Flexible robot rounding machining system and method for aviation structural parts

Abstract

The invention provides a flexible robot rounding machining system and method for an aviation structural component, the flexible robot rounding machining system comprises a tail end executing mechanism (7), a six-axis robot (6), a numerical control machine tool (5), a machining tray (3) and a zero point positioning device (4), the tail end executing mechanism (7) controls a grinding tool to rotate through a pneumatic spindle, and sharp edge rounding machining of the aviation structural component is achieved. The flexible floating air main shaft ensures that the polishing head is in flexible contact with the part in the sharp edge rounding machining process; the six-axis robot (6) drives the tail end executing mechanism (7) to move according to an off-line program path, and sharp edge rounding motion trails on different characteristics of the aviation structural part are achieved; the numerical control machine tool (5) determines the relative position relation of the parts on the tray through measurement; the tray (3) is machined, the parts are borne, and it is guaranteed that the relative position relation of the parts on the tray is unchanged; and the zero point positioning device (4) realizes rapid and accurate positioning of the tray at the numerical control machine tool station and the robot sharp edge rounding station.

Description

Technical Field

[0001] This invention relates to the field of CNC machining technology, and in particular to a flexible robotic rounding machining system and method for aerospace structural components. Background Technology

[0002] After aircraft parts are machined, sharp edges need to be rounded. Traditionally, this is done manually, using tools such as scrapers, files, and grinding wheels to remove the sharp edges. The effectiveness of this process depends heavily on the operator's skill, which is detrimental to consistent product quality. Furthermore, removing sharp edges from large parts presents challenges such as high workload, harsh working conditions, and potential safety hazards. In recent years, with the continuous rise in labor costs, the cost of manual sharp edge rounding in parts manufacturing has become increasingly high, further squeezing profit margins.

[0003] With the continuous development of robot technology, the sharp edge rounding method has gradually shifted from the traditional manual removal method to robot sharp edge rounding. At present, robots are all semi-open-loop controlled, which results in good repeatability of robot end effectors, but low absolute positioning accuracy. It is impossible to control the end effector (11) to complete accurate positioning. Therefore, the forward offline programming method cannot be used to realize robot sharp edge rounding. It is necessary to manually teach according to the actual clamping position of different parts to generate sharp edge rounding trajectory. Therefore, the relatively mature robot sharp edge rounding method is mainly used for the removal of sharp edges and flash of large batches of forging and casting blanks with relatively simple structure and low precision requirements. For aerospace structural parts with complex structural features, high precision requirements, and multiple varieties in small batches, it is necessary to teach each product one by one, which is time-consuming and labor-intensive and lacks engineering application basis. Summary of the Invention

[0004] This application provides a flexible robotic rounding machining system and method for aerospace structural components, which can solve the problem of low machining accuracy.

[0005] In a first aspect, this application provides a flexible robotic rounding machining system for aerospace structural components, characterized in that it includes an end effector (7), a six-axis robot (6), a CNC machine tool (5), a machining tray (3), and a zero-point positioning device (4), wherein: The end effector (7) includes a flexible floating air spindle and a grinding tool. The air spindle controls the rotation of the grinding tool to achieve the rounding of sharp edges of aerospace structural parts. The flexible floating air spindle ensures that the grinding head is in flexible contact with the parts during the rounding of sharp edges. The six-axis robot (6) drives the end effector (7) to move according to the offline program path, realizing the rounding motion trajectory of sharp edges on different features of aerospace structural parts; The CNC machine tool (5) determines the relative positional relationship of the parts on the pallet by measurement; Process the pallet (3) to support the parts and ensure that the relative positional relationship of the parts on the pallet remains unchanged; Zero-point positioning device (4) enables rapid and accurate positioning of the pallet at the CNC machine tool station and the robot's sharp edge rounding station.

[0006] Secondly, this application provides a flexible robot rounding machining method for aerospace structural components, applied to the aforementioned flexible robot rounding machining system for aerospace structural components. The method includes: Step 1: Create a sharp edge rounding program based on the machining path and rounding parameters; Step 2: Generate the relative position information between the part and the pallet on the CNC machine tool; Step 3: Based on the relative position information of the parts, the robot's sharp edge rounding system performs sharp edge rounding.

