicatively connected with the measuring device 6.

[0031] In this embodiment, the measuring device 6 is the core component of the measuring assembly, and is used to capture the point cloud information of the workpiece to be processed. In order to ensure the stability and measurement accuracy of the measuring device 6, the measuring device 6 is connected to the measuring fixture 5 through an adapter L-shaped steel plate and fixed to the upper end of the measuring fixture 5. This connection method not only improves the installation stability of the measuring device 6, but also facilitates the adjustment of the position and angle of the measuring device 6 to adapt to workpieces of different shapes and sizes.

[0032] A cylindrical protective shell is provided at the end of the measuring robot body 3, and the measuring fixture 5 is further fixed to the end of the measuring robot body 3 by being mounted on the cylindrical protective shell. The design of the cylindrical protective shell not only provides physical protection for the measuring device 6 to prevent it from being accidentally hit or damaged during the processing process, but also optimizes the connection stability between the measuring device 6 and the measuring robot body 3. This design ensures that the measuring device can maintain high precision and high stability during movement, thereby improving the reliability of the measurement results.

[0033] The measuring robot control cabinet 1 and the measuring device 6 are connected by communication, realizing precise control and data transmission of the measuring device 6. The measuring robot control cabinet 1 can receive point cloud data from the measuring device 6 and transmit it to the control component 11 for further processing. This communication connection mode not only improves the efficiency and accuracy of data transmission, but also enables the measuring device 6 to respond to the instructions of the measuring robot control cabinet 1 in real time, thereby improving the automation and flexibility of the measurement process.

[0034] In actual operation, the measuring robot body 3 drives the measuring device 6 to move to the position of the workpiece to be processed according to the instructions of the control component 11. After reaching the specified position, the measuring device 6 begins to capture the point cloud information of the workpiece. Through the hand-eye calibration module, the coordinate transformation relationship between the measuring device 6 and the measuring robot body 3 is accurately established, thereby ensuring the accuracy and reliability of the measurement data. The point cloud information captured by the measuring device 6 is then transmitted to the control component 11 through the measuring robot control cabinet 1, providing important data support for subsequent workpiece positioning, trajectory planning and grinding and polishing operations.

[0035] Preferably, the grinding and polishing assembly includes: a floating grinding head 10, a grinding head fixture 9, a grinding and polishing robot body 8, a grinding and polishing robot control cabinet 2 and a tool setting instrument 4. A flange is provided at the end of the grinding and polishing robot body 8. The floating grinding head 10 is installed at the end of the grinding and polishing robot body 8 through an adapter flange. The grinding head fixture 9 is installed at the end of the grinding and polishing robot body 8 through the flange. The tool setting instrument 4 is arranged at 2M directly below the sixth axis flange from the origin position of the grinding and polishing robot.

[0036] In this embodiment, the grinding and polishing robot body 8 is the main structure of the grinding and polishing assembly, and a flange is provided at the end thereof. The floating grinding head 10 is installed at the end of the grinding and polishing robot body 8 through an adapter flange. This installation method not only ensures the stability and flexibility of the floating grinding head 10, but also allows the grinding head to be adjusted in real time according to the changes in the workpiece surface during the processing, thereby achieving smooth control and margin self-adaptation. The design of the floating grinding head 10 is an important innovation of the grinding and polishing assembly. It can automatically adjust the grinding and polishing force according to the unevenness of the workpiece surface, avoid excessive grinding or insufficient grinding, and significantly improve the processing quality and efficiency. In addition, the grinding head fixture 9 is also installed at the end of the grinding and polishing robot body 8 through a flange to fix the floating grinding head 10. This fixture design not only improves the installation stability of the grinding head, but also facilitates the rapid replacement of the grinding head, thereby improving the maintenance efficiency and flexibility of the system. The structure of the grinding head fixture 9 is optimized to ensure the precise position and posture of the grinding head during the processing, further improving the accuracy and consistency of grinding and polishing.

[0037] The tool setter 4 is another important component in the grinding and polishing assembly. It is set at the origin of the grinding and polishing robot, at a preset position just below the flange of the sixth axis. The main function of the tool setter 4 is to calibrate the tool center point (TCP) to ensure the precise position control of the grinding and polishing robot during the processing. Through precise TCP calibration, the grinding and polishing robot can accurately position the floating grinding head 10 to the specified position on the workpiece surface, thereby achieving high-precision grinding and polishing. The setting position of the tool setter 4 has been carefully designed to ensure the convenience and accuracy of the calibration process, and reduce the calibration time and operation complexity. Among them, the tool setter 4 is set at the origin of the grinding and polishing robot, 2M just below the flange of the sixth axis.

