Robot path generation method for hub hole deburring machining

Abstract

The invention discloses a robot path generation method for hub wheel hole deburring machining, which comprises the following steps: S1, importing a hub image into OpenCASCADE software, selecting a hub wheel hole to be deburred, generating a deburring machining path corresponding to the side surface of the hub wheel hole, and putting the deburring machining path into a path set {P}; s2, a deburring machining path in the path set {P} is segmented into a plurality of road sections, and the road sections are sequentially put into a road section set {Pn}; and S3, sequentially extracting road sections in the road section set {Pn}, and performing pose optimization on the discrete waypoint sequence of the extracted road sections. By means of the path optimization method, the finally obtained hub hole side face machining points can be well attached to the surface of the model, the posture transition is smooth, the number of the machining points is relatively small, in addition, the poses of the path points (machining points) are optimized, and the situation that an end executor of a robot collides with the machining face is greatly reduced.

Description

technical field [0001] The invention belongs to the technical field of path generation, and more specifically, the invention relates to a robot path generation method for deburring processing of hub wheel holes. Background technique [0002] When the robot deburrs the wheel hole, since the processing surface is mostly an irregular surface, manual teaching is difficult and the teaching accuracy is low; offline teaching can be performed by the offline programming system, and the processing path can be automatically generated; mature The wheel deburring process path generated by the offline programming system has poor processing effect and is difficult to modify. [0003] The application number is 201911395836.5, which is a production method of robot hub deburring teaching point coordinates, based on the discrete deburring processing path points directly generated by the hub wheel hole model. In order to make the trajectory better fit the model surface, the path is measured Th...

AI Technical Summary

Problems solved by technology

[0002] When the robot deburrs the wheel hole, since the processing surface is mostly an irregular surface, manual teaching is difficult and the teaching accuracy is low; offline teaching can be performed by the offline programming system, and the processing path can be automatically generated; mature The wheel deburring processing path generated by the offline programming system has poor processing effect and is difficult to modify

[0003] The application number is 201911395836.5, which is a production method of robot hub deburring teaching point coordinates, based on the discrete deburring processing path points directly generated by the hub wheel hole model. In order to make the trajectory better fit the model surface, the path is measured The interval between points is taken as a small value, because the number of path points is large, the processing process is not smooth and it is not conducive to subsequent modification

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