[0007] Specifically, in step 1, based on the structural characteristics of the sharp edge rounding part of the part, the sharp edge rounding path is planned. When rounding the sharp edge, the axis of the grinding head should be on the bisector of the angle between the plane of the edge being processed. The bottom end face of the grinding head should be tangent to the edge being ground. The axis of the grinding head should be perpendicular to the curved surface and the curve to form a uniform and smooth grinding path. The sharp edge rounding parameters are designed.

[0008] Specifically, the rounding parameters include rotational speed (S), feed rate (F), and pressure (P).

[0009] Specifically, the calculation process for the downward pressure (P) is as follows: Step 11: Use the formula N = (20 × R) 2 ×F0) / (R0) 2 ×F), calculate the actual downward pressure N, where R is the target rounding radius, F is the actual rounding feed rate, R0 is the current material calibration rounding radius, and F0 is the current material calibration rounding feed rate; Step 12: Based on the actual downward pressure N, calculate the floating amount Ps of the floating air main shaft using the formula Ps=N / K, where K is the stiffness coefficient of the air suspension main shaft. Step 13: Based on the floating amount Ps of the floating air spindle, use the formula P=Ps+Pm to calculate the downward pressure P, where Pm is the actual downward pressure at the end of the grinding head.

[0010] Specifically, step 1 includes: To create a program for rounding sharp edges, import the part and tooling models into the programming software and assemble them together in the robot system. When creating the motion trajectory, the tool should advance along the direction of the grinding head at the first grinding point and retract along the direction of the grinding head at the last grinding point. The motion trajectory connecting the machining paths needs to be created with efficiency and collision safety in mind.

[0011] Specifically, step 2 includes: Step 21: Collect the position of the pallet coordinate system relative to the machine tool coordinate system (X1, Y1, Z1), and measure the position of the part coordinate system relative to the machine tool coordinate system on the CNC machine tool as (X2, Y2, Z2). Step 22: Calculate the relative positions of the part coordinate system and the pallet coordinate system as (ΔX, ΔY, ΔZ) according to the formulas X2-X1=ΔX, Y2-Y1=ΔY, Z2-Z1=ΔZ.

[0012] Specifically, step 3 includes: Step 31: When the part is transferred to the robot's sharp edge rounding system after CNC machining, it is precisely positioned in the robot's sharp edge rounding system by the zero-point positioning device on the pallet, and the relative position information (ΔX, ΔY, ΔZ) is transmitted to the robot's sharp edge rounding system at the same time. Step 32: Measure the position (X3, Y3, Z3) of the processing pallet coordinate system relative to the robot's sharp edge rounding system mechanical coordinate system. Step 33: Calculate the position (X4, Y4, Z4) of the part coordinate system relative to the robot's sharp edge rounding system coordinate system using the formulas X4=X3+ΔX, Y4=Y3+ΔY, Z4=Z3+ΔZ.

[0013] In summary, this application provides a flexible robotic rounding system and method for aerospace structural components. It connects the robotic sharp-edge rounding system to a CNC machine tool, transmitting the precise position information of the part to the robotic sharp-edge rounding system. This enables precise positioning of the part within the robotic sharp-edge rounding system, completing the sharp-edge rounding process without manual teaching programming. This effectively solves the problem of unstable edge quality, significantly improves the surface quality of the part, shortens the processing cycle, and enhances the stability of CNC machined products. Attached Figure Description

[0014] Figure 1 CNC machining station part clamping diagram.

[0015] Figure 2 Overall layout diagram of the robot's sharp edge rounding system.

[0016] Figure 3 Part clamping diagram for the robot's sharp-edge rounding station.

[0017] Figure 4 A schematic diagram of the robot system's sharp edge rounding strategy.

[0018] Figure 5 A schematic diagram of the rounded edge of the sharp edge in the front view of the part.

[0019] Figure 6 A schematic diagram of the rounded edge of the sharp edge in the back view of the part.

[0020] The numbers in the diagram are explained as follows: 1. Part body; 2. Process boss; 3. Pallet; 4. Zero point positioning; 5. CNC machine tool; 6. Robot; 7. End effector; 11. Front view of part outline; 12. Front view of part rib edge; 13. Back view of part outline; 14. Back view of part rib edge. Detailed Implementation

[0021] The method of this invention mainly connects the robot execution system with the CNC machine tool, confirms the precise relative position information of the part through the CNC machine tool, and transmits the relative position information to the robot execution system to improve the absolute positioning accuracy of the robot execution system. This enables forward offline programming of robot sharp edge rounding, and the entire process does not require human teaching. It is suitable for automated sharp edge rounding processing of aerospace structural parts with multiple varieties and small batches.

