Industrial robot high-precision constant-force grinding method based on curved surface self-adaption

Abstract

The invention discloses an industrial robot high-precision constant-force polishing method based on curved surface self-adaption. The method comprises the steps of acquiring scanning sampling point data information of the surface of a workpiece to be polished by adopting a linear structured light scanning mode, and acquiring an ordered point cloud model of the workpiece to be polished; through point cloud preprocessing, establishing an STL model of the surface of the to-be-polished workpiece; extracting and utilizing geometric features and topological features of the STL model on the surface of the to-be-polished workpiece, and dividing the curved surface of the to-be-polished workpiece into a plurality of planes without holes; constructing a feature frame according to the STL model of thesurface of the to-be-polished workpiece, and generating a robot polishing motion track by adopting a cutting plane projection method; and in the robot grinding process, constant-force grinding control is achieved according to real-time force feedback. The method has the beneficial effects that the constant-force grinding task for any curved surface can be achieved; the adaptability of the grinding method to the curved surface is improved; the grinding precision is improved; and therefore the intelligence and the automation level of a robot grinding system can be improved.

Description

technical field [0001] The invention relates to the technical field of advanced manufacturing industries such as the grinding application of industrial robots, in particular to a high-precision constant force grinding method for industrial robots based on curved surface self-adaptation. Background technique [0002] As one of the important components of industrial robot applications, the grinding application of industrial robots requires the ability to use relevant algorithms under the condition of software and hardware coordination to realize the scanning and reconstruction of the surface model of the workpiece to be polished, and generate the robot motion path to form the robot system control Instructions for sanding work. Among them, the effectiveness, versatility, and scalability of the method for implementing robot grinding operations are important evaluation indicators for industrial robot grinding applications. [0003] High-precision and intelligent grinding operati...

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Problems solved by technology

[0004] Purpose of the invention: In order to overcome the existing technical defects and solve the problem that the two traditional grinding methods of manual teaching and offline programming cannot achieve high-precision constant force control requirements, a high-precision industrial robot based on surface self-adaptation is proposed. The constant force grinding method realizes the effectiveness, high precision and scalability of industrial robot grinding operations

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