Robot ultrasonic polishing method, device and system
By combining robots with ultrasonic polishing devices, the efficiency and precision issues of polishing complex workpieces have been solved, achieving efficient and precise polishing results. This method is applicable to workpieces of different shapes and specifications and has strong adaptability and intelligence.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-22
- Publication Date
- 2026-04-07
AI Technical Summary
Existing technologies struggle to perform efficient and precise ultrasonic polishing on complex workpieces. In particular, the limitations of machine tools make it difficult to polish complex workpieces, and traditional polishing methods suffer from uneven surface quality, damage, and low efficiency.
By combining robots with ultrasonic polishing devices, high-precision polishing of complex workpieces can be achieved through robot ultrasonic polishing tool calibration, workpiece positioning, model analysis, area division, path planning, and closed-loop feedback.
It improves polishing efficiency and precision, ensures good workpiece surface quality, has strong adaptability, reduces dependence on other components, and improves the system's integration level.
Smart Images
Figure CN121798445A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of industrial automation and intelligent manufacturing technology, specifically relating to a robotic ultrasonic polishing method, apparatus, and system. Background Technology
[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.
[0003] With the rapid development of aerospace, automotive, mold making, and precision manufacturing industries, the demand for various precision-machined workpieces is gradually increasing. Because different types of precision workpieces can more accurately match the requirements of various complex working conditions and achieve functions that are difficult to achieve with traditional workpieces, they are widely used in high-end manufacturing and precision equipment. The surface roughness of a workpiece directly affects its mechanical properties, as well as its fatigue strength and corrosion resistance, and is crucial to the motion accuracy and lifespan of equipment.
[0004] Therefore, in the field of precision machining, high surface roughness is required for workpieces. Workpieces with high roughness requirements typically require polishing to improve surface quality and workpiece performance. However, polishing often presents challenges such as difficulty in achieving complete contact between the polishing tool and the workpiece surface, poor surface uniformity, susceptibility to surface damage, and low polishing efficiency. Therefore, it is necessary to conduct relevant research on workpiece polishing operations.
[0005] Polishing methods for workpieces mainly include manual polishing, mechanical polishing, laser polishing, and ultrasonic polishing. Manual polishing suffers from drawbacks such as poor consistency and repeatability, low efficiency, limited precision, and high labor intensity. Mechanical polishing is less adaptable to complex curved surfaces, prone to surface stress and damage, and prone to tool wear. Laser polishing is hampered by high equipment costs, limited material selectivity, and the potential for heat-affected zones. In contrast, ultrasonic polishing offers advantages such as high polishing precision, excellent surface quality, strong adaptability to complex curved surfaces, minimal surface damage, high efficiency, and wide applicability, thus gaining widespread application in numerous fields.
[0006] In the field of ultrasonic polishing, ultrasonic polishing is mainly performed on regular workpieces with simple structures, and the ultrasonic polishing operation is mainly completed by machine tools. Therefore, it is difficult to perform ultrasonic polishing operation on complex workpieces, which has great limitations. Summary of the Invention
[0007] To address the aforementioned problems, this invention proposes a robotic ultrasonic polishing method, apparatus, and system. This method combines a robot with an ultrasonic polishing device, achieving excellent polishing results on the workpiece surface while ensuring polishing efficiency.
[0008] According to some embodiments, the first aspect of the present invention provides a robotic ultrasonic polishing method, which adopts the following technical solution: A robotic ultrasonic polishing method, comprising: Robotic ultrasonic polishing tool calibration, workpiece positioning, and determination of the workpiece's position in the robot's base coordinates; Based on the model information of the workpiece to be polished, a polishing workpiece model is constructed and parsed. Based on the analytical information of the workpiece model to be polished, the polishing area is divided and the ultrasonic polishing path of the robot is planned. Interference analysis of path points is performed on the planned polishing path, and the workpiece is then ultrasonically polished by robot based on the results of the interference analysis of path points. The polishing effect of robotic ultrasonic polishing is evaluated, and closed-loop feedback of robotic ultrasonic polishing is carried out based on the polishing effect evaluation results. The process parameters of robotic ultrasonic polishing are adjusted in real time according to the feedback results.