[0022] like Figure 1 As shown, the CNC machining station part includes the part body (1), process boss (2), pallet (3), zero-point positioning (4), wherein: The part body (1) is the part to be processed. The part has a quadrilateral structure and includes vertical ribs, grooves and other structures. The part is provided with a process boss (2). The part is fixed on the tray (3) by the process boss (2). The tray (3) is equipped with a zero-point positioning (4) mechanism for quick positioning and clamping of the tray (3) at the processing station.

[0023] The coordinate system of a CNC machining station part is determined by the reference holes and reference surfaces on the part's process boss, and is used to describe the specific position information of the part.

[0024] The coordinate system of the CNC machining station pallet is determined by the reference holes and reference surfaces on the CNC machining pallet, and is used to describe the specific position information of the object carried on the pallet.

[0025] The part body (1) includes the part outline 11 in the front view, the part rib edge 12 in the front view, the part outline 13 in the back view, and the part rib edge 14 in the back view. The front view of the part outline 11 is the part body (1) The outline of the part outline from the front view is around the edges The front view of the part shows the vertical rib edge 12 as the part body (1) the outline of the cavity from the front view, around the edge. The outline of the part in the back view 13 is the part body (1) The outline of the part from the back view is around the edges, The rear view shows the vertical rib edge 14 of the part body (1) the outline of the groove cavity from the rear view direction; Example 1 like Figure 2 As shown, this invention provides a flexible robotic rounding machining system for aerospace structural components, including an end effector (7), a six-axis robot (6), a CNC machine tool (5), a machining tray (3), and a zero-point positioning device (4), wherein: The end effector (7) includes a flexible floating air spindle and a grinding tool. The air spindle controls the rotation of the grinding tool to achieve the rounding of sharp edges of aerospace structural parts. The flexible floating air spindle ensures that the grinding head is in flexible contact with the part during the rounding process, and ensures that the downward pressure and downward amount of the grinding tool are constant during operation, thus avoiding the problem of out-of-tolerance rounding dimensions.

[0026] The six-axis robot (6) drives the end effector (7) to move according to the offline program path, realizing the rounding motion trajectory of sharp edges on different features of aerospace structural parts.

[0027] The CNC machine tool (5) determines the relative position of the parts on the pallet by measurement.

[0028] Process the pallet (3) to support the parts and ensure that the relative positional relationship of the parts on the pallet remains unchanged.

[0029] Zero-point positioning device (4) enables rapid and accurate positioning of the pallet at the CNC machine tool station and the robot's sharp edge rounding station.

[0030] The coordinate system of the robot's sharp-edge rounding workstation pallet is determined by the reference holes and reference surfaces on the CNC machining pallet, and is used to describe the specific position information of the object carried on the pallet.

[0031] The coordinate system of the robot's sharp edge rounding station part is determined by the reference hole and reference surface on the part's process boss, and is used to describe the specific position information of the part.

[0032] Example 2 This application provides a flexible robot rounding machining method for aerospace structural components, applied to the flexible robot rounding machining system for aerospace structural components provided in the above embodiments, including: Step 1: Create a sharp edge rounding program based on the machining path and rounding parameters; In step 1, based on the structural characteristics of the sharp edge rounding part of the part, the sharp edge rounding path is planned. When rounding the sharp edge, the axis of the grinding head should be on the bisector of the angle between the plane of the edge being processed. The bottom end face of the grinding head should be tangent to the edge being ground. The axis of the grinding head should be perpendicular to the curved surface and the curve to form a uniform and smooth grinding path. The sharp edge rounding parameters are designed.

[0033] It should be noted that the rounding parameters have a significant impact on the rounding effect of sharp edges, the life of the grinding head, and the rounding efficiency.

[0034] Among them, the rounding parameters involve rotational speed (S), feed rate (F), and pressure (P).

