A dual-robot collaborative polishing and grinding processing system and method

Abstract

The present invention relates to the technical field of industrial robot polishing and machining, and specifically to a dual-robot collaborative polishing and machining system and method, which solves the technical problem that it is difficult to achieve dual-sided collaborative control in the existing method, and the machining of any one side will directly affect the machining deformation of the other side. It includes a base, a turntable, a driving mechanism, a master / slave six-degree-of-freedom industrial robot. The driving mechanism is used to drive the turntable to rotate around the Z axis. The turntable is fixedly connected with a fixture for clamping the blade to be polished. The master / slave six-degree-of-freedom industrial robot is connected with a master / slave polishing assembly, and the master / slave polishing assembly is connected with a master / slave hundred-leaf wheel for dual-sided collaborative polishing of the blade. The dual-robot collaborative polishing and machining method of the present invention realizes the trajectory planning of robot online programming through the polar coordinate system, reduces the difficulty of trajectory planning, simplifies the robot motion trajectory, effectively improves the motion accuracy and the robot feedback speed, and improves the control accuracy of dual-robot collaborative polishing and machining.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot polishing and machining, and particularly to a dual-robot collaborative polishing and machining system and method. Background Art

[0002] As a typical thin-walled part, during the machining process, the blade is easily affected by factors such as mechanical and cutting forces, which can easily cause part deformation errors and seriously affect the working performance of the part. Existing deformation control methods mainly rely on optimizing machining parameters. However, the optimized machining parameters are often relatively conservative, inevitably increasing the machining time. Existing real-time compensation methods based on sensors and offline compensation methods based on prediction have both studied how to reduce and control workpiece deformation. These methods require precise measuring instruments or accurate error prediction models. Therefore, the machining system is both expensive and complex. In recent years, with the rapid development of intelligent manufacturing technology, robots with low cost, large operating range, and high machining flexibility have gradually replaced machine tools and become the first choice for high-efficiency machining of large parts.

[0003] In traditional robot machining methods, thin-walled parts such as blades usually need to be alternately machined on the front and back sides. Existing machining deformation control methods are mainly for single-sided machining. Limited by the machining clamping method, it is very difficult to achieve double-sided collaborative control of machining deformation during the machining process, and the machining of any side of the blade will directly affect the machining deformation of the other side. Therefore, there is an urgent need for a machining method that can achieve collaborative control of deformation on both sides of thin-walled parts such as blades. Summary of the Invention

[0004] To overcome the technical defect that it is difficult to achieve double-sided collaborative control in existing blade machining deformation control methods, and the machining of any side will directly affect the machining deformation of the other side, the present invention provides a dual-robot collaborative polishing and machining system and method to achieve double-sided collaborative machining of thin-walled parts such as blades and reduce part machining deformation.

[0005] The present invention provides a dual-robot collaborative polishing and grinding processing system, which includes a base, a turntable, a driving mechanism, a master six-degree-of-freedom industrial robot, and a slave six-degree-of-freedom industrial robot. The turntable is rotatably installed on the base, and the driving mechanism is used to drive the turntable to rotate around the Z-axis of the turntable coordinate system. A fixture for clamping the blade to be polished and ground is fixedly connected to the top of the turntable. The Z-axis is parallel to the length direction of the blade and penetrates through the blade. The movable ends of the master six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot are respectively connected with a master polishing and grinding assembly and a slave polishing and grinding assembly. The output ends of the master polishing and grinding assembly and the slave polishing and grinding assembly are respectively connected with a master hundred-leaf wheel and a slave hundred-leaf wheel for double-sided collaborative polishing and grinding of the blade. The structural dimensions of the master hundred-leaf wheel and the slave hundred-leaf wheel are equal, but the mesh numbers are different. The driving mechanism is electrically connected to the control system of the master six-degree-of-freedom industrial robot, and the driving mechanism is controlled by the control system of the master six-degree-of-freedom industrial robot, so that the Z-axis of the turntable coordinate system serves as the seventh rotation axis of the master six-degree-of-freedom industrial robot.

[0006] The turntable clamps the blade and rotates slowly around the Z-axis. The master six-degree-of-freedom industrial robot, the slave six-degree-of-freedom industrial robot, together with the master polishing and grinding assembly and the slave polishing and grinding assembly, drive the master hundred-leaf wheel and the slave hundred-leaf wheel to achieve collaborative motion in the polar coordinate system, ensuring that the master hundred-leaf wheel and the slave hundred-leaf wheel keep in contact with the front and back surfaces of the blade with a certain pressure, and realizing the double-sided collaborative polishing and grinding processing of the blade.