[0009] As a further technical limitation, in the process of obtaining the position of the polished workpiece in the robot's base coordinate system, an ultrasonic polishing device is installed at the end of the robot and the tool is calibrated. By determining the position of a point in the workpiece model in the workpiece coordinate system and the position of the end tool of the installed ultrasonic polishing device at that point in the robot's base coordinate system, the position of the polished workpiece in the robot's base coordinate system is determined, and the positioning of the polished workpiece is completed.
[0010] As a further technical limitation, the analytical results of the polished workpiece model include the geometric features and parameter information of the polished workpiece; the geometric features include at least the geometric features of the polished workpiece length, width, height, parameterized surface, surface curvature, and surface curvature change rate; the parameter information is obtained by analyzing the polished workpiece model using a deep learning model.
[0011] Furthermore, the polishing area of the polishing workpiece is divided according to the obtained parameter information of the polishing workpiece, that is, the polishing area of the polishing workpiece is divided based on the preset polishing surface curvature threshold and the obtained surface curvature of the polishing workpiece; the centroid coordinates of each divided polishing area are calculated, and the optimal polishing sequence planning method is used to plan the polishing sequence to obtain the optimal region polishing sequence.
[0012] Furthermore, the ultrasonic polishing path of the robot is planned using the zigzag and zigzag path planning method. During the planning process, the zigzag and zigzag corners are replaced with arc paths instead of broken lines. The polishing path spacing is dynamically adjusted according to the curvature change rate of the surface. The path spacing is reduced in steep areas of the surface and increased in gentle areas of the surface. The polishing path is adaptively adjusted according to the curvature change of the surface.
[0013] According to some embodiments, the second aspect of the present invention provides a robotic ultrasonic polishing device, which adopts the robotic ultrasonic polishing method provided in the first aspect, and employs the following technical solution: A robotic ultrasonic polishing device includes a robot and an ultrasonic polishing device installed at the end of the robot. A workpiece to be polished is disposed below the ultrasonic polishing device and is disposed on a workpiece clamping device.
[0014] According to some embodiments, a third aspect of the present invention provides a robotic ultrasonic polishing system, employing the following technical solution: A robotic ultrasonic polishing system, comprising: The calibration and positioning module is configured to calibrate the ultrasonic polishing tool and simultaneously position the workpiece to be polished in the robot's base coordinate system. The parsing module is configured to construct and parse a workpiece model based on the model information of the workpiece to be polished. The planning module is configured to divide the polishing area and plan the ultrasonic polishing path of the robot based on the information obtained from model analysis. The polishing module is configured to perform interference analysis on the planned polishing path and perform robotic ultrasonic polishing of the workpiece based on the interference analysis results. The feedback module is configured to evaluate the polishing effect of the robot's ultrasonic polishing, combine the polishing effect evaluation results to perform closed-loop feedback of the robot's ultrasonic polishing, and adjust the robot's ultrasonic polishing process parameters in real time based on the feedback results.
[0015] According to some embodiments, the fourth aspect of the present invention provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the robotic ultrasonic polishing method as described in the first aspect of the present invention.
[0016] According to some embodiments, the fifth aspect of the present invention provides an electronic device, which adopts the following technical solution: An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in the robotic ultrasonic polishing method as described in the first aspect of the present invention.
[0017] According to some embodiments, the sixth aspect of the present invention provides a computer program product, which adopts the following technical solution: A computer program product includes software code, wherein the program in the software code performs the steps of the robotic ultrasonic polishing method as described in the first aspect of the present invention.
[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The robot in this invention features high motion control precision and flexibility. By using a robot to perform ultrasonic polishing of the workpiece, the impact of robot motion precision on the polishing effect is avoided, resulting in high flexibility and enabling the polishing operation to meet high process requirements. The use of an ultrasonic polishing device to complete the polishing operation of the workpiece achieves a good polishing effect.
