CN101372079A - Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method - Google Patents
Industrial robot cutting and processing system applied to auxiliary assembly of airplane as well as method Download PDFInfo
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- CN101372079A CN101372079A CNA2008101213531A CN200810121353A CN101372079A CN 101372079 A CN101372079 A CN 101372079A CN A2008101213531 A CNA2008101213531 A CN A2008101213531A CN 200810121353 A CN200810121353 A CN 200810121353A CN 101372079 A CN101372079 A CN 101372079A
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Abstract
The invention discloses an industrial robot cutting processing system and a method applied to aircraft auxiliary assembly, comprising a six-axis joint typed industrial robot, a robot controller, an operation panel, a high speed electric mainshaft, a tool clamping process device, a tool quick exchanger, a target installation flange and a laser tracker; high speed cutting technique is adopted; process methods and hole preparing process of boring, reaming by milling and final reaming are sequentially carried out so as to improve the diameter precision of the hole; meanwhile, the cutting force can be controlled by finishing the reaming hole; rough milling is carried out firstly, fine milling is subsequently carried out; furthermore, the cutting depth is not more than 0.15mm during the fine milling process, thus ensuring the planeness of the processing surface; the industrial robot cutting processing system can realize various cutting processes of the soft metal (such as aluminium alloy) as follows: boring, hole enlarging, reaming, dimpling, surface milling, cutting, etc. The invention integrates normal robot, high speed electric mainshaft, quick exchanger, etc., and can solve the cutting process problems of operations such as fine processing, skin cutting, and the like of radar cover installation hole in the field of aircraft assembly.
Description
Technical field
The invention belongs to the industrial robot application, relate to a kind of industrial robot cutting processing system and method that is applied to the auxiliary assembling of aircraft.
Background technology
Aircraft assembling process complexity, the amount of labour is big.At present, the aircraft mounting technology of aircraft industry developed country turns to digitlization, flexibility assembling from simple and mechanicalization, automation assembling in the world, and flexible assembly is the important development direction of aircraft mounting technology.Industrial robot is because characteristics such as the flexibility of its height, less installing space demand and control able to programme enlarge its application in the aircraft flexible assembly system gradually, such as aluminum alloy spare part is carried out the local light cut repair of joint processing, riveting etc. is bored in automation.
Compare with other process equipments such as numerical control machining center, FMC, industrial robot is applied to the machining field and has advantages such as cost is low, automaticity is high, flexibility is good, installing space is little, can realize the various poses (position and attitude) of machining tool heads easily in the space, can satisfy the requirement of complicated processing such as free form surface normal direction boring, and utilize industrial robot can also in same system, finish multinomial different job task, such as the auxiliary assembling of aircraft (pickup, location), brill riveting processing, system's part carrying and location etc.
Compare with Digit Control Machine Tool, although there is the rigidity deficiency in industrial robot, shortcomings such as certain interval are arranged between the joint, but for requirement on machining accuracy is not very high application scenario, still can improve machining accuracy and quality by taking appropriate measures, such as, document " Flexible Force Control for Accurate Low-CostRobot Drilling " (Tomas Olsson, et al., IEEE International Conference on Roboticsand Automation, Roma, 2007:p.4770-4775) propose by the method for cutting force FEEDBACK CONTROL ABB IRB2400 humanoid robot to be applied in the drilling processing of Φ 4 aluminium alloys, the shape and the positional precision of machining hole reach 0.1mm.Document " High-speed cutting for extruded aluminum alloys usingrobot " (Shimizu Kazunori, Shinichi Matsuoka, Yamazaki Nobuyuki, Oki Yoshinari, Journal of Japan Institute of Light Metals, 1998,48 (12): p.603-607) propose by using the method for smaller diameter end milling cutter and high-speed electric main shaft, 50-70% when cutting force is reduced to machine tooling in the aluminium alloy Milling Process, and excited frequency has reduced the vibration of robot in the machining much larger than the robot arm natural frequency of vibration.Document " End Milling for Articulated Robot Application:3rd Report; Improvement of Machining Accuracy by Robot Calibration " (Shirase Keiichi, TanabeNaohisa, Hirao Masatoshi, Yasui Takeshi, Transactions of the Japan Society ofMechanical Engineers, 1995,61 (581): p.259-265) reported method, improved the machining accuracy (0.1mm) that the revolute robot is applied to end mill by robot calibration.Document " Development andcontrol towards a parallel water hydraulic weld/cut robot for machining processes inITER vacuum vessel " (Huapeng Wu, Pekka Pessi, et al., Fusion Engineering andDesign, 2005:p.625-631), the scheme of parallel robot has been proposed, characteristics have designed parallel robot to utilize that parallel institution rigidity is big, response speed is fast and environmental suitability is strong etc., are applied in welding and the water cutting processing.At present, the drilling of industrial robot, mill face, bore riveting, processing methods such as cutting have obtained application in fields such as automobile, aviation manufacturings.
