Offline programming-based curved surface body polishing path debugging optimization method and device

Abstract

The embodiment of the invention provides a curved surface body polishing path debugging optimization method and device based on off-line programming, and the method comprises the steps: importing a polishing robot, a polishing tool, a clamping tool and a three-dimensional model of a to-be-polished workpiece into off-line programming software, and adjusting the position and parameters of the model according to an actual working scene; in offline programming software, a polishing path is generated based on the adjusted model position and parameters; carrying out analogue simulation and path optimization on the polishing path until the polishing path meets a preset process requirement, and outputting an optimized polishing path program; and outputting the polishing path program to a field robot control system to execute a polishing task, and generating a process file in offline programming software based on the field debugging record.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of software design, and in particular, to a method and device for debugging and optimizing a curved surface polishing path based on offline programming. Background Art

[0002] In modern industrial manufacturing, polishing is widely used for surface treatment of products, such as deburring, surface smoothing, and polishing. Polishing not only affects the appearance and quality of workpieces but is also closely linked to the quality of subsequent processing and assembly, thus playing a crucial role in the manufacturing process. However, the implementation of polishing processes presents numerous difficulties and challenges.

[0003] Because the raw materials of the workpieces come from different batches and there is a certain degree of instability in the previous processing steps, the final dimensional deviation of the workpiece is large, which makes accurate positioning and identification during the grinding process more difficult, thus affecting the consistency of the grinding effect. The dust and noise generated during the grinding process pose a threat to the health of workers and increase the difficulty of safety management for enterprises. Although robotic automatic grinding can effectively reduce the proportion of manual participation and has a high level of automation and work efficiency, the robot has extremely high requirements for rigidity and stability during the grinding process and must meet multiple technical requirements. At the same time, because workpieces of different materials have different grinding characteristics, robots need to frequently replace tools and consumables, which increases the complexity of equipment maintenance and operating costs.

[0004] Currently, there are two main methods for programming polishing robots: teach-by-wire programming and offline programming. With teach-by-wire programming, the operator uses a teach pendant to teach the robot's movements on-site, manually setting the robot's trajectory. While intuitive, this method requires a high level of operator skill and is prone to human error, as each workpiece (material, shape, etc.) requires complex programming point settings and trajectory planning. Furthermore, teach-by-wire programming poses operational safety risks, increasing worker safety risks. Offline programming uses 3D modeling to simulate the polishing process on a computer and utilizes specialized software for trajectory planning. After the program is generated and passes simulation testing, the robot-executable program is sent to the control system. This method avoids the safety hazards of on-site programming and improves programming accuracy and efficiency. However, in practical applications, path planning for complex, high-dimensional curved workpieces remains a pressing technical challenge, especially in applications requiring high precision. Generating polishing paths that meet process requirements and optimizing them on-site remain key technical bottlenecks. Summary of the Invention

[0005] The embodiments described in this article provide a method and device for debugging and optimizing the polishing path of a curved surface based on offline programming, as well as a computer-readable storage medium storing a computer program, aiming to improve the accuracy and efficiency of the polishing path, effectively reduce on-site operation risks and debugging cycles, and enhance the flexibility and controllability of the process.

[0006] According to a first aspect of the present disclosure, a method for debugging and optimizing the grinding path of a curved surface body based on offline programming is provided, comprising: importing three-dimensional models of a grinding robot, a grinding tool, a clamping tool and a workpiece to be ground into offline programming software, and adjusting the model position and parameters according to the actual working scenario; in the offline programming software, generating a grinding path based on the adjusted model position and parameters; simulating and optimizing the grinding path until the grinding path meets the preset process requirements, and outputting an optimized grinding path program; and outputting the grinding path program to an on-site robot control system to execute the grinding task, and generating a process file in the offline programming software based on the on-site debugging record.

[0007] In some embodiments of the present disclosure, the three-dimensional models of the grinding robot, the grinding tool, the clamping tool and the workpiece to be ground are imported into the offline programming software, and the model positions and parameters are adjusted according to the actual working scene, including: establishing a grinding robot model in the three-dimensional modeling software according to the actual structure of the grinding robot, and setting the motion range of each joint of the robot and the tool center point of the end effector in the grinding robot model; determining the type and size of the grinding tool according to the grinding task, establishing a grinding tool model in the three-dimensional modeling software, and setting the size and shape of the grinding tool in the grinding tool model; establishing a clamping tool model in the three-dimensional modeling software, determining the type of the clamping tool to be a clamp, and setting the clamping force, opening and closing angle and clamping range of the clamp in the clamping tool model; establishing a workpiece model to be ground in the three-dimensional modeling software according to the size and surface shape of the workpiece to be ground, and marking the specific area on the workpiece to be ground that needs to be ground in the workpiece model; importing the three-dimensional models of the grinding robot, the grinding tool, the clamping tool and the workpiece to be ground into the offline programming software, and adjusting the parameters and relative positions of each component according to the actual working environment.