[0019] This invention can polish workpieces of any shape, improving the efficiency of workpiece polishing and possessing a certain degree of intelligence. During the polishing process, the polishing process parameters are iteratively optimized, thereby ensuring the polishing effect. It is applicable to polishing workpieces of different specifications and shapes, and has strong adaptability.
[0020] This invention combines a robot with an ultrasonic polishing device, which reduces dependence on other components, improves the polishing efficiency of the workpiece, and enhances the integration of the system to a certain extent. Attached Figure Description
[0021] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.
[0022] Figure 1 This is a flowchart of the robotic ultrasonic polishing method in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the steps of the robotic ultrasonic polishing method in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the zigzag polishing path in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram showing the positional relationship between the ultrasonic polishing device and the workpiece in Embodiment 1 of the present invention. Figure 5 This is a schematic diagram of the structure of the robotic ultrasonic polishing device in Embodiment 2 of the present invention; Figure 6 This is a structural block diagram of the robotic ultrasonic polishing system in Embodiment 3 of the present invention. Detailed Implementation
[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0024] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.
[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0026] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.
[0027] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.
[0028] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.
[0029] Example 1 Embodiment 1 of this invention introduces a robotic ultrasonic polishing method.
[0030] like Figure 1 The robotic ultrasonic polishing method shown includes: Robotic ultrasonic polishing tool calibration, workpiece positioning, and determination of the workpiece's position in the robot's base coordinates; Based on the model information of the workpiece to be polished, a polishing workpiece model is constructed and parsed. Based on the analytical information of the workpiece model to be polished, the polishing area is divided and the ultrasonic polishing path of the robot is planned. Interference analysis of path points is performed on the planned polishing path, and the workpiece is then ultrasonically polished by robot based on the results of the interference analysis of path points. The polishing effect of robotic ultrasonic polishing is evaluated, and closed-loop feedback of robotic ultrasonic polishing is carried out based on the polishing effect evaluation results. The process parameters of robotic ultrasonic polishing are adjusted in real time according to the feedback results.
[0031] This embodiment uses a combination of a robot and an ultrasonic polishing device to polish the workpiece, achieving a relatively precise polishing process and a good polishing effect on the workpiece surface. While ensuring polishing accuracy and consistency, it also guarantees efficiency and safety. The method features a high degree of integration, strong flexibility, and advanced technology and intelligence. Therefore, the detailed steps of the robotic ultrasonic polishing method in this embodiment are as follows: Figure 2 As shown, the specific steps include: tool calibration of the robotic ultrasonic polishing device; workpiece positioning; workpiece model analysis; polishing area division; polishing sequence planning; robotic ultrasonic polishing path planning; interference analysis and decision-making in the polishing area; robotic ultrasonic polishing; polishing effect evaluation and iterative optimization of polishing process parameters.
[0032] As one or more implementation methods, this embodiment requires tool calibration of the robotic ultrasonic polishing device before workpiece polishing, such as... Figure 5 As shown, tool calibration is performed on the ultrasonic polishing device installed at the end of the robot to determine the positional relationship of the end of the ultrasonic polishing device relative to the robot flange, thereby ensuring the accuracy of subsequent polishing operations.
[0033] In this embodiment, during the calibration of the ultrasonic polishing device tool, the polishing contact points at the end of the tool are manually marked, and then the calibration operation is performed using the TCP calibration method commonly used in robots. Since the ultrasonic polishing device generates a significant reaction force during workpiece polishing, this embodiment uses a buffer-equipped connector to connect the ultrasonic polishing device to the robot's end flange. This reduces the impact of the ultrasonic polishing device on the robot to a certain extent, improves the polishing effect, and ensures the accuracy of subsequent polishing operations.
[0034] As one or more implementation methods, after the tool calibration operation of the robot ultrasonic polishing device is completed, the workpiece to be polished needs to be positioned so as to accurately determine the position of the workpiece in the robot's base coordinate system.
