A kind of robot system and method carrying out mobile processing using projection properties imageTechnical field
The invention belongs to milling robot manufacture fields, are moved more particularly, to a kind of using projection properties imageThe robot system and method for dynamic processing.
Background technique
As industrial robot is in the extensive use of field of machining and machinebuilding technology, various processing occasions are to robotMore stringent requirements are proposed for processing technology.Such as automobile, Aeronautics and Astronautics and shipbuilding field, large complicated carved component is such asHigh-speed rail vehicle body, aircraft skin, fan blade and ship hull etc., size is larger, and surface shape is complicated, general process equipmentIf Longmen machine tool and fixed industrial robot are difficult to meet so big range of work demand, guide tracked robot is also difficult to rootProcessing stations are adjusted flexibly according to Components Shape feature, in addition, needing in process to guarantee to obtain high-precision processing qualityHigh-precision surface measurement, and the relative positional relationship of positioning process head and component in real time are carried out to component.
Traditional diamond-making technique such as uses three-coordinates measuring machine or laser tracker generally by the way of first measuring reprocessingObtain the three-dimensional point cloud model of workpiece, and then machining path planned according to three-dimensional point cloud model, finally by industrial robot orLarge-size numerical control machine processes workpiece, and this mode generally requires to devote a tremendous amount of time in measuring phases, and measurement obtainsThe threedimensional model precision obtained and the tool and measurement method that use are closely related, in addition, global Toolpath Generation needs to considerTo many factors such as processing efficiency, robot collision avoidances, occur some use multi-court position optical measuring apparatus pair in recent yearsComponent carries out large-range measuring, and the method for then carrying out global collision prevention path planning to workpiece to be processed and processing also occursSome pairs of workpiece surfaces carry out local measurement, and then the method processed in measurement.
In prior art, patent CN201710702727.8 proposes a kind of fixed milling robot, passes through work to be processedThe 3D point cloud model of part obtains processing point sequence, and collision prevention processing is realized in passage path planning, and this method is related to complicated ruleJourney is streaked, and needs to obtain the 3D point cloud model of workpiece to be processed in advance, however it is whole how to obtain accurate workpiece to be processed3D point cloud data are always problem to be solved；Patent CN201710498471.3 proposes a kind of by grating scale and robotLead screw feed mechanism combine autonomous milling robot, use orthogonal binocular stereo vision to add laser aid, to entirely toProcessing curve realize look-and-move traversal processing, however the building of the robot system coordinate system with additional outer shaft withCalibration process it is extremely cumbersome with it is complicated.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, it is carried out the present invention provides a kind of using projection properties imageThe robot system and method for moving processing, with characteristic image after being encoded machining locus and technological parameter by utilization projectorForm flash to component surface, machining locus in conjunction with the geometrical characteristic on workpiece to be processed surface after form new image, phaseMachine shoots the new image to obtain new machining locus and working process parameter, while also dynamically shooting tracking target is marked with cameraProcessing cutter head position is obtained, and then controls processing head and workpiece is processed, whether entire work is traversed by judging characteristic imagePart surface is realized to the processing of the traversal of workpiece.
To achieve the above object, according to one aspect of the present invention, it provides and a kind of is moved using projection properties imageThe robot system of dynamic processing, which is characterized in that the system includes projector, robot and controller, wherein
The projector is connect with the controller, and the controller is by the processing rail in the region to be processed on workpiece to be processedMark and working process parameter encode to form image after pass to the projector, the projector is by the image described to be processedIt is projected on region；
Camera, processing head and tracking target, the mobile platform is provided in the robot to be arranged in the robotLower end, for changing the position of the processing head, the processing head be arranged in the robot end be used for to be processedWorkpiece is processed, and the top of the robot is arranged in the tracking target, described for marking the position of the processing headThe top of the mobile platform is arranged in camera, for shooting workpiece to be processed and tracking target, by the described to be added of shootingThe image and tracking target target image of work workpiece surface pass to the controller, the controller on the one hand according to shooting withThe image of track target judges position and the posture of the processing head, on the other hand according to the image on the workpiece to be processed surface of shootingJudge processed region and unprocessed region.
It is further preferred that the artificial Six-DOF industrial robot of machine, the processing head setting is at robot endIn end flanges, is moved by joint of robot and realize the multivariant movement of processing head.
It is further preferred that the camera selected depth camera, to measure object to be measured the distance between to camera.
It is another aspect of this invention to provide that providing a kind of processing method using system described above, feature existsIn this method includes the following steps:
(a) workpiece to be processed clamping is on fixture and fixed, mobile platform loading robot is moved to be processedNear workpieces；
(b) controller passes to the image that the projector includes initial manufacture track and technological parameter, the throwingShadow instrument projects described image on the workpiece to be processed, which makes in conjunction with the surface characteristics of workpiece to be processedThe initial manufacture track is obtained to change to form new image；
(c) camera shoots the new image and passes it to the controller, which identifies that this is newMachining locus and technological parameter in image, then the camera shoots the tracking target and the image of shooting is passed to instituteController is stated, the controller judges according to the image of shooting and obtains position and the posture of presently described processing head；
(d) position and posture of the controller according to presently described processing head, and in conjunction with the machining locus and techniqueParameter adjusts and controls the processing head and process the workpiece to be processed surface according to the machining locus and technological parameter, directlyTo the processing for completing the machining locus；
(e) controller compares all images of current shooting with workpiece threedimensional model, judges workpiece to be processedSurface whether there are also undressed region, if so, then mobile platform is moved to next processing stations, and repeat step (b)~(e), until completing the processing of workpiece to be processed surface all areas.