[0008] In some embodiments of the present disclosure, the three-dimensional models of the grinding robot, grinding tool, clamping tool and workpiece to be ground are imported into the offline programming software, and the parameters and relative positions of each component are adjusted according to the actual working environment, including: in the offline programming software, a virtual workstation is established, and the base coordinate system, tool coordinate system and workpiece coordinate system of the robot end effector are set to determine the position and orientation of each component in the workspace; according to the working range of the grinding robot and the placement position of the workpiece, the relative positions of the grinding robot, grinding tool, clamping tool and workpiece to be ground are adjusted so that the activity range of the grinding robot can cover all areas to be ground; according to the on-site grinding task, the target grinding area of the workpiece and the target point of the TCP are calibrated, the TCP value is recorded, the TCP value obtained on-site is input into the offline programming software, and the feature points on the robot's handheld clamping tool are corrected.

[0009] In some embodiments of the present disclosure, in the offline programming software, generating a grinding path based on the adjusted model position and parameters includes: identifying the geometric shape of the workpiece, and planning the corresponding grinding path by calculating the surface information of the surface to be ground; selecting the path type according to the process requirements, the path types include zigzag, I-shaped, and spiral, and determining the start and end of the grinding process by setting the entry point and the exit point; setting the posture in the Z-axis direction and whether the tool maintains a fixed posture during the grinding process according to the geometric shape of the workpiece and the grinding requirements; setting the working speed when the grinding tool contacts the workpiece and the running speed of the robot when not grinding according to the material hardness and the grinding requirements, and setting the approach method and approach speed of the robot when approaching the workpiece.

[0010] In some embodiments of the present disclosure, the grinding path is simulated and optimized until the grinding path meets the preset process requirements, and the optimized grinding path program is output, including: using offline programming software to simulate the generated grinding path, detecting whether there is interference and collision between the grinding robot, the grinding tool, the clamping tool and the workpiece to be ground, as well as the surrounding environment; checking whether the robot can reach the predetermined target point and whether the motion range of each joint of the robot exceeds the physical limit of the robot; detecting whether singular points are encountered during the movement of the robot and whether there are unknown positions outside the predetermined range; if problems are found during the simulation process, checking whether the initial layout of the robot and the workpiece meets the design requirements. If the layout is correct, changing the path planning method, trajectory and posture direction until the grinding path meets the preset process requirements, and outputting the optimized grinding path program.

[0011] In some embodiments of the present disclosure, the polishing path program is output to the on-site robot control system to execute the polishing task, and the process file is generated in the offline programming software based on the on-site debugging record, including: after the simulation is correct and the path is optimized, the program is output using the post-function of the offline programming software and transmitted to the control cabinet of the on-site robot; the robot is started to perform a trial run of the polishing task, and during the trial run, whether the robot successfully completes the polishing task according to the predetermined path, and whether the polishing effect meets the requirements; if the polishing result does not meet the process requirements, the generated polishing path is fine-tuned in the offline programming software according to the on-site debugging operation, and the on-site operation record is recorded; the process file in the software is updated according to the on-site operation record, and when the polishing result meets the process requirements, it is switched to the formal production state to complete the programming and debugging.

[0012] In some embodiments of the present disclosure, the method further includes: acquiring operating data during the actual polishing process in real time through sensors or data acquisition equipment, and transmitting the operating data to a digital twin platform; in the digital twin platform, mapping the received real-time data to a virtual model to form a digital twin model synchronized with the physical robot.

[0013] In some embodiments of the present disclosure, in a digital twin platform, the received real-time data is mapped to a virtual model to form a digital twin model synchronized with the physical robot, including: preprocessing and synchronizing the data collected from the sensor, and mapping the synchronized data to the virtual model in the digital twin platform; comparing the data fed back by the sensor with the preset process parameters of the virtual model to detect process deviations, and when deviations occur, feeding back adjustment instructions to the physical robot for correction.

[0014] According to the second aspect of the present disclosure, a device for debugging and optimizing the grinding path of a curved surface body based on offline programming is provided. The device includes at least one processor; and at least one memory storing a computer program. When the computer program is executed by at least one processor, the device: imports the three-dimensional model of the grinding robot, grinding tool, clamping tool and workpiece to be ground into the offline programming software, and adjusts the model position and parameters according to the actual working scene; in the offline programming software, generates a grinding path based on the adjusted model position and parameters; simulates and optimizes the grinding path until the grinding path meets the preset process requirements, and outputs the optimized grinding path program; and outputs the grinding path program to the on-site robot control system to execute the grinding task, and generates a process file in the offline programming software based on the on-site debugging record.

