基于模板CAD模型的任意位姿注塑件抛光轨迹生成与重用方法研究  

Method of Generating and Reusing Polishing Trajectory for Injection Molding Parts with Arbitrary Position Based on Template CAD Model

作　　者：陈乾宝 吴雷 林俊义[1,2] 江开勇[1,2] 黄常标[1,2] CHEN Qianbao;WU Lei;LIN Junyi;JIANG Kaiyong;HUANG Changbiao(Xiamen Key Laboratory of Digital Vision Measurement,Huaqiao University,Fujian Xiamen 361021,China;Fujian Provincial Key Laboratory of Special Energy Manufacturing,Huaqiao University,Fujian Xiamen 361021,China)

机构地区：[1]华侨大学厦门市数字化视觉测量重点实验室,福建厦门361021 [2]华侨大学福建省特种能场制造重点实验室,福建厦门361021

出　　处：《表面技术》2024年第3期65-74,共10页Surface Technology

基　　金：厦门市自然科学基金(3502Z20227201);福建省引导性项目(2017H0019);福建省产学项目(2023H6015)。

摘　　要：目的提高注塑零件机器人抛光轨迹的生成效率和柔性。方法以注塑件毛边抛光为对象,首先根据已知的模板CAD模型信息建立局部坐标系,并提取抛光特征线及抛光区域,通过等距截面法计算生成一系列加工轨迹点。为了提高抛光轨迹的生成效率,提出根据模型特征直接计算同类产品加工轨迹的方法,实现相似模型产品抛光轨迹的重用。然后,利用多线结构光技术快速测量当前位姿下的零件三维信息,通过三维点云匹配方法计算出任意当前位姿下的零件模型与模板CAD模型之间的转换关系。最后,结合手眼标定结果,计算出任意位姿零件的机器人抛光轨迹。结果以注塑件毛边抛光为例,进行模拟仿真和实验验证,结果表明,文中提出的方法只需单次测量即可计算出待加工零件的抛光轨迹,避免了在线完整物体的重构,使得物体测量和轨迹计算效率得到显著提高。此外,通过点云匹配与手眼标定方法,可完成任意位姿零件抛光轨迹的计算。结论文中提出的方法能够实现基于CAD模型的机器人抛光轨迹高效生成和重用,通过轨迹转换可实现任意位姿的轨迹计算,提高了机器人抛光轨迹生成的效率和柔性。With the development of intelligent manufacturing technology,the application of robots in the field of processing has been widely concerned,especially in labor-intensive product processing applications,such as shower parts polishing in the bathroom industry,laser cutting of stamping parts in the automotive field and raw edge polishing of injection parts in the field of shoes and clothing.However,the development trend of small batch and multi variety products has put forward higher requirements for the processing efficiency and flexibility of robots.To this end,the work aims propose a CAD model-based method for generating and reusing polishing trajectory of parts with arbitrary position and posture.Based on the known template CAD model information,the local coordinate system was established,the polishing feature lines and polishing regions were extracted,and a series of machining trajectory points were generated by equidistant section method.Further,in order to improve the generation efficiency of polishing trajectory,a method was proposed to directly calculate the processing trajectory of similar products according to the characteristics of the model,so as to realize the reuse of polishing trajectory of similar models.Then,multi-line structured light technology was used to quickly measure the 3D information of the part under the current posture,and the transformation relationship between the part model and the template CAD model was calculated by the 3D point cloud matching method.Finally,combined with the hand-eye calibration results,the robot polishing trajectory of parts with arbitrary position and posture could be calculated.The raw edge polishing of injection molding products was taken as the object of simulation and experimental verification.First of all,the simulation results showed that the robot could move to the correct polishing position by the arbitrary posture polishing trajectory generated by this method.In addition,the experimental results of the built hardware system showed that the proposed metho

关 键 词：机器人抛光轨迹 轨迹生成 轨迹重用 任意位姿 坐标转换 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]