Research Of Three-Dimensional Stone-carving Products Machining Technology Based On Stone-carving Robot

With the development of economic, stone carving products is widely used in the decoration and construction applications. As the market demand is growing, the production requirements for efficiency and production quality. Most stone carving products is still processed by handicraft and semi-automatic equipments. Carving machine and machining center can only be used in relief processing. Carving workers in adverse working environment facing the dust and noise of the processing. At the same time, handicraft and semi-automatic equipments lead to the low produce efficiency, high cost and instability quality. Therefore, an automation stone carving products processing equipment is need to be designed to solve the above problems.The industrial robot has high degree of freedom and flexibility character. The industrial robot can be used for free-form surface processing with the end-effector. Faced with production requirements and industrial robot research progress at home and abroad, this paper presents the method using industrial robots to process stone carving products. Research contents include two aspects:First, the design of stone carving robot; Second, the research of stone carving processing technology.Determine the structure scheme though processing requirements and operating conditions, and determine the structure parameters and motion parameters of carving-robot program by analyzing the work space and processing technology. The end-effector is designed on the basis of stone cutting force analysis. The analysis of the spatial position and spatial position transformation theory can offer theory support to the trajectory planning and post-processing of the carving-robot.Process technology is realized by tool path in NC machining. Carving-robot use the STL file as source model. This paper studied the NC tool path generation based on STL file. Generate offset surface based on vertex offset, and the offset vertex is generated though weighted value method. Planning the cutting plane based on the tool path mode, and solve the intersection points of cutting plane and offset surface. The intersection points is cutter location points series. Tool path could be generated by arranging the intersection points and adding some auxiliary motion path points to the tool path series. Similar to CNC machine, the tool path can’t directly drive the carving-robot without post-processing. The information in cutter location file can be separated into movement commands an non-movement commands. The non-movement commands can be directly transformed to NC code, but the movement commands transformed to NC code by solving carving-robot inverse kinematics. Generation of tool path and post-processing is realized by VC6.0, OpenGL and Matlab. Finally, input the NC code to the machining model in VERICUT and simulate the process to verify the accuracy of the algorithm.The subject designed a kind of carving-robot for stone carving products processing, studied tool path generation method based on STL files and post-processing algorithms for stone carving robot. Develop an automatic NC programming system with VC6.0and OpenGL, therefore, the carving-robot won’t depend on commercial CAM software. This subject provides a basis of reference for the industrial robots for stone carving process. The stone carving robot greatly improve the processing efficiency of the stone carving products with low cost and high quality, and significantly improve the working environment of workers. This subject is a great significance for the development of Chinese stone carving products.