[0038] In actual operation, the grinding and polishing robot body 8 drives the floating grinding head 10 to move to the tool setting position for TCP calibration according to the instructions of the control component. After the calibration is completed, the grinding and polishing robot body 8 drives the floating grinding head 10 to grind and polish the workpiece to be processed according to the trajectory and parameters planned by the control component 11. During the processing, the floating grinding head 10 automatically adjusts the grinding and polishing force according to the margin on the workpiece surface to ensure the uniformity and consistency of the processing. The grinding head fixture 9 maintains the stability and precise position of the grinding head during the processing, and the tool setting instrument 4 performs a quick calibration before each processing to ensure the processing accuracy.

[0039] See also Figure 4 , wherein the control component 11 is configured to implement the following steps by executing a computer program stored therein: S1, when receiving the start signal, calibrating the polishing assembly and performing self-checking; Specifically, step S1 includes: when receiving a start signal, performing a calibration process on the body of the floating grinding head 10 and performing a TCP calibration process on the grinding and polishing robot body 8; Perform self-check on the communication interface and hardware configuration and generate self-check results; When the self-test result is failed, an alarm is issued.

[0040] In this embodiment, when the system receives a start signal, the first thing that is triggered is the calibration process of the grinding and polishing assembly. This process includes calibrating the body of the floating grinding head 10 and performing TCP (tool center point) calibration on the grinding and polishing robot body 8. The calibration of the floating grinding head 10 ensures the position and posture accuracy of the grinding head during the processing, while the TCP calibration ensures that the grinding and polishing robot can accurately position the grinding head to the specified position on the workpiece surface. These two calibration steps are the basis for achieving high-precision grinding and polishing. Through accurate calibration, the system can effectively reduce processing errors and improve processing quality.

[0041] At the same time, the system will also perform self-checking. The self-checking process covers the inspection of the communication interface and the hardware configuration. The self-checking of the communication interface ensures that the data transmission between the components of the system is unimpeded, which is crucial for real-time control and data feedback. The self-checking of the hardware configuration checks whether the system hardware is configured correctly, including whether the sensors, actuators, etc. are in normal working condition. Through these self-checking steps, the system can detect potential hardware failures or configuration errors in time, thereby avoiding unexpected interruptions or processing errors during the processing.

[0042] If the self-test result shows that it fails, the system will immediately issue an alarm. This alarm mechanism is an important guarantee for the safety and reliability of the system. By issuing an alarm in time, operators can respond quickly, check and solve existing problems, thus avoiding processing defects or equipment damage caused by undetected faults.

[0043] This pre-startup calibration and self-checking process has significant beneficial effects. First, through accurate calibration processing, the system can ensure high-precision operation of the grinding and polishing components during processing, thereby improving processing quality. Second, the self-checking process can promptly detect and prompt potential faults or configuration errors, reducing production interruptions and processing errors caused by equipment failures, and improving system reliability and stability. Finally, the alarm prompt mechanism provides operators with timely feedback, allowing problems to be quickly resolved, further improving system safety and maintenance efficiency.

[0044] S2, when it is judged that the self-test has passed, the measuring assembly is driven to a preset planned position, and the rotary turntable assembly 7 is driven to rotate the workpiece to be processed to complete the fixed support, wherein the preset planned position is a position that enables the workpiece to be located within the working range of the measuring device of the measuring assembly; Specifically, in this embodiment, when the system completes the self-test and passes, the control component 11 will issue a command to drive the measuring component to move to the preset planning position. The preset planning position is a carefully calculated and designed position that can ensure that the workpiece is within the working range of the measuring device 6 of the measuring component. The precise selection of this position is based on the measuring range of the measuring device 6 and the size and shape of the workpiece, ensuring that the measuring device 6 can fully measure the workpiece in the best working state. By accurately controlling the movement of the measuring component, the system can reduce errors in the measurement process and improve the accuracy and reliability of the measurement.