[0007] The present invention also provides a dual-robot collaborative polishing and grinding processing method, which is realized based on the dual-robot collaborative polishing and grinding processing system described in the present invention, and includes the following steps:

[0008] Step 1: Solve the motion trajectories of the top center of the master hundred-leaf wheel and the top center of the slave hundred-leaf wheel relative to the blade surface in the two-dimensional plane;

[0009] Take the first cross-sectional profile of the blade at the height. The coordinates of the points on the first cross-sectional profile are , and successively calculate the straight-line equations between adjacent points:

[0010] When , ,

[0011] When , ;

[0012] Translate the straight line corresponding to the straight-line equation by unit lengths, and the translation direction is perpendicular to the straight line, then:

[0013] When ,

[0014] If , then the translated straight-line equation is:

[0015] ,

[0016] If , the equation of the translated line is:

[0017] ,

[0018] When ,

[0019] If , the equation of the translated line is:

[0020] ,

[0021] If , the equation of the translated line is:

[0022] ,

[0023] Wherein, is the angle between the line corresponding to the line equation and the horizontal direction, represents the radius of the main impeller, represents the polishing compression amount;

[0024] Record all the line equations between adjacent points obtained as . Solve the equations of any two adjacent line equations simultaneously. The obtained points are the control points of the movement trajectories of the top center of the main impeller and the top center of the secondary impeller relative to the blade surface. Store the horizontal and vertical coordinates of all control points as two columns to obtain matrix. Import the matrix data into the maltlab software and use Bezier curve fitting to obtain the movement trajectories of the top center of the main impeller and the top center of the secondary impeller relative to the blade surface;

[0025] Take the second cross-sectional profile of the blade at the height, where is the height of the main impeller. Since the top surfaces of the main impeller and the secondary impeller are flush with the first cross-sectional profile, the second cross-sectional profile is flush with the middle plane of the main impeller and the middle plane of the secondary impeller respectively. The first cross-sectional profile and the second cross-sectional profile are only located at different height positions of the main impeller and the secondary impeller. Therefore, the movement trajectories of the center of the middle plane of the main impeller and the center of the middle plane of the secondary impeller relative to the blade surface can be obtained simultaneously through the above method;

[0026] Step 2: Establish the end poses of the main six-degree-of-freedom industrial robot and the secondary six-degree-of-freedom industrial robot relative to the blade surface;

[0027] Assume the turntable is stationary and the main polishing assembly rotates around the blade. On the blade surface, take the blade at The first cross-sectional profile in height and the blade at The second cross-sectional profile in height;

[0028] The movement trajectory of the center of the main impeller cross-section relative to the blade surface is directly Converted into the movement trajectory points in the polar coordinate system. In the formula Is the polar radius, Is the polar angle. Then the contour points of the center of the top surface of the main impeller corresponding to the first cross-sectional profile of the blade are expressed as:

[0029] ,

[0030] The contour points of the center of the middle plane of the main impeller corresponding to the second cross-sectional profile of the blade are expressed as:

[0031] ,

[0032] Among them, , The value range of is , and at this time the polar radii corresponding to the polar angle Are respectively And ;

[0033] The center contour points of the main impeller corresponding to the first cross-sectional profile and the second cross-sectional profile And Are respectively converted into the coordinate points A and B based on the turntable coordinate system. Then A is ( ), B is ( ). Connect AB, and AB is the axis of the main impeller. Then according to the formula:

[0034] ,

[0035] ,

[0036] ,

[0037] The direction vector of the straight line AB is obtained . Then combined with the coordinates of point A ([[]] ), the end pose of the main six-degree-of-freedom industrial robot relative to the blade surface in the turntable coordinate system ([[]] ) can be obtained. Thus, the end pose of the main six-degree-of-freedom industrial robot relative to the blade surface is established; because the main six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot have the same structure, the calculation method of the end pose of the slave six-degree-of-freedom industrial robot relative to the blade surface is the same as the above;

[0038] Step 3: Establish the cooperative motion relationship between the main six-degree-of-freedom industrial robot and the turntable;