Yet, existing industrial robot cutting working method and equipment, function ratio is more single, and machining accuracy generally all about 0.1mm, can not satisfy the requirement on machining accuracy (reaching the required precision of 0.04mm such as the aperture) of the local light cut processing of joint in the present generation aircraft assembling.
Be applied to the robot cutting processing system of radome installing hole in the aircraft assembling, face processing, yet there are no the report of technological layer.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of industrial robot cutting processing system and method that is applied to the auxiliary assembling of aircraft is provided.
The industrial robot cutting processing system that is applied to the auxiliary assembling of aircraft comprises industrial robot cutting apparatus, laser tracker, the industrial robot cutting apparatus comprises guidance panel, robot controller, six joint types series connection industrial robots, target mounting flange, tool quickly-replacing device, instrument clamping frock, high-speed electric main shaft, and six joint type series connection industrial machine robot ends are provided with target mounting flange, tool quickly-replacing device, instrument clamping frock, high-speed electric main shaft successively.
Described six joint types series connection industrial robot is driven and is controlled by robot controller, carries out communication between guidance panel and the robot controller, carries out robot machining flow process control and condition monitoring.Generation to robot tool grasps, machining is located initial path, path planning and robot motion's instruction, on guidance panel, be provided with special off-line programing system, will convert the movement instruction of robot to from the APT source file of CAD/CAM system output.
All 6 the target installing holes that upwards distributing equably of described target mounting flange, at the measurement of the different terminal poses of robot, selected different installing hole is installed at least 3 laser tracker targets.Tool quickly-replacing device is made up of robotic end and tool ends end two parts, by the two-part connection of pneumatic control with separate the automatic extracting of finishing tool heads.Instrument clamping frock is connected by cross key with the tool quickly-replacing device that is installed on robot end's flange, and instrument clamping frock is provided with two clamping areas up and down, high-speed electric main shaft is clamped in instrument clamping frock center cavity, and positions by seam.
Described laser tracker detects robot end's pose, and according to testing result robot machining work pose is proofreaied and correct.
The industrial robot cutting working method that is applied to the auxiliary assembling of aircraft is that the aluminium alloy aeronautical material is holed, reaming, counter boring, mill face, cut multiple machining, adopt 4000rpm～12000rpm High-speed Machining Technology, suppress of the influence of processing cutting force to robot, by first boring, mill reaming again, Jiao Kong process and drilling process at last, improve drilling aperture precision and surface smoothness, during processing plane, by rough milling earlier, finish-milling technology again, the finish-milling cutting-in is no more than 0.15mm, can guarantee that the flatness of processing plane reaches 0.05mm/200mm * 200mm plane.
The present invention can realize soft metals such as aluminium alloy are carried out drilling (boring, reaming, fraising), counter boring, milled multiple machining functions such as face, cutting.Whole system can be applicable in aircraft automation, the flexible assembly production line, finishes the job tasks such as fine finishining, covering cutting of the local fine finishining of interface in the aircraft assembling such as radome installing hole face.
The present invention uses common industrial robot and high-speed electric main shaft, can realize the machining function and reach requirement on machining accuracy, and can realize multiple machining function.
Description of drawings
Fig. 1 is the pie graph of embodiment of the invention industrial robot cutting processing system;
Fig. 2 is a part target mounting flange of the embodiment of the invention;
Fig. 3 is the structure chart of a part tool quickly-replacing device of the embodiment of the invention;
Fig. 4 (a) is the part instrument clamping frock front view of the embodiment of the invention;
Fig. 4 (b) is the part instrument clamping frock left view of the embodiment of the invention;
Fig. 5 is the machining off-line programing system;
Fig. 6 is the arcuate serrated covering that the embodiment of the invention processed;
Among the figure: guidance panel 1, robot controller 2, six joint type series connection industrial robots 3, target mounting flange 4, tool quickly-replacing device 5, instrument clamping frock 6, high-speed electric main shaft 7, laser tracker 8, tool quickly-replacing device robotic end 9, tool quickly-replacing device tool ends end 10.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated.Present embodiment industrial robot cutting processing system is realized according to aforementioned schemes.