[0045] At the same time, under the instruction of the control component 11, the rotary table component 7 drives the workpiece to be processed to rotate and complete the fixed support. The design of the rotary table component 7 allows it to achieve 360° omnidirectional rotation in the Z-axis direction, which not only provides a full range of measurement angles for the measuring component, but also provides a full range of processing angles for the subsequent grinding and polishing component. Through the rotation function of the rotary table component 7, the workpiece can always be kept within the optimal measurement range of the measuring device 6 during the measurement process, ensuring the integrity and accuracy of the measurement data. In addition, the fixed support function of the rotary table component 7 ensures the stability of the workpiece during the measurement and processing process, avoiding measurement or processing errors caused by workpiece displacement or shaking.

[0046] Among them, the working range of the robot can be obtained from the robot kinematics. For details, please refer to "Introduction to Robot Kinematics" published by Mechanical Industry Press in 2006, author (US) John J, Craig, ISBN9787111186816 and other relevant literature.

[0047] S3, acquiring the image of the workpiece to be processed collected by the measuring component, and converting the image of the workpiece to be processed to obtain workpiece data; Specifically, step S3 includes: driving the measuring device 6 to photograph the workpiece to be processed to obtain an image of the workpiece to be processed, and respectively calling a hand-eye calibration module and a workpiece positioning module to perform hand-eye calibration and workpiece positioning processing on the image of the workpiece to be processed; The hand-eye calibration module determines the relative position and posture relationship between the measuring robot body 3 and the coordinate system of the measuring device 6 according to the multiple groups of local target points of the chessboard acquired by the measuring device; Based on the relative posture relationship, the workpiece to be processed is moved to the measuring robot coordinate system. According to the known relative relationship between the measuring robot body 3 and the grinding and polishing robot body 8, it is moved to the grinding and polishing robot coordinate system to complete the workpiece positioning and obtain the workpiece data.

[0048] In this embodiment, when the measuring component moves to the preset planned position, the control component 11 drives the measuring device to shoot the workpiece to be processed and obtain the image of the workpiece to be processed. This shooting process is completed by a high-precision measuring device, which can capture the detailed surface information of the workpiece. In order to ensure the accuracy and reliability of the shooting data, the system calls the hand-eye calibration module and the workpiece positioning module to further process the acquired image of the workpiece to be processed.

[0049] The function of the hand-eye calibration module is to determine the relative position and posture relationship between the measuring robot body 3 and the measuring device 6 coordinate system. This process is achieved by shooting multiple groups of local target points of the chessboard. The chessboard target is a commonly used calibration tool, and its precise geometric pattern can provide a reliable reference point for the calibration process. The hand-eye calibration module calculates the precise position and posture relationship between the measuring device 6 and the measuring robot body 3 based on these target points. This precise calibration process is the basis for achieving high-precision measurement, ensuring that the data obtained by the measuring device at different positions and angles can accurately reflect the actual state of the workpiece.

[0050] After completing the hand-eye calibration, the system converts the data in the image of the workpiece to be processed into the coordinate system of the measuring robot. This conversion process is based on the relative posture relationship determined by the hand-eye calibration module, ensuring the accuracy and consistency of the data during the coordinate system conversion process. Subsequently, the system further converts the workpiece data into the coordinate system of the grinding and polishing robot based on the known relative relationship between the measuring robot body and the grinding and polishing robot body 8. This process not only realizes the data unification between different robot coordinate systems, but also provides accurate workpiece position and posture information for subsequent grinding and polishing processing.

[0051] Through this series of data processing steps, the system finally completes the workpiece positioning and obtains accurate workpiece data. These data will be transmitted to other modules of the control component 11, such as the trajectory planning module and the margin identification module, to generate the grinding and polishing path and optimize the process parameters. This precise data collection and processing process not only improves the automation level of the system, but also significantly improves the processing accuracy and efficiency.

[0052] S4, performing trajectory planning processing on the workpiece data, and determining whether there is a machining allowance at each trajectory point in the machining trajectory; Specifically, step S4 includes: using a trajectory planning module to perform trajectory planning processing on the workpiece data to obtain a processing trajectory of the workpiece to be processed; Using a margin recognition module to obtain the margin size of each track point in the processing track, and judging whether there is a processing margin according to the margin size; If not, end the processing flow.