[0035] Specifically, the calculation process for the downward pressure (P) is as follows: Step 11: It should be noted that the downward pressure N is related to the material of the workpiece and the size of the fillet. Different materials and different fillet machining processes require different downward pressures. To determine the downward pressure N, a standard downward pressure calibration test can be designed. The test piece is 200mm long, 50mm high, and 3mm thick. The standard downward pressure is 20N. The test piece is machined using standard speed and feed. After machining, the average fillet radius R0 is measured. The actual downward pressure N is calculated using the following formula: N = (20 × R) 2 ×F0) / (R0) 2 ×F) In the formula, R is the target rounding radius, F is the actual rounding feed rate, R0 is the current material calibration rounding radius, and F0 is the current material calibration rounding feed rate.

[0036] Step 12: Based on the actual downward pressure N, calculate the floating amount Ps of the floating air main shaft using the formula Ps=N / K; In the formula, N is the downward pressure and the axial force on the main shaft, and K is the stiffness coefficient of the air suspension main shaft, which represents the axial force required per unit float.

[0037] Step 13: Based on the floating amount Ps of the floating air spindle, use the formula P=Ps+Pm to calculate the downward pressure P, where Pm is the actual downward pressure at the end of the grinding head.

[0038] The values ​​of each parameter are shown in the table below: Table 1 Sharp edge rounding parameters

[0039] Where H is the processing time in hours, and P is the distance the robot end continues to move along the axis after the bottom face of the grinding head contacts the edge of the part, ensuring full contact between the grinding head and the part, since the spindle is a floating air spindle.

[0040] To create a program for rounding sharp edges, import the part and tooling models into the programming software and assemble them together in the robot system. When creating the motion trajectory, the tool should be fed in the direction of the grinding head at the first grinding point, and the tool should be withdrawn in the direction of the grinding head at the last grinding point. The motion trajectory connecting the machining paths needs to be created with efficiency and collision safety in mind.

[0041] Step 2: Generate the relative position information between the part and the pallet on the CNC machine tool; Specifically, step 2 includes: Step 21: Collect the position of the pallet coordinate system relative to the machine tool coordinate system (X1, Y1, Z1), and measure the position of the part coordinate system relative to the machine tool coordinate system on the CNC machine tool as (X2, Y2, Z2). Step 22: Calculate the relative positions of the part coordinate system and the pallet coordinate system as (ΔX, ΔY, ΔZ) according to the formulas X2-X1=ΔX, Y2-Y1=ΔY, Z2-Z1=ΔZ.

[0042] Step 3: Based on the relative position information of the parts, the robot's sharp edge rounding system performs sharp edge rounding.

[0043] Specifically, step 3 includes: Step 31: When the part is transferred to the robot's sharp edge rounding system after CNC machining, it is precisely positioned in the robot's sharp edge rounding system by the zero-point positioning device on the pallet, and the relative position information (ΔX, ΔY, ΔZ) is transmitted to the robot's sharp edge rounding system at the same time. Step 32: Measure the position (X3, Y3, Z3) of the processing pallet coordinate system relative to the robot's sharp edge rounding system mechanical coordinate system. Step 33: Calculate the position (X4, Y4, Z4) of the part coordinate system relative to the robot's sharp edge rounding system coordinate system using the formulas X4=X3+ΔX, Y4=Y3+ΔY, Z4=Z3+ΔZ.

[0044] The sharp edge rounding is performed by executing the sharp edge rounding program in the part coordinate system (X4, Y4, Z4) to complete the sharp edge rounding of the part. The program is then fine-tuned based on the sharp edge rounding effect to finally complete the sharp edge rounding of the part.

[0045] In summary, this invention provides a flexible robotic rounding machining method for aerospace structural components. This method enables rapid and precise positioning of parts in the robotic sharp edge rounding machining system according to the sharp edge rounding machining requirements of aerospace structural components. This allows for forward offline programming of robotic sharp edge rounding without human teaching, thus achieving automated sharp edge rounding machining of aerospace structural components.

[0046] Example 3 In this embodiment, the selected part is an aerospace structural component, material grade 7050, with a rounding requirement of R0.5 for sharp edges. See appendix. Figure 1 This is a schematic diagram showing the clamping state of part 1 with its sharp edge rounded off. It is clamped using process boss 2. (Attached) Figure 2 This is the overall layout diagram of the sharp edge rounding system, including a CNC machine tool (7), the robot body (8), and the robot itself having 6 joint axes. (Attached) Figure 4 This is a schematic diagram of the grinding head rounding off sharp edges. The bottom surface of the brush is tangent to edge 12 of part 1, and the brush axis coincides with the angle bisector of edge 12. The rounding method for edge 13 is the same as that for edge 12. (Attached) Figure 5 Appendix Figure 6 The thickened lines represent the rounded edges of the parts, including the outer contour 12, the outer contour 14, and the vertical rib edges 13 and 15.