[0035] In this embodiment, when positioning a polished workpiece, an arbitrary point is selected on the workpiece, and the position of that point in the workpiece coordinate system is read from the workpiece model. The end tool point of the robot polishing device is then moved to the selected workpiece point, and the position of the end tool point of the robot polishing device in the robot base coordinate system is read. Based on the two position coordinates read above, the position of the workpiece coordinate system in the robot base coordinate system can be calculated, thereby completing the positioning operation of the polished workpiece.
[0036] As one or more implementation methods, after determining the pose relationship between the workpiece to be polished and the robot, this embodiment performs model analysis on the model of the workpiece to be polished to obtain information such as the geometric features of the workpiece to be polished (geometric features include workpiece length, width, height, parametric surface, surface curvature, surface curvature change rate, etc.).
[0037] In this embodiment, the CAD model of the workpiece to be polished is input into the robot ultrasonic polishing control system. The model is analyzed according to the model analysis algorithm to obtain the parameter information required for the polishing operation, which facilitates the robot to perform path planning and polishing operation based on the model information.
[0038] Due to the complexity of the workpiece structure, it is difficult to analyze it using general model analysis algorithms. Therefore, to meet the precision requirements of ultrasonic polishing of robotic workpieces, this embodiment employs deep learning algorithms (such as convolutional neural networks and graph neural networks) for workpiece model analysis. This embodiment uses the CAD model of the workpiece, which has high model complexity, as training data. A training set is constructed through methods such as manual annotation of target features. Deep learning algorithms are then used for training to obtain the initial training model for the workpiece model analysis algorithm. After multiple iterations and optimizations to improve its generalization ability, the final workpiece model analysis algorithm is obtained.
[0039] As one or more implementation methods, due to the high complexity of the workpiece structure, different polishing process parameters are required for different areas to ensure polishing consistency. This embodiment requires dividing the polishing area of the workpiece to ensure the polishing effect. When dividing the polishing area, multiple polishing surface curvature thresholds are first set (the number and size of the thresholds are set according to the actual polishing requirements; they can be set as fixed values initially and then adjusted based on the area division effect). Then, the polishing area of the workpiece is divided according to the set curvature thresholds and the surface curvature obtained from model analysis, thereby ensuring the consistency of the polishing operation.
[0040] As one or more implementation methods, after dividing the workpiece polishing area, in order to ensure polishing efficiency, this embodiment plans the polishing sequence for all polishing areas.
[0041] In this embodiment, when planning the polishing sequence of the polishing area, the centroid coordinates of each polishing area are calculated based on the workpiece model information. The centroid coordinates of each area are used as input, and the optimal polishing sequence of the area is calculated by an optimal polishing sequence planning algorithm (such as ant colony algorithm), thus ensuring the efficiency of the polishing operation.
[0042] As one or more implementation methods, the robot ultrasonic polishing path planning algorithm is a key factor affecting the polishing effect of the workpiece. Therefore, after obtaining the geometric feature information of the workpiece to be polished and completing the division and sequence planning of the polishing area, this embodiment plans the robot's polishing path according to its geometric feature information, thereby achieving a good polishing effect on the workpiece.
[0043] In planning the robot polishing path, this embodiment plans the polishing path based on the geometric features of the workpiece model, selecting the most suitable polishing path planning method for this type of workpiece. Due to the high complexity of workpiece polishing and the high requirements of the ultrasonic polishing device for its own polishing pose, conventional polishing path planning algorithms are difficult to achieve ideal polishing results. Therefore, this embodiment adopts a zigzag path planning method. Polishing with a broken line trajectory at the corners of the zigzag path will produce polishing textures, which will have a certain impact on the polishing quality. Figure 3 As shown, when using a zigzag or zigzag path for planning, an arc path is used instead of a broken line path at the corners to ensure the polishing effect.