[0039] Using the set of points on the motion trajectory of the center of the top surface of the main abrasive wheel relative to the first cross-sectional profile of the blade as the control points, establish the cooperative motion relationship between the turntable and the main six-degree-of-freedom industrial robot based on the polar coordinate system. Let the coordinates of two adjacent points C on the motion trajectory of the center of the top surface of the main abrasive wheel relative to the first cross-sectional profile of the blade be ( ), and the coordinates of point D be ( ). When decomposing the process of point C moving to point D, the turntable needs to rotate an angle ( ), and the main six-degree-of-freedom industrial robot moves linearly a unit length at point C in cooperation with the turntable. Thus, the cooperative motion relationship between the main six-degree-of-freedom industrial robot and the turntable is established based on the control points of the motion trajectory of the center of the top surface of the main abrasive wheel relative to the first cross-sectional profile of the blade;

[0040] Since the machining methods at different cross-sections of the blade body are the same, the cooperative motion relationship between the main six-degree-of-freedom industrial robot and the turntable on other cross-sectional profiles of the blade body can be obtained similarly;

[0041] Step 4: Establish the cooperative motion relationship between the main six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot;

[0042] Using the set of points on the motion trajectories of the center of the top surface of the main abrasive wheel and the center of the top surface of the slave abrasive wheel relative to the first cross-sectional profile of the blade surface as the control points, and based on the principle that the line connecting the center of the top surface of the main abrasive wheel and the center of the top surface of the slave abrasive wheel must pass through the pole of the polar coordinate system during the machining process, establish the cooperative motion of the main six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot to complete the cooperative grinding and polishing of the front and back sides of the blade.

[0043] The linkage between the main six-degree-of-freedom industrial robot and the turntable is realized through the control points on the motion trajectory of the center of the top surface of the main abrasive wheel relative to the first cross-sectional profile. Using the contour points on the motion trajectory of the center of the top surface of the main abrasive wheel relative to the first cross-sectional profile as the control points to control the end position of the main six-degree-of-freedom industrial robot; calculating the direction vector by combining the contour points on the motion trajectory of the center of the middle plane of the main abrasive wheel relative to the second cross-sectional profile to control the end attitude of the main six-degree-of-freedom industrial robot; the main six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot then achieve cooperative motion through geometric constraints. Based on the control points on the corresponding center trajectories and following the principle that the line connecting the center of the top surface of the main abrasive wheel and the center of the top surface of the slave abrasive wheel passes through the pole of the polar coordinate system during the motion process, establish the cooperative motion between the main six-degree-of-freedom industrial robot and the slave six-degree-of-freedom industrial robot.

[0044] The technical solution provided by the present invention has the following technical effects compared with the prior art: The dual-robot collaborative polishing and grinding processing system of the present invention has a high degree of freedom of movement, can effectively realize the collaborative polishing and grinding processing of the front and back sides of parts, improve the uniformity of surface material removal of workpieces, reduce processing deformation, and improve the polishing and grinding efficiency of parts; compared with the traditional robot polishing and grinding method, the dual-robot collaborative polishing and grinding method of the present invention realizes the trajectory planning of robot online programming through the polar coordinate system, reduces the difficulty of trajectory planning, simplifies the robot motion trajectory, effectively improves the motion accuracy and the robot feedback speed, and improves the control accuracy of dual-robot collaborative polishing and grinding processing. Brief Description of the Drawings

[0045] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0047] Figure 1 It is a schematic structural diagram of a dual-robot collaborative polishing and grinding processing system described in an embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram for solving the motion trajectories of the centers of the main and slave hundred impellers relative to the blade surface in a two-dimensional plane in an embodiment of the present invention;

[0049] Figure 3 It is a schematic diagram when the radii of the main and slave hundred impellers are the same, and the line connecting the centers of the top surfaces of the main and slave hundred impellers passes through the pole of the polar coordinate system during the motion process.

[0050] In the figure: 1. Main six-degree-of-freedom industrial robot; 2. Main polishing and grinding assembly; 3. Slave polishing and grinding assembly; 4. Slave six-degree-of-freedom industrial robot; 5. Main hundred impeller; 6. Blade; 7. Fixture; 8. Base; 9. Slave hundred impeller; 10. Driving mechanism; 11. Turntable; 14. First cross-sectional contour; 15. Second cross-sectional contour. Detailed Embodiments

[0051] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present invention, the following will further describe the solution of the present invention. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0052] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Obviously, the embodiments in the specification are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0053] The following specifically describes the embodiments of the present invention with reference to the accompanying drawings.