[0047] Construct a robot-based edge rounding machining system, comprising: an end effector (11), a six-axis robot (8), a CNC machine tool, a machining pallet, and a zero-point positioning device.

[0048] Offline programming for rounding sharp edges of robots, with attachment Figure 1 After CNC machining, part 1 has a process boss 2, which is used to clamp the part onto a pallet 3. The pallet 3 is then clamped and positioned with the work platform via a zero-point positioning 4. Each edge is made of straw. Figure 4 The illustrated angular strategy is used for rounding sharp edges. The grinding head axis remains perpendicular to the curved surface, working in conjunction with the curve to create a uniform and smooth grinding path. The rounding of sharp edges on this part is performed in two stations. Station 1: Front view, as attached. Figure 5 As shown, the thickened lines represent the rounded edges of sharp edges, including the outer contour 10 and the vertical rib edge 11. The sharp edges of the thinner lines are manually removed by the fitter when removing the process boss. Station 2: Rear view, as attached. Figure 6 As shown, this includes the outer contour 12 and the vertical rib edge 13. The sharp edges of the fine lines are manually removed by the fitter when removing the process boss. The grinding parameters involve rotational speed (S), feed rate (F), and indentation (P). The part material is aluminum alloy. According to the parameters in Table 1, S = 6000 rpm, F = 3000 mm / min, and the indentation P is calculated as follows: First, a standard downward pressure calibration test was conducted. The test piece was 200mm long, 50mm high, and 3mm thick. The standard downward pressure was 20N, the material grade was 7050, and the calibration feed rate was selected as F0=3000mm / min, and the rotational speed was S=6000rpm. The test piece was machined using these parameters. After machining, the average rounding radius R0 was measured to be 0.8mm. Therefore, the actual downward pressure N of the part is N=(20×R0). 2 ×F0) / (R0) 2×F) = 7.8N, then the downward pressure P = Ps + Pm = N / K + Pm. Consulting the spindle manual, we know K is 12.5, therefore the initial downward pressure P = 1.12mm can be calculated. The downward pressure is then adjusted according to the machining time. Using programming software, press station 1 and station 2 as described above, and press the attached... Figure 5 Appendix Figure 6 The thick lines marked in the diagram create target points, the grinding head tilt angle is adjusted, and the feed and retraction paths are increased to form the motion trajectory. During program development, attention must be paid to the overtravel issue of the robot's joint axes. If overtravel occurs, the tilt angles of other joint axes and the feed and retraction positions of the motion trajectory can be adjusted to ultimately ensure that the simulated trajectory has no overtravel and no collisions.

[0049] Generate the relative position information between the part and the pallet at the CNC machine tool end, such as Figure 1 The part 1 shown is fixed on the tray 3 by the process boss 2. The tray 3 has a set of zero-point positioning 4, which can realize the precise positioning of the tray on the CNC machine tool. After the part is clamped, the operator sets the part machining coordinate system 5; calculates the relative positional relationship between the machining coordinate system 5 and the tray base coordinate system 6, including the deviation of the three coordinate axes X, Y, and Z (ΔX, ΔY, ΔZ).

[0050] The relative position information of the part is transmitted to the robot's sharp edge rounding system. After the part is CNC machined, the machining pallet holding the part is moved to the robot's sharp edge rounding station. The zero-point positioning device completes the rapid and accurate positioning and clamping. While exchanging machining pallets, the relative position relationship between the machining coordinate system 5 and the basic coordinate system 6 in the CNC machine tool is transmitted to the robot's sharp edge rounding unit to correct the robot's sharp edge rounding coordinate system 10 and obtain the precise position information of the part's coordinate system in the robot's sharp edge rounding system.

[0051] To perform sharp edge rounding, the robot executes the sharp edge rounding program in the corrected part coordinate system. No manual teaching programming is required. The robot can complete the sharp edge rounding of the part according to the sharp edge rounding program. The program parameters are then fine-tuned and fixed based on the sharp edge rounding effect, and the sharp edge rounding of the part is finally completed.