[0044] Since the path spacing determines the polishing density and thus affects the polishing effect, this embodiment dynamically adjusts the polishing path spacing based on curvature changes during path planning. The path spacing is reduced in steep areas and increased in gentle areas, allowing for adaptive adjustment of the polishing path spacing according to surface curvature changes. After obtaining the polishing path, this embodiment discretizes the polishing path into several path points, with the discretization interval set according to actual conditions. To ensure the robotic ultrasonic polishing effect on the workpiece, such as... Figure 4 As shown, in this embodiment, when performing path planning, it is necessary to ensure that the axis of the ultrasonic polishing device is always parallel to the normal direction at each polishing path point of the workpiece being polished.
[0045] As one or more implementation methods, due to the high complexity of the structure of the polished workpiece, after completing the path planning, this embodiment performs interference analysis and decision-making on all planned path points to ensure high safety during the polishing process and avoid affecting the quality and efficiency of polishing.
[0046] When performing interference analysis and decision-making in the polishing area, this embodiment obtains information such as the robot pose, polishing tool pose, and polishing workpiece model at each path point. It determines whether interference will occur at each path point based on whether the distance between each model at each path point is less than a safety threshold, and makes a decision based on the interference situation. If no interference occurs, the subsequent steps are executed directly. If interference occurs, the robot polishing tool pose at the path point is adjusted, and the interference problem is re-evaluated. If no interference occurs, the subsequent steps continue. If interference occurs, the coordinates of the path point are appropriately adjusted, and the problem is re-evaluated. If no interference occurs, the subsequent steps continue. If interference occurs, the path point is simply removed.
[0047] As one or more implementation methods, after completing robot polishing path planning and interference analysis decisions, this embodiment controls the robot to carry the ultrasonic polishing device to complete the corresponding polishing operation. When controlling the robot to perform ultrasonic polishing of the workpiece, the robot is controlled to sequentially reach each path point in the corresponding pose according to the planned polishing path, thereby completing the ultrasonic polishing operation of the workpiece.
[0048] To ensure the effectiveness of ultrasonic polishing by the robot, this embodiment ensures that the ultrasonic polishing device at the end of the robot is in stable contact with the surface of the workpiece during the polishing operation, thereby achieving a high degree of consistency in the polishing effect on the surface of the workpiece.
[0049] As one or more implementation methods, after the robotic ultrasonic polishing operation of the workpiece is completed, this embodiment evaluates the polishing effect of the polished workpiece (e.g., compares the roughness and other parameters of the workpiece before and after polishing to evaluate the effect), and iteratively optimizes the polishing process parameters (polishing speed, polishing times, polishing air pressure of the ultrasonic polishing device, power of the ultrasonic polishing device, etc.) based on the evaluation results, thereby achieving a good polishing effect.
[0050] After evaluating the polishing effect, if the polishing effect is good, the original process parameters can be kept unchanged or finely adjusted before proceeding to the polishing operation of the next workpiece; if the polishing effect is poor, the polishing process parameters can be adjusted appropriately before proceeding to the polishing operation of the next workpiece.
[0051] Since there are many polishing process parameters, directly adjusting each polishing process parameter may be quite complicated. Therefore, in this embodiment, when adjusting the polishing process parameters, a corresponding adjustment weight is set for each polishing process parameter. The polishing process parameters are comprehensively adjusted according to the magnitude of the adjustment weight, so as to find the most suitable polishing process parameters for different workpieces more quickly and improve the polishing effect.
