Robot casting grinding self-adaption method based on vision system

Abstract

The invention provides a robot casting grinding self-adaption method based on a vision system. The robot casting grinding self-adaption method includes the following steps that casting surface morphology characteristics are extracted through machine vision; by means of a method for depicting the casting surface roughness, the first-moment characteristic, the second-moment characteristic, the third-moment characteristic and the fourth-moment characteristic of the casting height represent the casting surface average deviation degree, the standard deviation, the twisting degree and the kurtosis correspondingly; according to the casting surface roughness, by combining the vision measuring and positioning method, the kinematics analysis method, the force control method and the position control servo method, vision self-adaption robot grinding parameters are generated and a grinding execution element is controlled to conduct grinding; and in the grinding process, the workpiece surface real-time dynamic morphology characteristic parameter is compared with target morphology characteristic parameter in real time till the workpiece surface roughness reaches the target morphology characteristic parameter. According to the robot casting grinding self-adaption method, casting surface morphology characteristics can be more comprehensively and more finely depicted through the workpiece surface quality obtained by depicting the casting surface morphology characteristics through moments.

Description

technical field [0001] The invention relates to the field of intelligent manufacturing or the field of grinding robots, in particular to an adaptive method for grinding robot castings based on a vision system. Background technique [0002] The application of industrial robots in the grinding industry is a new type of production process in the scope of robot applications in recent years. It puts forward higher requirements for robot control systems and grinding equipment solutions. Compared with CNC machine tools, industrial robots have higher machining accuracy levels. How to improve the processing accuracy, processing efficiency and quality of robots in the grinding industry involves all aspects of technical issues and process methods. [0003] The existing robot grinding system uses the force parameters obtained by the force sensor to control the servo compensation motor, elastic mechanism, etc., to realize the control of robot grinding precision. In 2014, Cao Jinxue et al...

AI Technical Summary

Problems solved by technology

When the object to be polished is a large casting such as a cylinder block, a single calibration system, compensation based on a force sensor and multi-robot collaboration cannot guarantee the quality of the polished casting. When there is a quality problem in the polished casting, it cannot be detected and re-polished in time.

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