[0015] According to a third aspect of the present disclosure, a computer-readable storage medium storing a computer program is provided, wherein the computer program implements the steps of the method according to the first aspect of the present disclosure when executed by a processor.

[0016] According to the embodiment of the present disclosure, the method and device for debugging and optimizing the curved surface polishing path based on offline programming are implemented. By importing the three-dimensional model of the polishing robot, polishing tool, clamping tool, and workpiece to be polished into the offline programming software and adjusting the position and parameters in combination with the actual working scene, the path can be optimized for the complex curved surfaces of different workpieces, effectively avoiding interference, collision, and unreachable problems in the path, improving the reliability and safety of the path, and significantly reducing on-site debugging time and manual operation errors. By combining on-site debugging records for real-time feedback and fine-tuning, the flexibility of process optimization is improved, so that the path can promptly adapt to changes in actual production, saving a lot of on-site debugging time and cost, and significantly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure and are not intended to limit the present disclosure.

[0018] Figure 1 is an exemplary flow chart of a method 100 for debugging and optimizing a curved surface polishing path based on offline programming according to an embodiment of the present disclosure;

[0019] Figure 2 This is a flow chart of a process method for on-site debugging and optimization of a curved surface polishing path based on offline programming according to an embodiment of the present disclosure;

[0020] Figure 3 4 is a schematic block diagram of a curved surface polishing path debugging and optimization device 300 based on offline programming according to an embodiment of the present disclosure.

[0021] It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0023] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal manner unless otherwise explicitly defined herein. In addition, terms such as "first" and "second" are only used to distinguish one component (or a portion of a component) from another component (or another portion of a component).

[0024] In order to solve the defects of low precision, long cycle and high trial and error cost in the existing automated polishing process of high-dimensional curved surfaces, the embodiment of the present disclosure provides a more accurate and efficient automated polishing solution by combining offline programming software with on-site debugging.

[0025] Figure 1 FIG. 1 shows an exemplary flow chart of a method 100 for debugging and optimizing a curved surface grinding path based on offline programming according to an embodiment of the present disclosure. Figure 1 At block S102 , the three-dimensional models of the grinding robot, the grinding tool, the clamping tool, and the workpiece to be ground are imported into the offline programming software, and the model positions and parameters are adjusted according to the actual working scenario.

[0026] In 3D modeling software (such as SolidWorks, CATIA, and AutoCAD) that supports robot modeling, mechanical design, and assembly modeling, create a complete virtual environment, including 3D models of the polishing robot, external polishing tools, the robot's handheld gripping tools, and the workpiece to be polished. First, create a 3D model of the polishing robot in the 3D modeling software based on its actual structure. In this model, set the range of motion of each robot joint and the tool center point (TCP) of the end effector. The robot body consists of a base, bracket, joints, and drive system. The robot base and multi-jointed arm are set up; these degrees of freedom determine the robot's range of motion. Set the position and rotation axis of the robot's end-of-line tool for mounting the polishing tool or gripper. Common polishing robots include industrial robots with six or more degrees of freedom. Choose from brands such as KUKA, ABB, and Fanuc. According to the robot manual or the manufacturer's CAD files, set the joints and degrees of freedom, ensuring that each joint has the appropriate rotational or oscillatory degrees of freedom for subsequent polishing operations.

[0027] Determine the type and size of the grinding tool based on the grinding task, create a grinding tool model in 3D modeling software, and set the size and shape of the grinding tool in the grinding tool model. External grinding tools can include force-controlled grinding wheels, polishing wheels, grinding tools, etc. The grinding tool will be fixed to the robot arm through a clamp or connector. When modeling, set the appropriate connection interface for the grinding tool to integrate it with the robot's end effector.

[0028] Create a gripping tool model in 3D modeling software, specifying the gripping tool type as a gripper. In the gripping model, set the gripper's clamping force, opening and closing angle, and gripping range. Gripping tools include grippers, suction cups, and jaws, each with different operating methods and gripping ranges. The gripping tool's position and angle should ensure good contact with the workpiece being ground. Furthermore, the gripping tool should not interfere with other operations during robot operation. Connect the gripping tool to the robot's end effector, ensuring proper installation and operation.