[0054] In one embodiment, as Figure 1 shown, a dual-robot collaborative polishing and grinding processing system is disclosed, which includes a base 8, a turntable 11, a driving mechanism 10, a main six-degree-of-freedom industrial robot 1, and a slave six-degree-of-freedom industrial robot 4. The turntable 11 is rotatably installed on the base 8. The driving mechanism 10 is used to drive the turntable 11 to rotate around the Z-axis of the turntable coordinate system. A fixture 7 for clamping the blade 6 to be polished is fixedly connected to the top of the turntable 11. The Z-axis is parallel to the length direction of the blade 6 and penetrates through the blade 6. The movable ends of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 are respectively connected with a main polishing assembly 2 and a slave polishing assembly 3. The output ends of the main polishing assembly 2 and the slave polishing assembly 3 are respectively connected with a main hundred-leaf wheel 5 and a slave hundred-leaf wheel 9 for double-sided collaborative polishing of the blade 6. The structural dimensions of the main hundred-leaf wheel 5 and the slave hundred-leaf wheel 9 are equal and the mesh numbers are different. The driving mechanism 10 is electrically connected to the control system of the main six-degree-of-freedom industrial robot 1, and the driving mechanism 10 is controlled by the control system of the main six-degree-of-freedom industrial robot 1, so that the Z-axis of the turntable coordinate system serves as the seventh rotation axis of the main six-degree-of-freedom industrial robot 1.

[0055] The turntable 11 clamps the blade 6 and rotates slowly around the Z-axis. The main six-degree-of-freedom industrial robot 1, the slave six-degree-of-freedom industrial robot 4 together with the main polishing assembly 2 and the slave polishing assembly 3 drive the main hundred-leaf wheel 5 and the slave hundred-leaf wheel 9 to achieve collaborative motion in the polar coordinate system, ensuring that the main hundred-leaf wheel 5 and the slave hundred-leaf wheel 9 keep in contact with the front and back surfaces of the blade 6 with a certain pressure, and realizing the collaborative polishing and processing of the front and back surfaces of the blade 6.

[0056] In this embodiment, a dual-robot collaborative polishing and grinding processing method is also disclosed, which is realized based on the dual-robot collaborative polishing and grinding processing system described in the present invention, and includes the following steps:

[0057] Step 1, solve the motion trajectories of the top surface centers of the main hundred-leaf wheel 5 and the slave hundred-leaf wheel 9 relative to the surface of the blade 6 in the two-dimensional plane;

[0058] Take the first cross-sectional profile 14 of the blade 6 at height. The coordinates of the points on the first cross-sectional profile 14 are , and calculate the straight-line equations between adjacent points in turn:

[0059] When , ,

[0060] When is the case, ;

[0061] Translate the straight line corresponding to the straight line equation by a unit length, and the translation direction is perpendicular to the straight line, then:

[0062] When is the case,

[0063] If , the equation of the translated straight line is:

[0064] ,

[0065] Such as , the equation of the translated straight line is:

[0066] ,

[0067] When is the case,

[0068] If , the equation of the translated straight line is:

[0069] ,

[0070] If , the equation of the translated straight line is:

[0071] ,

[0072] Among them, is the angle between the straight line corresponding to the straight line equation and the horizontal direction, represents the radius of the main hundred impeller 5, represents the polishing compression amount;

[0073] Record all the straight line equations between adjacent points obtained as , solve the equations by combining any two adjacent straight line equations, and the obtained points are the control points of the movement trajectories of the top surface centers of the main hundred impeller 5 and the secondary hundred impeller 9 relative to the surface of the blade 6. Store the abscissas and ordinates of all control points as two columns to obtain matrix, import the matrix data into the maltlab software, and use Bezier curve fitting to obtain the movement trajectories of the top surface centers of the main hundred impeller 5 and the secondary hundred impeller 9 relative to the surface of the blade 6;

[0074] Take the second cross-sectional contour 15 of the blade 6 at height, where is the height of the main impeller 5. Since the top surfaces of both the main impeller 5 and the secondary impeller 9 are flush with the first cross-sectional contour 14, the second cross-sectional contour 15 is flush with the middle planes of the main impeller 5 and the secondary impeller 9 respectively. The first cross-sectional contour 14 and the second cross-sectional contour 15 are only located at different height positions of the main impeller 5 and the secondary impeller 9. Therefore, by the above method, the movement trajectories of the center of the middle plane of the main impeller 5 and the center of the middle plane of the secondary impeller 9 relative to the surface of the blade 6 can be obtained simultaneously;