[0053] In this embodiment, after the collection and conversion of the workpiece data is completed, the trajectory planning module in the control component 11 starts to perform trajectory planning processing on the workpiece data. The trajectory planning module extracts the surface features and processing areas of the workpiece to be processed from the workpiece data through advanced algorithms and boundary condition processing, and generates a series of trajectory points and posture constraints. These trajectory points and posture constraints define the motion path and operating posture of the grinding and polishing robot during the processing process, ensuring that the grinding and polishing robot can accurately process the workpiece surface. The high-precision processing capability of the trajectory planning module not only improves the optimization degree of the processing path, but also reduces the processing errors caused by unreasonable path planning.

[0054] After completing the trajectory planning, the allowance recognition module starts working to obtain the allowance size of each trajectory point in the processing trajectory. The allowance recognition module identifies the normal allowance of each trajectory point through local analysis of the workpiece surface, that is, the distance between the workpiece surface and the ideal processing surface. This process is achieved through high-precision point cloud analysis and surface fitting algorithms, which can accurately identify the allowance size of each trajectory point. The high-precision recognition capability of the allowance recognition module provides reliable data support for subsequent process parameter optimization.

[0055] Based on the data provided by the allowance recognition module, the system determines whether there is machining allowance at each trajectory point. If the allowances of all trajectory points are within the allowable range, that is, there is no allowance that requires further machining, the system determines that the machining is completed and ends the machining process. This judgment mechanism not only improves the degree of automation of machining, but also reduces unnecessary machining steps and improves machining efficiency.

[0056] S5, when it is determined that there is a machining allowance, the parameters of each trajectory point are adaptively matched to obtain a trajectory path with parameters, and the grinding and polishing component is controlled to perform grinding and polishing on the workpiece to be machined based on the trajectory path with parameters until the workpiece meets the preset requirements.

[0057] Specifically, step S5 includes: when it is determined that there is a machining allowance, a parameter matching module is used to perform adaptive matching processing on the parameters of each trajectory point to obtain a trajectory path with parameters, and the trajectory path with parameters is sent to the grinding and polishing robot body 8 through the communication module; Control the measuring robot body 3 to drive the measuring device 6 to move to a preset safe position, and control the grinding and polishing robot body 8 to drive the floating grinding head 10 to move to a pre-processing position to perform grinding and polishing on the workpiece to be processed; Measure the excess of the processed workpiece to determine whether the workpiece meets the preset requirements; If so, end the processing process; If not, repeat the above steps until the workpiece meets the preset requirements.

[0058] In this embodiment, when the system determines that there is a machining allowance through the allowance identification module, the parameter matching module in the control component 11 starts to work. The parameter matching module performs adaptive matching processing on the machining parameters of each trajectory point according to the size of the allowance at each trajectory point and the material properties of the workpiece. These parameters include grinding and polishing speed, grinding and polishing force, grinding head speed, etc., which are optimized through intelligent algorithms to ensure that the machining parameters of each trajectory point can reach the optimal state. This adaptive parameter matching not only improves the flexibility of machining, but also dynamically adjusts the machining parameters according to the actual state of the workpiece, thereby improving the machining quality and efficiency.

[0059] After completing the parameter matching, the control component 11 sends the trajectory path with parameters to the grinding and polishing robot body 8 through the communication module. At the same time, the control measurement robot body 3 drives the measurement device 6 to move to a preset safe position to avoid collision or interference during the grinding and polishing process. After receiving the trajectory path with parameters, the grinding and polishing robot body 8 drives the floating grinding head 10 to move to the pre-processing position and starts grinding and polishing the workpiece to be processed. During the processing, the floating grinding head performs smooth control according to the adaptively matched parameters to ensure the uniformity and consistency of the processing.

[0060] After the processing is completed, the system calls the measurement component again to measure the residual of the processed workpiece to determine whether the workpiece meets the preset quality requirements. This process is achieved through high-precision measuring equipment and precise point cloud analysis algorithms to ensure the accuracy and reliability of the measurement results. If the measurement results show that the workpiece has met the preset requirements, the system ends the processing process; if the workpiece still does not meet the preset requirements, the system repeats the above steps and continues grinding and polishing until the workpiece meets the preset requirements.

[0061] In summary, the dual robot measurement and processing system for grinding and polishing of stone curved plates realizes high-precision and high-efficiency grinding and polishing of stone curved plates by integrating the measurement component, grinding and polishing component, rotary turntable component 7 and control component 11. The design of the entire system not only improves the degree of automation of processing, but also significantly improves the processing quality and efficiency, and has important practical value and economic significance.

