阅读说明：本技术 一种基于机器人的铸件圆形结构打磨路径规划方法 (Robot-based casting circular structure polishing path planning method ) 是由 李文军 赵利 高洪朋 于 2020-06-15 设计创作，主要内容包括：一种基于机器人的铸件圆形结构打磨路径规划方法,将激光传感器安装在机器人的机械手六轴法兰前端,激光传感器的垂直方向与机械手的Z轴重合,机器人与激光传感器进行坐标系标定,并建立通讯；机器人进行铸件标准件待打磨圆形结构特征位置进行机器人行走轨迹预设,保证待打磨位置出现在激光的范围内；待打磨铸件进入打磨区域后,机器人携激光传感器按照预设的轨迹对待打磨铸件的圆形结构进行扫描,得到圆形结构扫描位置数据；计算铸件圆形结构每个扫描位置的坐标值,将坐标值通讯给机器人,机器人根据数据重新规划打磨路径,并根据路径进行实际打磨,本发明与现有技术相比具有保证打磨质量的同时提高打磨效率等优点。(A polishing path planning method for a circular casting structure based on a robot is characterized in that a laser sensor is mounted at the front end of a six-axis flange of a manipulator of the robot, the vertical direction of the laser sensor is coincident with the Z axis of the manipulator, the robot and the laser sensor are calibrated in a coordinate system, and communication is established; the robot presets the walking track of the robot at the characteristic position of a circular structure to be polished of a standard casting piece, and the position to be polished is ensured to be within the range of laser; after the casting to be polished enters the polishing area, the robot carries the laser sensor to scan the circular structure of the casting to be polished according to a preset track, and scanning position data of the circular structure are obtained; and calculating the coordinate value of each scanning position of the circular structure of the casting, communicating the coordinate values to the robot, re-planning the polishing path according to the data by the robot, and actually polishing according to the path.)

1. A robot-based casting circular structure polishing path planning method is characterized by comprising the following steps: the method comprises the following steps:

s1, mounting a laser sensor at the front end of a six-axis flange of a manipulator of the robot, wherein the vertical direction of the laser sensor is overlapped with the Z axis of the manipulator;

s2, calibrating a coordinate system of the robot and the laser sensor and establishing communication;

s3, presetting a robot walking track at the position of the circular structure characteristic to be polished of the casting standard part by the robot, and ensuring that the position to be polished is within the range of laser;

s4: after the casting to be polished enters the polishing area, the robot carries the laser sensor to scan the circular structure of the casting to be polished according to a preset track, and scanning position data of the circular structure are obtained;

s5: and calculating the coordinate value of each scanning position of the casting circular structure, communicating the coordinate values to the robot, and re-planning the polishing path by the robot according to the data and actually polishing according to the path.

2. The robot-based casting circular structure grinding path planning method as claimed in claim 1, wherein the method comprises the following steps: in step S4, the scanning positions of the laser sensors are a plurality of edge points of the circular structure, when the laser sensors scan, the manipulator rotates in the Z-axis direction, the coordinates of the laser line direction of the laser sensors are resolved into the X-axis direction and the Y-axis direction of the manipulator, the value on the laser line is L, the rotation angle of the Z-axis of the manipulator is a, the coordinates resolved into the X-axis direction and the Y-axis direction of the manipulator in the laser line direction are (L: CosA, L: SinA), and when the components of the laser line direction in the X-axis direction and the Y-axis direction of the manipulator are known, the coordinates of each edge point of the circular structure in the manipulator coordinate system are:

(X_R+L*CosA，Y_R+L*SinA，Z_R+Z_Ray)

wherein, X_R、Y_R、Z_RAs a robot coordinate, Z_RayIs the Z-axis coordinate value of the laser sensor.

Technical Field

The invention belongs to the technical field of robot polishing, and particularly relates to a planning method for a polishing path of a robot.

Background

At present, in the casting grinding field, the casting head and the flash burr are ground by mainly utilizing a robot with a tool, in the actual operation process, the condition that the burr is inward and covers the whole track is frequently met, the trouble is caused for identifying the grinding path, especially when the casting has a circular structure part, the condition is easy to occur, namely the burr is inward and covers the edge of an inner circle, due to the difference of casting processes, the position and the area of the burr covering the inner circle are different, certain randomness exists, and the condition that the smaller circular structure even has complete coverage brings interference to the accurate identification of the grinding path of the robot, and the difficulty is brought to the grinding operation.

Disclosure of Invention

The invention aims to provide a robot-based casting circular structure polishing path planning method, which is used for solving the technical problem that the accurate position cannot be accurately judged when the circular structure part of a casting is polished at present, and the polishing path is interfered.

The specific technical scheme of the invention is as follows:

a casting circular structure polishing path planning method based on a robot comprises the following steps:

and S1, mounting the laser sensor at the front end of a six-axis flange of a manipulator of the robot, wherein the vertical direction of the laser sensor is overlapped with the Z axis of the manipulator.

S2, calibrating a coordinate system of the robot and the laser sensor and establishing communication;

s3, presetting a robot walking track at the position of the circular structure characteristic to be polished of the casting standard part by the robot, and ensuring that the position to be polished is within the range of laser;

s4: after the casting to be polished enters the polishing area, the robot carries the laser sensor to scan the circular structure of the casting to be polished according to a preset track, and scanning position data of the circular structure are obtained;

s5: and calculating the coordinate value of each scanning position of the casting circular structure, communicating the coordinate values to the robot, and re-planning the polishing path by the robot according to the data and actually polishing according to the path.

Further, in step S4, the scanning positions of the laser sensors are a plurality of edge points of the circular structure, when the laser sensors scan, the robot has rotation in the Z-axis direction, the laser line direction coordinates of the laser sensors are decomposed into the X-axis direction and the Y-axis direction of the robot, the value on the laser line is L, the rotation angle of the Z-axis of the robot is a, the coordinates of the laser line direction decomposed into the X-axis direction and the Y-axis direction of the robot are (L CosA, L SinA), and when it is known that the components of the laser line direction in the X-axis direction and the Y-axis direction of the robot are present, the coordinates of each edge point of the circular structure in the robot coordinate system are:

(X_R+L*CosA，Y_R+L*SinA，Z_R+Z_Ray)

wherein, X_R、Y_R、Z_RAs a robot coordinate, Z_RayIs the Z-axis coordinate value of the laser sensor.

According to the method, the polishing path planning of the circular structure of the casting part is realized, the problem caused by the fact that the robot sets a fixed polishing track for polishing the circular structure of the casting part, the position information is accurately judged by combining laser scanning and the fixed polishing track, the polishing quality is guaranteed, and the polishing efficiency is improved.

Drawings

FIG. 1 is a block flow diagram of the present invention.

FIG. 2 is a hardware diagram of the present invention.

Detailed Description

The present invention will be described in detail with reference to the following examples and accompanying drawings