[0029] Based on the size and shape of the workpiece to be polished, a model of the workpiece to be polished is created in 3D modeling software. The specific areas to be polished are marked on the workpiece model. The surface of the workpiece can be designed to meet the polishing requirements, such as smooth, rough, or with special concave, convex, or curved surfaces.

[0030] After modeling is complete, the component models can be exported to common 3D formats such as STEP, IGES, STL, and SAT. These can then be imported into offline programming software to adjust the parameters and relative positions of the components based on the actual working environment. Offline programming software (such as ABB's RobotStudio, KUKA's SimPro, and Fanuc's ROBOGUIDE) supports multiple file formats (such as STEP, IGES, and STL).

[0031] In the offline programming software, a virtual workstation is created and the base coordinate system, tool coordinate system, and workpiece coordinate system of the robot end effector are set. These coordinate systems help determine the position and orientation of the tool in the workspace. After importing the model into the offline programming software, the model layout is adjusted to the appropriate workstation or workstation. The relative position and angle of each component are adjusted according to the actual process requirements to ensure the coordinated operation of the entire system during operation.

[0032] Specifically, based on the polishing robot's working range and the workpiece's placement, the relative positions of the robot, tool, and workpiece are adjusted so that the robot's range of motion covers all areas to be polished. Based on the on-site polishing task, the target polishing area of the workpiece and the target point of the TCP (the working point of the robot's end effector) are calibrated, and the TCP values are recorded. These TCP values, acquired on-site, are input into the offline programming software to calibrate the feature points on the robot's handheld gripping tool. After all parameter and position adjustments are completed, the robot's offline programming code (such as robot motion control code, path planning code, etc.) can be generated.

[0033] Later in Figure 1 In block S104 , a grinding path is generated in the offline programming software based on the adjusted model position and parameters.

[0034] In the offline programming software, enable the "Generate Path" function. This function automatically generates a path based on the workpiece's geometric topology model by accurately identifying the area to be polished. The surface area to be polished is automatically identified and calibrated by the software.

[0035] Specifically, the geometric shape of the workpiece is identified, and the corresponding grinding path is planned by calculating the surface information of the surface to be ground. The path type is selected according to the process requirements, such as zigzag, I-shaped, spiral, etc. Among them, the zigzag trajectory is suitable for large-area flat grinding and can effectively cover the surface of the workpiece. The I-shaped trajectory is suitable for workpieces with complex shapes to ensure the uniformity of grinding. The spiral trajectory is suitable for grinding deep holes or deeper areas, and can be ground step by step from the top to the bottom. The start and end of the grinding process are determined by setting the entry point and exit point. The entry point defines the initial position where the robot starts grinding, which is the starting point where the robot tool contacts the workpiece surface. The exit point defines the position where the robot stops grinding. Proper setting of the exit point can ensure that irregular grinding marks are avoided on the surface of the workpiece.

[0036] Based on the workpiece geometry and grinding requirements, set the Z-axis posture and whether the tool maintains a fixed posture during grinding. For example, set the Z-axis direction of the grinding tool to align with the workpiece surface normal. During path planning, you can set whether the robot needs to maintain a fixed posture or allow the tool to adjust its posture during operation to adapt to different curved surfaces.

[0037] Based on the material hardness and grinding requirements, set the grinding tool's operating speed when in contact with the workpiece, the robot's operating speed when not grinding, and the robot's approach method when approaching the workpiece. The trajectory approach setting defines how the robot approaches the workpiece surface. During the grinding process, the robot should approach slowly to avoid unnecessary pressure or collisions on the workpiece surface.

[0038] Then in Figure 1 In block S106 , the grinding path is simulated and optimized until the grinding path meets the preset process requirements, and an optimized grinding path program is output.

[0039] After the path planning is completed, the generated grinding path is simulated using offline programming software to detect whether there is interference or collision between the grinding robot, grinding tools, clamping tools and the workpiece to be ground, as well as with the surrounding environment.

[0040] Check whether the robot can reach the intended target point and whether the range of motion of the robot's joints exceeds the robot's physical limits. Detect whether the robot encounters singularities during motion and whether there are unknown positions outside the intended range. Singularities often prevent the robot control system from accurately calculating motion. Simulation can help locate these singularities and adjust the path to avoid them, ensuring that the robot does not enter areas of uncertain or abnormal position.

[0041] If problems are found during the simulation, the path planning method, trajectory, and posture direction will be changed. After the path is optimized, simulation needs to be performed again to ensure that the new path setting will not cause new problems and verify the rationality and feasibility of the path until the polishing path meets the preset process requirements and the optimized polishing path program is output. For example, the preset process requirements are that the workpiece has a smooth appearance, no polishing marks visible to the naked eye, no step-like feel when touched, and the roughness detection is around 28.9nm.