[0075] Step 2: Establish the end poses of the main six-degree-of-freedom industrial robot 1 and the secondary six-degree-of-freedom industrial robot 4 relative to the surface of the blade 6;

[0076] Assume that the turntable 11 is stationary and the main polishing assembly 2 moves around the blade 6. On the surface of the blade 6, the first cross-sectional contour 14 of the blade 6 at the height and the second cross-sectional contour 15 of the blade 6 at the height are respectively taken;

[0077] The movement trajectory of the center of the cross-section of the main impeller 5 relative to the surface of the blade 6 is directly converted into the movement trajectory points in the polar coordinate system. In the formula, is the polar radius, is the polar angle. Then the contour points of the top surface center of the main impeller 5 and the top surface center of the secondary impeller 9 corresponding to the first cross-sectional contour 14 of the blade 6 are expressed as: For

[0078] ,

[0079] The contour points of the center of the middle plane of the main impeller 5 and the center of the middle plane of the secondary impeller 9 corresponding to the second cross-sectional contour 15 of the blade 6 are expressed as:

[0080] ,

[0081] where , ranges from . At this time, the polar radii corresponding to the polar angles are respectively and ;

[0082] The center contour points and of the main impeller 5 corresponding to the first cross-sectional contour 14 and the second cross-sectional contour 15 are respectively converted into the coordinate points A and B based on the turntable coordinate system. Then A is ( ), and B is ( ). Connect AB, and AB is the axis of the main impeller 5. Then according to the formula:

[0083] ,

[0084] ,

[0085] ,

[0086] Obtain the direction vector of line AB , and then combined with the coordinates of point A ( ), the end pose of the main six-degree-of-freedom industrial robot 1 relative to the surface of the blade 6 in the turntable coordinate system ( ) can be obtained, and thus the end pose of the main six-degree-of-freedom industrial robot 1 relative to the surface of the blade 6 is established; because the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 have the same structure, the calculation method of the end pose of the slave six-degree-of-freedom industrial robot 4 relative to the surface of the blade 6 is the same as the above;

[0087] Step 3: Establish the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the turntable 11;

[0088] Taking the point set on the movement trajectory of the center of the top surface of the main hundred-impeller 5 relative to the first cross-sectional profile 14 of the blade 6 as the control points, establish the cooperative motion relationship between the turntable 11 and the main six-degree-of-freedom industrial robot 1 based on the polar coordinate system. Let the coordinates of two adjacent points C on the movement trajectory of the center of the top surface of the main hundred-impeller 5 relative to the first cross-sectional profile 14 of the blade 6 be ( ), and the coordinates of point D be ( ). Decompose the process of point C moving to point D. The turntable 11 needs to rotate an angle ( ), and the main six-degree-of-freedom industrial robot 1 moves linearly a unit length at point C in cooperation with the turntable 11. Thus, the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the turntable 11 is established based on the control points on the movement trajectory of the center of the top surface of the main hundred-impeller 5 relative to the first cross-sectional profile 14 of the blade 6;

[0089] Since the machining methods at different cross-sections of the blade body part of the blade 6 are the same, therefore, similarly, the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the turntable 11 on other cross-sectional profiles of the blade body part of the blade 6 can be obtained;

[0090] Step 4: Establish the cooperative motion relationship between the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4;

[0091] Taking the set of points on the movement trajectories of the center of the top surface of the main impeller wheel 5 and the center of the top surface of the slave impeller wheel 9 relative to the first cross-sectional profile 14 of the blade 6 as control points, and based on the principle that the line connecting the center of the top surface of the main impeller wheel 5 and the center of the top surface of the slave impeller wheel 9 must pass through the pole of the polar coordinate system during the machining process, the cooperative movement of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 is established to complete the cooperative grinding and polishing of the front and back sides of the blade 6.