[0052] This embodiment proposes a robotic ultrasonic polishing method that combines a robot and an ultrasonic polishing device, applicable to high-precision polishing of workpieces of arbitrary shapes. It mainly includes the following nine stages: The first stage is tool calibration of the robotic ultrasonic polishing device; the second stage is workpiece positioning, obtaining the workpiece coordinate system's position in the robot's base coordinate system by converting model coordinates to robot coordinates; the third stage is workpiece model analysis, using a deep learning-based model analysis algorithm to obtain information such as the geometric features of the workpiece; the fourth stage is polishing area division, dividing the polishing area according to a set threshold and the workpiece surface curvature obtained from model analysis; the fifth stage is polishing sequence planning, obtaining the optimal polishing sequence for each polishing area based on the centroid coordinates of each area and an optimal polishing sequence planning algorithm; the sixth stage... The first stage involves the ultrasonic polishing path planning of the robot. Based on the characteristic information of the workpiece, the robot's polishing path is planned using a zigzag and rudimentary path planning method. The polishing path spacing is dynamically adjusted according to the curvature changes of the workpiece surface, and the robot's polishing pose is set. The second stage is interference analysis and decision-making in the polishing area. Interference analysis is performed based on the model spacing and safety threshold at path points, and path points where interference occurs are adjusted. The third stage is ultrasonic polishing of the robot. Based on the path planning information and set pose, the robot carries the ultrasonic polishing device to perform the polishing operation on the workpiece, ensuring stable contact between the ultrasonic polishing device and the surface of the workpiece during the polishing process. The fourth stage is polishing effect evaluation and iterative optimization of polishing process parameters. The control system compares and evaluates the effects of polishing before and after polishing, and iteratively optimizes the polishing process parameters based on the evaluation results.
[0053] Example 2 Embodiment 2 of the present invention introduces a robotic ultrasonic polishing device.
[0054] like Figure 5 The illustrated robotic ultrasonic polishing device is used to implement the robotic ultrasonic polishing method in Embodiment 1. It includes a robot and an ultrasonic polishing device installed at the end of the robot. A workpiece to be polished is disposed below the ultrasonic polishing device and is disposed on a workpiece clamping device.
[0055] It should be noted that the robotic ultrasonic polishing device also includes other separately set auxiliary devices. The robotic ultrasonic polishing of the workpiece is completed through the cooperation of these other auxiliary devices and the workpiece clamping device.
[0056] In this embodiment, other auxiliary devices include at least a controller, a sensor, and a positioning device.
[0057] Example 3 Embodiment 3 of the present invention introduces a robotic ultrasonic polishing system.
[0058] like Figure 6 The robotic ultrasonic polishing system shown includes: The calibration and positioning module is configured to calibrate the ultrasonic polishing tool and simultaneously position the workpiece to be polished in the robot's base coordinate system. The parsing module is configured to construct and parse a workpiece model based on the model information of the workpiece to be polished. The planning module is configured to divide the polishing area and plan the ultrasonic polishing path of the robot based on the information obtained from model analysis. The polishing module is configured to perform interference analysis on path points along the planned polishing path, and to perform robotic ultrasonic polishing of the workpiece based on the interference analysis results. The feedback module is configured to evaluate the polishing effect of the robot's ultrasonic polishing, combine the polishing effect evaluation results to perform closed-loop feedback of the robot's ultrasonic polishing, and adjust the robot's ultrasonic polishing process parameters in real time based on the feedback results.
[0059] The detailed steps are the same as those of the robotic ultrasonic polishing method provided in Example 1, and will not be repeated here.
[0060] Example 4 Embodiment 4 of the present invention provides a computer-readable storage medium.
[0061] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the robotic ultrasonic polishing method as described in Embodiment 1 of the present invention.
[0062] The detailed steps are the same as those of the robotic ultrasonic polishing method provided in Example 1, and will not be repeated here.
[0063] Example 5 Embodiment 5 of the present invention provides an electronic device.
[0064] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in the robotic ultrasonic polishing method as described in Embodiment 1 of the present invention.
[0065] The detailed steps are the same as those of the robotic ultrasonic polishing method provided in Example 1, and will not be repeated here.
[0066] Example 6 Embodiment 6 of the present invention provides a computer program product.
[0067] A computer program product includes software code, wherein the program in the software code performs the steps of the robotic ultrasonic polishing method as described in Embodiment 1 of the present invention.
[0068] The detailed steps are the same as those of the robotic ultrasonic polishing method provided in Example 1, and will not be repeated here.
[0069] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.
[0070] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0071] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0073] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.
[0074] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.
[0075] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.