[0042] Finally, in block S108 , the polishing path program is output to the on-site robot control system to execute the polishing task, and a process file is generated in the offline programming software based on the on-site debugging record.

[0043] According to one embodiment of the present disclosure, after confirming that the simulation is correct and the path is optimized, the post-processing function of the offline programming software is used to output the program and transmit it to the control cabinet of the on-site robot. Start the robot to perform a trial run of the polishing task. During the trial run, observe whether the robot successfully completes the polishing task according to the predetermined path, and check whether the polishing effect meets the requirements. If the polishing result does not meet the process requirements, the generated polishing path is fine-tuned in the offline programming software according to the on-site debugging operation, and the on-site operation record is recorded. The process files in the software are updated according to the on-site operation records to realize digital polishing process file management. When the polishing results meet the process requirements, it is switched to the formal production state to complete programming and debugging.

[0044] In some embodiments of the present disclosure, operating data during the actual grinding process is obtained in real time through sensors or data acquisition devices, and the operating data is transmitted to the digital twin platform. For example, a force sensor is used to monitor the contact force of the force-controlled grinding wheel in real time, such as a grinding pressure of 20N. This can ensure that the robot does not exceed the preset pressure range during the grinding process, preventing damage to the workpiece or uneven grinding. The spatial position and posture of the robot and the grinding tool are obtained in real time through position sensors, which are used to accurately control the motion trajectory and angle of the robot. The relative vibration between the grinding tool and the workpiece is monitored by a vibration sensor to avoid damage or rejection of the workpiece due to unstable grinding. The temperature changes generated during the grinding process are monitored by a temperature sensor to prevent damage to the tool or deformation of the material due to overheating. The actual situation during the grinding process is monitored by means of a camera or laser scanner, and the shape change information of the workpiece surface is obtained to further adjust the grinding strategy. The data collected in real time will be transmitted to the digital twin platform via a wireless network or a wired network.

[0045] In the digital twin platform, received real-time data is mapped to a virtual model, creating a digital twin model synchronized with the physical robot. The digital twin platform shares the same working scenario with the offline programming software. First, the signal undergoes preprocessing, such as denoising, filtering, and amplification, to ensure signal quality and accuracy. Because multiple sensors operate simultaneously, the data acquisition equipment must synchronize the data from different sensors to ensure consistent timing. This synchronized data is then mapped to the virtual robot model in the digital twin platform.

[0046] The data fed back by the sensor is compared with the preset process parameters of the virtual model to detect process deviations. When deviations occur, adjustment instructions are fed back to the physical robot for correction. For example, if the temperature sensor detects that the robot temperature is too high, the system can simulate the cause through the digital twin model and issue an early warning, thereby adjusting the operation or shutting down the robot to cool down. For example, when problems are detected in certain grinding paths or abnormalities occur on the surface of the workpiece, the platform can automatically adjust the robot's trajectory or posture to ensure the quality of grinding. If parameters such as pressure, speed, and vibration do not meet the requirements, the platform can adjust these parameters in real time through the control system to ensure that the process meets the specified requirements. When an abnormal situation occurs, such as exceeding the pressure range or a collision, an alarm can be triggered to prompt the operator to intervene to avoid more serious failures.

[0047] By continuously collecting and analyzing data, the digital twin platform can predict future operating conditions, such as tool wear and polishing results, allowing proactive measures to optimize processes or adjust paths. The digital twin platform's analysis results are fed back to the robot control system or other related equipment in real time for automatic adjustments. A graphical interface displays real-time polishing process data, robot status, and workpiece polishing results, helping operators gain a clearer understanding of the production process. The digital twin platform allows operators to remotely monitor the entire polishing process, view real-time data and system status, and make adjustments or remote intervention as needed. Over long-term operation, the digital twin accumulates a wealth of data, which the system then uses for self-learning. By continuously adjusting the virtual model, the digital twin system can optimize the robot's operating strategy, adapting it to changing production conditions.

[0048] Figure 2 This is a flow chart of a process method for on-site debugging and optimization of the curved surface grinding path based on offline programming according to an embodiment of the present disclosure. Figure 2 As shown, this process method, based on offline programming technology, achieves intelligent control of the polishing process by generating a high-dimensional surface polishing path and optimizing it in real time on-site, incorporating digital twin technology. The specific steps include: creating a 3D digital model of the polishing robot, external polishing tool, robot handheld gripper, and workpiece in 3D modeling software. The 3D digital model is then imported into the offline programming software to define the robot, external polishing tool, gripper, and workpiece, and the model layout is adjusted based on the actual work scenario. Based on the 3D workpiece model and the polishing requirements of the force-controlled grinding wheel, the offline programming software generates a robot polishing path under a force of 20N, setting parameters such as the path mode, posture, and speed. Simulations are used to check for interference, collisions, and other issues along the path. If errors are detected, the path is optimized. Once the path is correct, the program is exported to the on-site robot for a test run and fine-tuning based on the results until it meets process requirements. During the production process, real-time data collected by sensors is used for real-time monitoring and optimization in conjunction with digital twin technology to ensure precise control of the production process.