[0092] The linkage between the main six-degree-of-freedom industrial robot 1 and the turntable 11 is realized through the control points on the movement trajectory of the center of the top surface of the main impeller wheel 5 relative to the first cross-sectional profile 14. The contour points on the movement trajectory of the center of the top surface of the main impeller wheel 5 relative to the first cross-sectional profile 14 are used as control points to control the end position of the main six-degree-of-freedom industrial robot 1; the direction vector is calculated by combining the contour points on the movement trajectory of the center of the middle plane of the main impeller wheel 5 relative to the second cross-sectional profile 15 to control the end pose of the main six-degree-of-freedom industrial robot 1; the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 then realize cooperative movement through geometric constraints. Based on the control points on the corresponding center trajectory and following the principle that the line connecting the center of the top surface of the main impeller wheel 5 and the center of the top surface of the slave impeller wheel 9 passes through the pole of the polar coordinate system during the movement process, the cooperative movement between the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 is established.

[0093] According to the above steps, the pose matrices of the ends of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 relative to the turntable coordinate system can be accurately calculated. According to the pose transformation matrix between the base coordinate system and the turntable coordinate system, the end pose matrices of the main six-degree-of-freedom industrial robot 1 and the slave six-degree-of-freedom industrial robot 4 relative to the base coordinate system can be obtained, realizing the online programming of the cooperative movement of the dual robots and the dual-sided cooperative machining of thin-walled parts such as the blade 6 by the dual robots.

[0094] Specifically, the processes of obtaining the accurate digital model of the component, fitting with Bessel curves, and coordinate transformation are all well-known techniques to those skilled in the art, so no detailed description is given.

[0095] The above are only specific implementation manners of the present invention, enabling those skilled in the art to understand or implement the present invention. Although the above-described embodiments have been described in detail, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the above embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the above embodiments, and they should all be covered by the protection scope of the claims.