[0062] Specifically, the measuring component can quickly and accurately obtain the point cloud information of the workpiece to be processed and convert it into precise workpiece data through high-precision measuring equipment and advanced hand-eye calibration technology. This process not only provides an accurate reference for subsequent grinding and polishing, but also reduces processing defects caused by measurement errors. The grinding and polishing component uses floating grinding heads and flexible control technology to accurately grind and polish the workpiece according to the data provided by the measuring component. Its adaptive parameter matching function can dynamically adjust the grinding and polishing parameters according to the actual state of the workpiece to ensure the stability and consistency of the processing process.

[0063] The design of the rotary table assembly 7 allows the workpiece to achieve 360° full-directional rotation during the processing, providing a full range of processing angles for the measuring assembly and the grinding and polishing assembly. This full range of processing capabilities not only improves the flexibility and adaptability of processing, but also reduces processing errors caused by improper workpiece positioning. As the core of the system, the control assembly 11 achieves precise control and optimization of the entire processing process through the coordinated work of the hand-eye calibration module, the workpiece positioning module, the trajectory planning module, the margin identification module, the parameter matching module and the communication module. Its closed-loop control mechanism can dynamically adjust the processing path and parameters according to real-time data to ensure processing quality and efficiency.

[0064] Compared with the prior art, this system has the following beneficial effects: First, through the high-precision measurement and hand-eye calibration technology of the measuring component, the system can accurately obtain the shape information and processing allowance of the workpiece, providing reliable data support for grinding and polishing. Secondly, the smooth control and adaptive parameter matching function of the grinding and polishing component ensure the stability and consistency of the processing process and improve the processing quality. In addition, the 360° omnidirectional rotation function of the rotary turntable component 7 improves the flexibility and adaptability of the system and can cope with various complex shapes of stone curved plates. The intelligent control and closed-loop feedback mechanism of the control component further improve the automation level and processing efficiency of the system.

[0065] In practical applications, the system can not only significantly improve the efficiency and quality of stone curved plate grinding and polishing, but also reduce manual intervention, labor intensity and production costs. Its automated, intelligent and flexible processing capabilities enable it to easily cope with small batch and multi-variety stone processing needs, and has broad application prospects and significant economic value. Through this innovative dual-robot processing system, this system provides an efficient and reliable solution for the stone processing industry, promoting the industry's technological progress and industrial upgrading.

[0066] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A dual robot measurement and processing system for grinding and polishing of stone curved plates, characterized in that: It comprises: a control component, a rotary table component, a measuring component and a grinding and polishing component, wherein the measuring component and the grinding and polishing component are symmetrically arranged on both sides of the rotary table component, the data end of the control component is electrically connected with the data end of the rotary table component, the data end of the measuring component and the data end of the grinding and polishing component, and the rotary table component is configured to carry and fix the workpiece to be processed; The control component is configured to implement the following steps by executing a computer program stored therein: When receiving the start signal, the grinding and polishing assembly is calibrated and self-checked; When it is determined that the self-test has passed, the measuring component is driven to a preset planned position, and the rotary turntable component is driven to rotate the workpiece to be processed to complete the fixed support, wherein the preset planned position is a position that enables the workpiece to be located within the working range of the measuring device of the measuring component; Acquire the image of the workpiece to be processed collected by the measuring component, and convert the image of the workpiece to be processed to obtain workpiece data; Performing trajectory planning processing on the workpiece data, and determining whether there is machining allowance at each trajectory point in the machining trajectory; When it is determined that there is a machining allowance, the parameters of each trajectory point are adaptively matched to obtain a trajectory path with parameters. Based on the trajectory path with parameters, the grinding and polishing component is controlled to perform grinding and polishing on the workpiece to be machined until the workpiece meets the preset requirements.

2. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 1 is characterized in that: The rotary table assembly includes a rotary table body and a fixing fixture. The fixing fixture is arranged on the rotary table body. The rotary table body can realize 360° omnidirectional rotation on the Z axis. The fixing fixture is used to fix the workpiece to be processed.

3. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 1 is characterized in that: The control component includes a hand-eye calibration module, a workpiece positioning module, a trajectory planning module, a margin identification module, a parameter matching module and a communication module, wherein the hand-eye calibration module and the workpiece positioning module are electrically connected to the measuring component through the communication module, and the trajectory planning module, the margin identification module and the parameter matching module are electrically connected to the grinding and polishing component through the communication module; Among them, the hand-eye calibration module is configured to calibrate the measurement component, the workpiece positioning module is configured to obtain point cloud information of the workpiece to be processed, the trajectory planning module is configured to obtain trajectory points and posture constraints of the workpiece to be processed, the margin identification module is configured to identify the normal margin of the trajectory points of the workpiece to be processed, and the parameter matching module is configured to optimize process parameters.

4. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 3 is characterized in that: The measuring assembly includes: a measuring device, a measuring fixture, a measuring robot body and a measuring robot control cabinet. The measuring device is connected to the measuring fixture via an L-shaped steel plate to be fixed to the upper end of the measuring fixture. A cylindrical protective shell is provided at the end of the measuring robot body. The measuring fixture is fixed to the end of the measuring robot body by being installed on the cylindrical protective shell. The measuring robot control cabinet is communicatively connected to the measuring device.

5. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 4 is characterized in that: The grinding and polishing assembly includes: a floating grinding head, a grinding head fixture, a grinding and polishing robot body, a grinding and polishing robot control cabinet and a tool setting instrument. A flange is provided at the end of the grinding and polishing robot body. The floating grinding head is installed at the end of the grinding and polishing robot body through an adapter flange. The grinding head fixture is installed at the end of the grinding and polishing robot body through the flange. The tool setting instrument is arranged at 2M directly below the sixth axis flange at the origin position of the grinding and polishing robot.

6. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 5 is characterized in that: When the start signal is received, the grinding and polishing assembly is calibrated and self-checked, specifically: When a start signal is received, the floating grinding head body is calibrated, and the grinding and polishing robot body is calibrated with TCP; Perform self-check on the communication interface and hardware configuration and generate self-check results; When the self-test result is failed, an alarm is issued.

7. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 5 is characterized in that: The image of the workpiece to be processed collected by the measuring component is obtained, and the image of the workpiece to be processed is converted and processed to obtain workpiece data, specifically: The measuring device is driven to photograph the workpiece to be processed to obtain an image of the workpiece to be processed, and a hand-eye calibration module and a workpiece positioning module are respectively called to perform hand-eye calibration and workpiece positioning processing on the image of the workpiece to be processed; The hand-eye calibration module determines the relative position and posture relationship between the measuring robot body and the measuring device coordinate system according to the multiple groups of local target points of the chessboard acquired by the measuring device; Based on the relative posture relationship, the workpiece to be processed is moved to the measuring robot coordinate system, and according to the known relative relationship between the measuring robot body and the grinding and polishing robot body, it is moved to the grinding and polishing robot coordinate system to complete the workpiece positioning and obtain the workpiece data.

8. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 1 is characterized in that: Perform trajectory planning processing on the workpiece data and determine whether there is machining allowance at each trajectory point in the machining trajectory, specifically: Using a trajectory planning module to perform trajectory planning processing on the workpiece data to obtain a processing trajectory of the workpiece to be processed; Using a margin recognition module to obtain the margin size of each track point in the processing track, and judging whether there is a processing margin according to the margin size; If not, end the processing flow.

9. The dual robot measurement and processing system for grinding and polishing of stone curved plates according to claim 1, characterized in that: When it is determined that there is a machining allowance, the parameters of each trajectory point are adaptively matched to obtain a trajectory path with parameters. Based on the trajectory path with parameters, the grinding and polishing assembly is controlled to perform grinding and polishing on the workpiece to be machined until the workpiece meets the preset requirements, specifically: When it is determined that there is a machining allowance, the parameter matching module is used to perform adaptive matching processing on the parameters of each trajectory point to obtain a trajectory path with parameters, and the trajectory path with parameters is sent to the grinding and polishing robot body through the communication module; Control the measuring robot body to drive the measuring device to move to a preset safe position, and control the grinding and polishing robot body to drive the floating grinding head to move to a pre-processing position to perform grinding and polishing on the workpiece to be processed; Measure the excess of the processed workpiece to determine whether the workpiece meets the preset requirements; If so, end the processing process; If not, repeat the above steps until the workpiece meets the preset requirements.

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