[0049] Figure 3 Schematic block diagram of a device for debugging and optimizing a curved surface grinding path based on offline programming according to an embodiment of the present disclosure. Figure 3 As shown, the apparatus 300 may include a processor 310 and a memory 320 storing a computer program. When the computer program is executed by the processor 310, the apparatus 300 may perform the following operations: Figure 1The steps of the method 100 are shown. In one example, the apparatus 300 may be a computer device or a cloud computing node. The apparatus 300 may import a three-dimensional model of a grinding robot, a grinding tool, a gripping tool, and a workpiece to be ground into offline programming software, and adjust the model position and parameters according to the actual working scenario; in the offline programming software, generate a grinding path based on the adjusted model position and parameters; simulate and optimize the grinding path until the grinding path meets the preset process requirements, and output an optimized grinding path program; and output the grinding path program to an on-site robot control system to execute the grinding task, and generate a process file in the offline programming software based on the on-site debugging record.

[0050] In some embodiments of the present disclosure, the device 300 can establish a polishing robot model in the three-dimensional modeling software according to the actual structure of the polishing robot, and set the motion range of each joint of the robot and the tool center point of the end effector in the polishing robot model; determine the type and size of the polishing tool according to the polishing task, establish a polishing tool model in the three-dimensional modeling software, and set the size and shape of the polishing tool in the polishing tool model; establish a clamping tool model in the three-dimensional modeling software, determine the type of the clamping tool to be a clamp, and set the clamping force, opening and closing angle and clamping range of the clamp in the clamping tool model; establish a workpiece model to be polished in the three-dimensional modeling software according to the size and surface shape of the workpiece to be polished, and mark the specific area on the workpiece to be polished in the workpiece model; and import the three-dimensional models of the polishing robot, polishing tool, clamping tool and workpiece to be polished into the offline programming software, and adjust the parameters and relative positions of each component according to the actual working environment.

[0051] In some embodiments of the present disclosure, the device 300 can establish a virtual workstation in the offline programming software, set the base coordinate system, tool coordinate system and workpiece coordinate system of the robot end effector to determine the position and orientation of each component in the workspace; adjust the relative positions of the grinding robot, grinding tool, clamping tool and workpiece to be ground according to the working range of the grinding robot and the placement of the workpiece, so that the activity range of the grinding robot can cover all areas to be ground; calibrate the target grinding area of the workpiece and the target point of the TCP according to the on-site grinding task, record the TCP value, input the TCP value obtained on-site into the offline programming software, and calibrate the feature points on the robot's handheld clamping tool.

[0052] In some embodiments of the present disclosure, the device 300 can identify the geometric shape of the workpiece, and plan the corresponding grinding path by calculating the surface information of the surface to be ground; select the path type according to the process requirements, the path types include zigzag, I-shaped, and spiral, and determine the start and end of the grinding process by setting the entry point and the exit point; set the posture in the Z-axis direction and whether the tool maintains a fixed posture during the grinding process according to the geometric shape of the workpiece and the grinding requirements; set the working speed when the grinding tool contacts the workpiece and the running speed of the robot when not grinding according to the material hardness and grinding requirements, and set the approach method and approach speed of the robot when approaching the workpiece.

[0053] In some embodiments of the present disclosure, the device 300 can use offline programming software to simulate the generated polishing path, detect whether there is interference or collision between the polishing robot, the polishing tool, the clamping tool and the workpiece to be polished, as well as the surrounding environment; check whether the robot can reach the predetermined target point and whether the motion range of each joint of the robot exceeds the physical limit of the robot; detect whether the robot encounters singular points during movement and whether there are unknown positions outside the predetermined range; if problems are found during the simulation process, check whether the initial layout of the robot and the workpiece meets the design requirements. If the layout is correct, change the path planning method, trajectory and posture direction until the polishing path meets the preset process requirements, and output the optimized polishing path program.