Claims

1. A dual-robot collaborative polishing and grinding processing method, characterized in that, It is realized based on a dual-robot collaborative polishing and grinding processing system. The dual-robot collaborative polishing and grinding processing system includes a base (8), a turntable (11), a driving mechanism (10), a main six-degree-of-freedom industrial robot (1), and a slave six-degree-of-freedom industrial robot (4). The turntable (11) is rotatably installed on the base (8). The driving mechanism (10) is used to drive the turntable (11) to rotate around the Z-axis of the turntable coordinate system. A fixture (7) for clamping the blade (6) to be polished is fixedly connected to the top of the turntable (11). The Z-axis is parallel to the length direction of the blade (6) and penetrates through the blade (6). The movable ends of the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) are respectively connected with a main polishing component (2) and a slave polishing component (3). The output ends of the main polishing component (2) and the slave polishing component (3) are respectively connected with a main hundred-leaf wheel (5) and a slave hundred-leaf wheel (9) for double-sided collaborative polishing of the blade (6). The structural dimensions of the main hundred-leaf wheel (5) and the slave hundred-leaf wheel (9) are equal, but the mesh numbers are different. The driving mechanism (10) is electrically connected to the control system of the main six-degree-of-freedom industrial robot (1), and the driving mechanism (10) is controlled by the control system of the main six-degree-of-freedom industrial robot (1), so that the Z-axis of the turntable coordinate system serves as the seventh rotation axis of the main six-degree-of-freedom industrial robot (1). The method includes the following steps: Step 1: Solve the motion trajectories of the center of the top surface of the main hundred-leaf wheel (5) and the center of the top surface of the slave hundred-leaf wheel (9) in the two-dimensional plane relative to the surface of the blade (6). Take the first cross-sectional profile (14) of the blade (6) at the height. The coordinates of the points on the first cross-sectional profile (14) are , and calculate the straight-line equations between adjacent points in sequence: When then , When then ; Translate the straight line corresponding to the straight line equation by unit lengths, and the translation direction is perpendicular to the straight line, then: When then If , the equation of the translated line is: ， If , then the equation of the translated straight line is: ， When then If , then the equation of the translated line is: ， If , the equation of the translated line is: ， wherein, is the angle between the straight line corresponding to the straight line equation and the horizontal direction, represents the radius of the main impeller (5) or the auxiliary impeller (9), represents the polishing compression amount; The straight-line equations between all the adjacent points obtained are denoted as . Solve the equations of any two adjacent straight lines by simultaneous equations. The obtained points are the control points of the movement trajectories of the center of the top surface of the main impeller (5) and the center of the top surface of the secondary impeller (9) relative to the surface of the blade (6). Store the abscissas and ordinates of all the control points as two columns to obtain matrix. Import the matrix data into the maltlab software, and use Bezier curve fitting to obtain the movement trajectories of the center of the top surface of the main impeller (5) and the center of the top surface of the secondary impeller (9) relative to the surface of the blade (6); Take the second cross-sectional profile (15) of the blade (6) at the height, where is the height of the main impeller (5). Since the top surfaces of both the main impeller (5) and the secondary impeller (9) are flush with the first cross-sectional profile (14), the second cross-sectional profile (15) is flush with the middle planes of the main impeller (5) and the secondary impeller (9) respectively. The first cross-sectional profile (14) and the second cross-sectional profile (15) are only located at different height positions of the main impeller (5) and the secondary impeller (9). Therefore, by the above method, the movement trajectories of the centers of the middle planes of the main impeller (5) and the secondary impeller (9) relative to the surface of the blade (6) can be obtained simultaneously; Step 2: Establish the end poses of the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) relative to the surface of the blade (6). Assume that the turntable (11) is stationary and the main polishing component (2) moves around the blade (6). On the surface of the blade (6), respectively take the first cross-sectional profile (14) of the blade (6) at the height and the second cross-sectional profile (15) of the blade (6) at the height; The movement locus of the center of the cross-section of the main hundred-impeller (5) relative to the surface of the blade (6) is directly converted into the movement locus points in the polar coordinate system. In the formula, is the polar radius, is the polar angle. Then, the contour points of the center of the top surface of the main hundred-impeller (5) corresponding to the first cross-section contour (14) of the blade (6) are expressed as: ​ ， The contour points of the center of the middle plane of the main hundred-leaf wheel (5) corresponding to the second cross-sectional contour (15) of the blade (6) are represented as: ， Among them, , The value range of At this time, the polar angles The corresponding polar radii are respectively and ; Convert the center contour points of the main hundred impellers (5) corresponding to the first cross-sectional contour (14) and the second cross-sectional contour (15) and into coordinate points A and B based on the turntable coordinate system respectively. Then A is ([[]] ), B is ([[]] ). Connect AB, and AB is the axis of the main hundred impeller (5). Then according to the formula: ， ， ， Obtain the direction vector of line AB , and then combined with the coordinates of point A ( ), the end pose ( ) of the main six-degree-of-freedom industrial robot (1) relative to the surface of the blade (6) in the turntable coordinate system can be obtained, thereby establishing the end pose of the main six-degree-of-freedom industrial robot (1) relative to the surface of the blade (6); since the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) have the same structure, the calculation method of the end pose of the slave six-degree-of-freedom industrial robot (4) relative to the surface of the blade (6) is the same as the above; Step 3: Establish the collaborative motion relationship between the main six-degree-of-freedom industrial robot (1) and the turntable (11). The set of points on the motion trajectory of the center of the top surface of the main hundred - leaf impeller (5) relative to the first - section contour (14) of the blade (6) is used as the control points. Based on the polar coordinate system, the cooperative motion relationship between the turntable (11) and the main six - degree - of - freedom industrial robot (1) is established. Let the coordinates of two adjacent points C on the motion trajectory of the center of the top surface of the main hundred - leaf impeller (5) relative to the first - section contour (14) be ( ), and the coordinates of point D be ( ). When decomposing the process of point C moving to point D, the turntable (11) needs to rotate an angle ( ), and the main six - degree - of - freedom industrial robot (1) cooperates with the turntable (11) to move a unit length in a straight line at point C . Thus, based on the control points on the motion trajectory of the center of the top surface of the main hundred - leaf impeller (5) relative to the first - section contour (14) of the blade (6), the cooperative motion relationship between the main six - degree - of - freedom industrial robot (1) and the turntable (11) is established; Since the processing methods at different cross-sections of the blade body part of the blade (6) are the same, the collaborative motion relationship between the main six-degree-of-freedom industrial robot (1) and the turntable (11) on other cross-sectional contours of the blade body part of the blade (6) can be obtained similarly. Step 4: Establish the collaborative motion relationship between the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4). Taking the point sets on the motion trajectories of the center of the top surface of the main hundred-leaf wheel (5) and the center of the top surface of the slave hundred-leaf wheel (9) relative to the first cross-sectional contour (14) of the blade (6) as control points, and based on the principle that the line connecting the center of the top surface of the main hundred-leaf wheel (5) and the center of the top surface of the slave hundred-leaf wheel (9) must pass through the pole of the polar coordinate system during the processing, the main six-degree-of-freedom industrial robot (1) and the slave six-degree-of-freedom industrial robot (4) perform collaborative motion to complete the double-sided collaborative polishing and grinding processing of the blade (6).

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