As shown in Figure 1, the industrial robot cutting processing system that is applied to the auxiliary assembling of aircraft comprises industrial robot cutting apparatus, laser tracker 8, the industrial robot cutting apparatus comprises that guidance panel 1, robot controller 2, six joint type series connection industrial robots 3, target mounting flange 4, tool quickly-replacing device 5, instrument clamping frock 6,7, six joint types series connection of high-speed electric main shaft industrial robot, 3 ends are provided with target mounting flange 4, tool quickly-replacing device 5, instrument clamping frock 6, high-speed electric main shaft 7 successively.
Six joint type series connection industrial robots 3 are ABB IRB6600 type industrial robot, are driven and are controlled by ABB IRC5 humanoid robot controller 2.Carry out communication between guidance panel 1 and the robot controller 2, carry out robot machining flow process control and condition monitoring.
Shown in Fig. 2 is the example of the target mounting flange 4 that is connected with robot end's (flange).Target mounting flange 4 is connected with alignment pin by sunk screw with industrial robot 3 terminal flanges, is used to install the laser tracker target.The target installing hole of target mounting flange 4 all 6 Φ 8 that upwards distributing equably.Measurement at robot 3 different terminal poses, selected different installing hole is installed at least 3 laser tracker targets, make laser tracker 8 can record the pose of robot 3 ends, and according to testing result robot initial processing work pose is proofreaied and correct, to obtain final robot machining track.
As shown in Figure 3, tool quickly-replacing device 5 is made up of robotic end 9 and tool ends end 10 two parts, and an end links to each other with target mounting flange 4, and the other end is connected with instrument clamping frock 6, all adopts the connected mode of sunk screw and alignment pin.Tool quickly-replacing device 5 is connected and is separated by its two parts robotic end 9 of pneumatic control and tool ends end 10, the automatic extracting of implementation tool head---high-speed electric main shaft 7.
Shown in Fig. 4 is the example of instrument clamping frock 6.Instrument clamping frock 6 is connected by cross key with the tool quickly-replacing device 5 that is installed on robot 3 terminal flanges, and instrument clamping frock 6 is provided with two clamping areas up and down, high-speed electric main shaft 7 is clamped in instrument clamping frock 6 center cavities, and positions by seam.Be installed on the high-speed electric main shaft 7 of instrument clamping frock 6, can the clamping drill bit, cutter such as counterbit, milling cutter, reamer, hole, reaming, fraising, counter boring, mill machining such as face, cutting.
As shown in Figure 5, robot tool is grasped, the initial path of machining operation location, the generation of path planning and robot motion's instruction, on guidance panel 1, be provided with special off-line programing system, to convert the movement instruction of robot from the APT cutter spacing source file of CAD/CAM system output to, consider that simultaneously robot tool grasps, in the machining position fixing process and frock, the interference problem of workpiece and other surrounding devices, to planning and revise in the robot motion path, and grasp by kinematics emulation inspection machine people instrument, the correctness of setting movement track and presence of interference, collision.
Industrial robot machining off-line programing system mainly comprises the generation of APT cutter spacing source file, code conversion and three functional modules of track emulation.Wherein, the CAM module that generates of APT cutter spacing source file have to aeronautical materials such as aluminium alloy carry out drilling (boring, reaming, fraising), counter boring, mill face, the processing method of the multiple cutting of cutting.Code conversion module realizes the conversion of APT cutter spacing source file to robot motion's instruction, by the extraction of APT file data, the analysis of APT file format, coordinate transform and cutter compensation, robot control point find the solution, code conversion and store five parts and form.The cutting location simulation module is mainly used in the verification of robot machining track, is made up of robot three-dimensional modeling and machining track emulation two parts.
Before actual cut processing, need generate robot control point TCP initial manufacture track by off-line programing system according to pure mathematics model and processing request, carry out obtaining final machining locus after pose is proofreaied and correct through laser tracker 8.The pose timing, robot 3 carries out pre-determined bit, and robot controller 2 is set up closed-loop system with laser tracker 8, and whether 8 detection machine people 3 arrive the work pose by laser tracker.When the tutorial program that generates by off-line programing when robot 3 moves to assigned address, laser tracker 8 is monitored its pose, if the pose deviation is greater than specified tolerance, robot 3 compensates and record according to laser tracker 8 feedback data, reaches correct work pose during with assurance robot 3 machining.