[0054] In some embodiments of the present disclosure, the device 300 can use the post-processing function of the offline programming software to output the program and transmit it to the control cabinet of the on-site robot after the simulation is correct and the path is optimized; start the robot to perform a trial run of the grinding task, and during the trial run, observe whether the robot successfully completes the grinding task according to the predetermined path, and check whether the grinding effect meets the requirements; if the grinding result does not meet the process requirements, then in the offline programming software, fine-tune the generated grinding path according to the on-site debugging operation, and record the on-site operation record; and update the process files in the software according to the on-site operation record. When the grinding result meets the process requirements, switch to the formal production state to complete the programming and debugging.

[0055] In some embodiments of the present disclosure, the device 300 can obtain the operating data of the actual polishing process in real time through sensors or data acquisition equipment, and transmit the operating data to the digital twin platform; in the digital twin platform, the received real-time operating data is mapped to the virtual model to form a digital twin model synchronized with the physical robot.

[0056] In some embodiments of the present disclosure, the device 300 can preprocess and synchronize the data collected from the sensor, and map the synchronized data to the virtual model in the digital twin platform; compare the data fed back by the sensor with the preset process parameters of the virtual model, detect process deviations, and when deviations occur, feed back adjustment instructions to the physical robot for correction.

[0057] In an embodiment of the present disclosure, the processor 310 may be, for example, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a processor based on a multi-core processor architecture, etc. The memory 320 may be any type of memory implemented using data storage technology, including but not limited to random access memory, read-only memory, semiconductor-based memory, flash memory, disk storage, etc.

[0058] In addition, in an embodiment of the present disclosure, the apparatus 300 may also include an input device 330, such as a keyboard, a mouse, etc. In addition, the apparatus 300 may also include an output device 340, such as a display, etc.

[0059] In other embodiments of the present disclosure, a computer-readable storage medium storing a computer program is further provided, wherein the computer program can achieve the following when executed by a processor: Figure 1 The steps of the method are shown.

[0060] In summary, according to the offline programming-based curved surface polishing path debugging and optimization method and device of the embodiment of the present disclosure, by importing the three-dimensional model of the polishing robot, polishing tool, clamping tool and workpiece to be polished into the offline programming software, and adjusting the position and parameters in combination with the actual working scene, it is possible to optimize the path for the complex curved surfaces of different workpieces, effectively avoid interference, collision and unreachable problems in the path, improve the reliability and safety of the path, and significantly reduce on-site debugging time and manual operation errors. By combining on-site debugging records for real-time feedback and fine-tuning, the flexibility of process optimization is improved, so that the path can adapt to changes in actual production in a timely manner, saving a lot of on-site debugging time and cost, and significantly improving production efficiency.

[0061] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the apparatus and method according to multiple embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0062] Unless the context clearly indicates otherwise, as used herein and in the appended claims, the singular includes the plural, and vice versa. Thus, when referring to the singular, the plural of the corresponding term is generally included. Similarly, the words "include" and "comprising" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it follows a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0063] Further aspects and scope of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present application can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended to be illustrative only and are not intended to limit the scope of the present application.

[0064] Several embodiments of the present disclosure have been described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The scope of protection of the present disclosure is defined by the appended claims.

Claims

1. A method for debugging and optimizing the grinding path of a curved surface based on offline programming, characterized in that: include: Import the 3D models of the grinding robot, grinding tools, gripping tools, and workpiece to be ground into the offline programming software, and adjust the model positions and parameters according to the actual working scenario; In the offline programming software, a grinding path is generated based on the adjusted model position and parameters; Performing simulation and path optimization on the polishing path until the polishing path meets the preset process requirements, and outputting the optimized polishing path program; as well as The polishing path program is output to the on-site robot control system to execute the polishing task, and a process file is generated in the offline programming software based on the on-site debugging record.

2. The method for debugging and optimizing the curved surface polishing path based on offline programming according to claim 1, characterized in that: Importing the three-dimensional models of the grinding robot, grinding tool, gripping tool, and workpiece to be ground into the offline programming software and adjusting the model positions and parameters according to the actual working scenario includes: According to the actual structure of the polishing robot, a polishing robot model is established in the 3D modeling software. The range of motion of each joint of the robot and the tool center point of the end effector are set in the polishing robot model. Determine the type and size of the grinding tool according to the grinding task, create a grinding tool model in the 3D modeling software, and set the size and shape of the grinding tool in the grinding tool model; Establish a clamping tool model in the 3D modeling software, determine the type of the clamping tool is a clamping claw, and set the clamping force, opening and closing angle, and clamping range of the clamping claw in the clamping tool model; Creating a model of the workpiece to be polished in 3D modeling software based on the size and curved surface shape of the workpiece to be polished, and marking specific areas on the workpiece to be polished in the model of the workpiece to be polished; and Import the 3D models of the grinding robot, grinding tools, gripping tools and workpiece to be ground into the offline programming software, and adjust the parameters and relative positions of each component according to the actual working environment.