Claims

1. A flexible robotic rounding machining system for aerospace structural components, characterized in that, Includes an end effector (7), a six-axis robot (6), a CNC machine tool (5), a processing pallet (3), and a zero-point positioning device (4), wherein: The end effector (7) includes a flexible floating air spindle and a grinding tool. The air spindle controls the rotation of the grinding tool to achieve the rounding of sharp edges of aerospace structural parts. The flexible floating air spindle ensures that the grinding head is in flexible contact with the parts during the rounding of sharp edges. The six-axis robot (6) drives the end effector (7) to move according to the offline program path, realizing the rounding motion trajectory of sharp edges on different features of aerospace structural parts; The CNC machine tool (5) determines the relative positional relationship of the parts on the pallet by measurement; Process the pallet (3) to support the parts and ensure that the relative positional relationship of the parts on the pallet remains unchanged; Zero-point positioning device (4) enables rapid and accurate positioning of the pallet at the CNC machine tool station and the robot's sharp edge rounding station.

2. A flexible robotic rounding method for aerospace structural components, characterized in that, The method applied to the flexible robotic rounding machining system for aerospace structural components as described in claim 1 includes: Step 1: Create a sharp edge rounding program based on the machining path and rounding parameters; Step 2: Generate the relative position information between the part and the pallet on the CNC machine tool; Step 3: Based on the relative position information of the parts, the robot's sharp edge rounding system performs sharp edge rounding.

3. The method according to claim 1, characterized in that, In step 1, based on the structural characteristics of the sharp edge rounding part of the part, the sharp edge rounding path is planned. When rounding the sharp edge, the axis of the grinding head should be on the bisector of the angle between the plane of the edge being processed. The bottom end face of the grinding head should be tangent to the edge being ground. The axis of the grinding head should be perpendicular to the curved surface and the curve to form a uniform and smooth grinding path. The sharp edge rounding parameters are designed.

4. The method according to claim 3, characterized in that, The rounding parameters include rotational speed (S), feed rate (F), and pressure (P).

5. The method according to claim 4, characterized in that, The calculation process for downward pressure (P) is as follows: Step 11: Use the formula N = (20 × R) 2 ×F0) / (R0) 2 ×F), calculate the actual downward pressure N, where R is the target rounding radius, F is the actual rounding feed rate, R0 is the current material calibration rounding radius, and F0 is the current material calibration rounding feed rate; Step 12: Based on the actual downward pressure N, calculate the floating amount Ps of the floating air main shaft using the formula Ps=N / K, where K is the stiffness coefficient of the air suspension main shaft. Step 13: Based on the floating amount Ps of the floating air spindle, use the formula P=Ps+Pm to calculate the downward pressure P, where Pm is the actual downward pressure at the end of the grinding head.

6. The method according to claim 1, characterized in that, Step 1 includes: To create a program for rounding sharp edges, import the part and tooling models into the programming software and assemble them together in the robot system. When creating the motion trajectory, the tool should advance along the direction of the grinding head at the first grinding point and retract along the direction of the grinding head at the last grinding point. The motion trajectory connecting the machining paths needs to be created with efficiency and collision safety in mind.

7. The method according to claim 1, characterized in that, Step 2 includes: Step 21: Collect the position of the pallet coordinate system relative to the machine tool coordinate system (X1, Y1, Z1), and measure the position of the part coordinate system relative to the machine tool coordinate system on the CNC machine tool as (X2, Y2, Z2). Step 22: Calculate the relative positions of the part coordinate system and the pallet coordinate system as (ΔX, ΔY, ΔZ) according to the formulas X2-X1=ΔX, Y2-Y1=ΔY, Z2-Z1=ΔZ.

8. The method according to claim 1, characterized in that, Step 3 includes: Step 31: When the part is transferred to the robot's sharp edge rounding system after CNC machining, it is precisely positioned in the robot's sharp edge rounding system by the zero-point positioning device on the pallet, and the relative position information (ΔX, ΔY, ΔZ) is transmitted to the robot's sharp edge rounding system at the same time. Step 32: Measure the position (X3, Y3, Z3) of the processing pallet coordinate system relative to the robot's sharp edge rounding system mechanical coordinate system. Step 33: Calculate the position (X4, Y4, Z4) of the part coordinate system relative to the robot's sharp edge rounding system coordinate system using the formulas X4=X3+ΔX, Y4=Y3+ΔY, Z4=Z3+ΔZ.

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