Claims
1. A robotic ultrasonic polishing method, characterized in that, include: Robotic ultrasonic polishing tool calibration, workpiece positioning, and determination of the workpiece's position in the robot's base coordinates; Based on the model information of the workpiece to be polished, a polishing workpiece model is constructed and parsed. Based on the analytical information of the workpiece model to be polished, the polishing area is divided and the ultrasonic polishing path of the robot is planned. Interference analysis of path points is performed on the planned polishing path, and the workpiece is then ultrasonically polished by robot based on the results of the interference analysis of path points. The polishing effect of robotic ultrasonic polishing is evaluated, and closed-loop feedback of robotic ultrasonic polishing is carried out based on the polishing effect evaluation results. The process parameters of robotic ultrasonic polishing are adjusted in real time according to the feedback results.
2. The robotic ultrasonic polishing method as described in claim 1, characterized in that, In the process of obtaining the position of the polished workpiece in the robot's base coordinate system, an ultrasonic polishing device is installed at the end of the robot and the tool is calibrated. By determining the position of a point in the workpiece model in the workpiece coordinate system and the position of the end tool of the installed ultrasonic polishing device at that point in the robot's base coordinate system, the position of the polished workpiece in the robot's base coordinate system is determined, thus completing the positioning of the polished workpiece.
3. The robotic ultrasonic polishing method as described in claim 1, characterized in that, The analytical results of the polished workpiece model include the geometric features and parameter information of the polished workpiece; the geometric features include at least the length, width, height, parametric surface, surface curvature, and rate of change of surface curvature of the polished workpiece. The parameter information was obtained by analyzing the polished workpiece model using a deep learning model.
4. The robotic ultrasonic polishing method as described in claim 3, characterized in that, The polishing area of the polishing workpiece is divided according to the parameter information of the workpiece. That is, the polishing area of the workpiece is divided based on the preset polishing surface curvature threshold and the surface curvature of the workpiece. The centroid coordinates of each polishing area are calculated, and the optimal polishing sequence planning method is used to plan the polishing sequence to obtain the optimal region polishing sequence.
5. The robotic ultrasonic polishing method as described in claim 3, characterized in that, The ultrasonic polishing path planning of the robot is carried out by the path planning method of the zigzag and the back-shaped path. In the planning process, the arc path is used instead of the broken line path at the corner of the zigzag and the curvature of the surface is dynamically adjusted according to the curvature change rate of the surface. The path spacing is reduced in the steep area of the surface and increased in the gentle area of the surface. The polishing path is adaptively adjusted according to the curvature change of the surface.
6. A robotic ultrasonic polishing apparatus for implementing the robotic ultrasonic polishing method as described in any one of claims 1-5, characterized in that, The device includes a robot and an ultrasonic polishing device installed at the end of the robot. The workpiece to be polished is placed below the ultrasonic polishing device and is placed on a workpiece clamping device.
7. A robotic ultrasonic polishing system, characterized in that, include: The calibration and positioning module is configured to calibrate the ultrasonic polishing tool and simultaneously position the workpiece to be polished in the robot's base coordinate system. The parsing module is configured to construct and parse a workpiece model based on the model information of the workpiece to be polished. The planning module is configured to divide the polishing area and plan the ultrasonic polishing path of the robot based on the information obtained from model analysis. The polishing module is configured to perform interference analysis on the planned polishing path and perform robotic ultrasonic polishing of the workpiece based on the interference analysis results. The feedback module is configured to evaluate the polishing effect of the robot's ultrasonic polishing, combine the polishing effect evaluation results to perform closed-loop feedback of the robot's ultrasonic polishing, and adjust the robot's ultrasonic polishing process parameters in real time based on the feedback results.
8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the robotic ultrasonic polishing method as described in any one of claims 1-5.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of the robotic ultrasonic polishing method as described in any one of claims 1-5.
10. A computer program product, comprising software code, characterized in that, The program in the software code performs the steps of the robotic ultrasonic polishing method as described in any one of claims 1-5.