3. The method for debugging and optimizing the curved surface polishing path based on offline programming according to claim 2, characterized in that: Importing the three-dimensional models of the grinding robot, grinding tool, gripping tool, and workpiece to be ground into the offline programming software and adjusting the parameters and relative positions of each component according to the actual working environment includes: In the offline programming software, a virtual workstation is established and the base coordinate system, tool coordinate system, and workpiece coordinate system of the robot end effector are set to determine the position and orientation of each component in the workspace. According to the working range of the grinding robot and the placement of the workpiece, adjust the relative positions of the grinding robot, grinding tool, clamping tool and workpiece to be ground so that the range of movement of the grinding robot can cover all areas to be ground; According to the on-site grinding task, the target grinding area of the workpiece and the target point of the TCP are calibrated, the TCP value is recorded, and the TCP value obtained on-site is input into the offline programming software to calibrate the feature points on the robot's handheld gripping tool.

4. The method for debugging and optimizing the curved surface polishing path based on offline programming according to claim 1, characterized in that: In the offline programming software, generating a grinding path based on the adjusted model position and parameters includes: Identify the geometric shape of the workpiece and plan the corresponding grinding path by calculating the surface information of the surface to be polished; Select a path type according to process requirements, including zigzag, I-shaped, and spiral paths, and determine the start and end of the grinding process by setting the entry and exit points; According to the geometry of the workpiece and the grinding requirements, set the Z-axis posture and whether the tool maintains a fixed posture during the grinding process; According to the material hardness and grinding requirements, set the working speed when the grinding tool contacts the workpiece and the running speed of the robot when not grinding. Set the approach method and approach speed of the robot when approaching the workpiece.

5. The method for debugging and optimizing the curved surface polishing path based on offline programming according to claim 1, characterized in that: The simulating and optimizing the polishing path until the polishing path meets the preset process requirements and outputting the optimized polishing path program includes: Use offline programming software to simulate the generated grinding path and detect whether there is interference or collision between the grinding robot, grinding tool, gripping tool and the workpiece to be ground, as well as with the surrounding environment; Check whether the robot can reach the predetermined target point and whether the range of motion of each joint of the robot exceeds the physical limit of the robot; Detect whether the robot encounters singular points during movement and whether there are unknown positions outside the predetermined range; If problems are found during the simulation process, the initial layout of the robot and workpiece is checked to see if it meets the design requirements. If the layout is correct, the path planning method, trajectory, and posture direction are changed until the grinding path meets the preset process requirements, and the optimized grinding path program is output.

6. The method for debugging and optimizing the curved surface polishing path based on offline programming according to claim 1, characterized in that: Outputting the polishing path program to an on-site robot control system to execute the polishing task, and generating a process file in an offline programming software based on the on-site debugging record includes: After the simulation is correct and the path is optimized, the program is output using the post-processing function of the offline programming software and transmitted to the control cabinet of the on-site robot; Start the robot to perform a trial run of the grinding task. During the trial run, observe whether the robot can successfully complete the grinding task according to the predetermined path and check whether the grinding effect meets the requirements. If the grinding result does not meet the process requirements, fine-tune the generated grinding path according to the on-site debugging operation in the offline programming software and record the on-site operation records; and The process files in the software are updated according to the on-site operation records. When the polishing results meet the process requirements, the software is switched to the formal production state to complete programming and debugging.

7. The method for debugging and optimizing the curved surface polishing path based on offline programming according to claim 1, characterized in that: The method further comprises: Acquire the operating data of the actual polishing process in real time through sensors or data acquisition equipment, and transmit the operating data to the digital twin platform; In the digital twin platform, the received real-time operation data is mapped into the virtual model to form a digital twin model synchronized with the physical robot.

8. The method for debugging and optimizing the curved surface polishing path based on offline programming according to claim 7, characterized in that: In the digital twin platform, mapping the received real-time data into the virtual model to form a digital twin model synchronized with the physical robot includes: Preprocess and synchronize the data collected from the sensors, and map the synchronized data to the virtual model in the digital twin platform; The data fed back by the sensor is compared with the preset process parameters of the virtual model to detect process deviations. When deviations occur, adjustment instructions are fed back to the physical robot for correction.

9. A device for debugging and optimizing the grinding path of a curved surface based on offline programming, characterized in that: The device comprises: at least one processor; and at least one memory storing a computer program; Wherein, when the computer program is executed by the at least one processor, the device is caused to perform the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: The computer program implements the steps of the method according to any one of claims 1 to 8 when executed by a processor.

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