It is further preferred that the processing head is according to described in the machining locus and technological parameter processing in step (d)It is by the position of processing head described in the camera captured in real-time and posture and to feed back to the control when workpiece to be processed surfaceDevice, the controller are realized with this to described further according to the position of processing head described in the machining locus and technical arrangement planThe closed-loop control of processing head.
It is further preferred that the machining locus is preferably the fractal curves such as hibert curve in step (b).
It is further preferred that the processing method is suitable for the sanding and polishing to workpiece to be processed.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and showBeneficial effect:
1, characteristic image of the present invention using projector projects comprising technological parameter is to workpiece to be processed surface, by the figureAs workpiece geometrical characteristic information and location information can not only be obtained, moreover it is possible to obtain machining locus and working process parameter, this methodRelative to existing vision measurement process, can not only obtain workpiece surface geological information can also be special by process requirements and workpiece surfaceSign is associated, and provides necessary condition to realize to process in projection；
2, the present invention shoots characteristic image and tracking target by camera, is processed with controlling processing head to workpiece, shouldMethod, which synchronizes, to be shot, is measured and process, and by control processing head workpieces processing to obtain preferable processing quality；
3, method provided by the invention realizes that projection, shooting are same with process by the cooperating of various componentsStep carries out, while identifying current processing progress in real time by taking pictures in real time for camera, also judges whether to traverse work to be processedThe processing of part all areas realizes and processes to the traversal on workpiece to be processed surface that this method does not need integrally to survey workpieceAmount and threedimensional model splicing, it is more efficient.
Detailed description of the invention
Fig. 1 is the processing for carrying out mobile processing constructed by preferred embodiment according to the invention using projection properties imageThe flow chart of method；
Fig. 2 is the machine for carrying out mobile processing constructed by preferred embodiment according to the invention using projection properties imageThe structural schematic diagram of people's system；
Fig. 3 is that machining locus constructed by preferred embodiment according to the invention is not projected in showing for workpiece to be processed surfaceIt is intended to；
Fig. 4 is that machining locus constructed by preferred embodiment according to the invention is projected in showing behind workpiece to be processed surfaceIt is intended to.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- projector 2- processing head 3- tracks target 4- industrial robot 5- mobile platform 6- camera
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, rightThe present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, andIt is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described belowNot constituting a conflict with each other can be combined with each other.
As shown in Figure 1, a kind of processing method for carrying out mobile processing using projection properties image, this method is by projectorWith the form flash of characteristic image to workpiece to be processed surface after technological parameter is encoded, mobile platform transformation station simultaneously uses cameraShooting characteristic image is to obtain workpiece to be processed surface information and working process parameter, while camera dynamic shooting tracking target is marked withProcessing cutter head position is obtained, and then controls processing head and workpiece is processed, whether entire work is traversed by judging characteristic imagePart surface is realized to the processing of the traversal of workpiece.
The above method specifically includes the following steps:
1) clamping workpiece and starting point is moved to
Workpiece to be processed clamping is on fixture and fixed, and the mobile platform loads robot and is moved to workpiece to be processedNear.
2) projector characteristic image
The controller passes to the image that the projector includes initial manufacture track and technological parameter, the projectorDescribed image is projected on the workpiece to be processed, the image is in conjunction with the surface characteristics of workpiece to be processed, so that instituteInitial manufacture track is stated to change to form new image.
3) camera shoots characteristic image
The camera shoots the new image and passes it to the controller, which identifies the new imageIn machining locus and technological parameter, then the camera shoots the tracking target and the image of shooting is passed to the controlDevice processed, the controller judge according to the image of shooting and obtain position and the posture of presently described processing head.
4) processing head workpieces processing
Position and posture of the controller according to presently described processing head, and join in conjunction with the machining locus and techniqueNumber adjusts and controls the processing head and processes the workpiece to be processed surface according to the machining locus and technological parameter, untilComplete the processing of the machining locus.
5) judge whether completion of processing
The controller compares all images of current shooting with workpiece threedimensional model, judges workpiece to be processed surfaceWhether there are also undressed regions, if so, then mobile platform is moved to next processing stations, and repeat step (2)~(5), directlyTo the processing for completing workpiece to be processed surface all areas.
As shown in Fig. 2, a kind of robot system for carrying out mobile processing using projection properties image, the system include projectionInstrument, processing head track target, industrial robot, mobile platform, camera and controller.Wherein:
Projector is fixed in processing scene, for tracking target and being installed on work to workpiece to be processed projection properties imageIndustry robot end, for obtaining processing head position, processing head is fixed on industrial robot end, is used for workpieces processing, cameraIt is fixed on mobile platform, for shooting the characteristic image on workpiece and tracking target.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not toThe limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all includeWithin protection scope of the present invention.