During machining, according to the operation procedure of proofreading and correct, industrial robot 3 is from Home pose (setting according to safety work position and job area), move to Tool grasper fetch bit appearance, realize automatic gripping tool---high-speed electric main shaft 7 by tool quickly-replacing device 5, and get back to the Home pose, manually adorn cutter or tool changing, robot moves to the processing pose and carries out machining from the Home pose then.
Joint type serial machine people because the rigidity deficiency, if the cutting force that produces during cutting is bigger, will inevitably produce vibration, cutter relieving, path offset, causes machining accuracy not high.At this problem, the industrial robot cutting working method that is applied to the auxiliary assembling of aircraft is holed, reaming, counter boring, is milled face, cuts multiple machining the aluminium alloy aeronautical material, the technical scheme of taking is: adopt 4000rpm～12000rpm High-speed Machining Technology, suppress the influence of processing cutting force to robot; By first boring, mill reaming again, Jiao Kong process and drilling process improve drilling aperture precision (Φ 10 hole aperture precision can reach 0.04mm) and surface smoothness at last, use fraising also to reduce cutting force during fine finishining simultaneously; During processing plane, by rough mill earlier, finish-milling technology again, the finish-milling cutting-in is no more than 0.15mm, can guarantee the flatness (mill 208mm * 208mm plane, flatness can reach 0.05mm) of processing plane.
Use embodiments of the invention, whole cutting process carries out according to following step:
At first, target mounting flange 4 and tool quickly-replacing device 5 robotic end 9 are installed on industrial robot 3 terminal flanges successively; Tool quickly-replacing device 5 tool ends end 10 are connected with instrument clamping frock 6, clamping high-speed electric main shaft 7, and place the instrument putting position of prior setting.
Second step was, industrial robot 3 grasps tutorial program according to instrument, from Home pose (setting) according to safety work position and job area, move to Tool grasper fetch bit appearance, robotic end 9 by pneumatic control tool quickly-replacing device 5 is connected with tool ends end 10, automatically grasp and be clamped in the high-speed electric main shaft 7 of instrument clamping frock 6, and get back to the Home pose.
The 3rd step was, the initial manufacture track that industrial robot 3 generates according to off-line programing, from the Home pose, move to machining operation pose, carry out pre-determined bit, selected different installing hole is installed at least 3 laser tracker targets (be installed on laser tracker 8 can detected position) on target mounting flange 4, pose by 8 pairs of robot 3 ends of laser tracker detects, and according to testing result processing of robots work pose is proofreaied and correct, to generate final robot machining track.
The 4th step was, industrial robot 3 is got back to the Home pose, by manually on high-speed electric main shaft 7 the corresponding tool for cutting machining of clamping (such as can the clamping drill bit, cutter such as counterbit, milling cutter, reamer, to hole, reaming, fraising, counter boring, to mill machining such as face, cutting).
Final step is that the operation procedure that industrial robot 3 operations are proofreaied and correct through pose carries out machining.
Be applied to actual machining, the arcuate serrated covering that institute's milling goes out for present embodiment shown in Fig. 6.
Claims (5)
1. one kind is applied to the auxiliary industrial robot cutting processing system that assembles of aircraft, it is characterized in that comprising the industrial robot cutting apparatus, laser tracker (8), the industrial robot cutting apparatus comprises guidance panel (1), robot controller (2), six joint type series connection industrial robots (3), target mounting flange (4), tool quickly-replacing device (5), instrument clamping frock (6), high-speed electric main shaft (7), six joint type series connection industrial robot (3) ends are provided with target mounting flange (4) successively, tool quickly-replacing device (5), instrument clamping frock (6), high-speed electric main shaft (7).
2. a kind of industrial robot cutting processing system that is applied to the auxiliary assembling of aircraft according to claim 1, it is characterized in that, 6 target installing holes are equably upwards distributing in described target mounting flange (4) week, at the measurement of the different terminal poses of robot, selected different installing hole is installed at least 3 laser tracker targets.
3. a kind of industrial robot cutting processing system that is applied to the auxiliary assembling of aircraft according to claim 1, it is characterized in that, described tool quickly-replacing device (5) is made up of robotic end (9) and tool ends end (10) two parts, by the two-part connection of pneumatic control with separate the automatic extracting of finishing tool heads.
4. a kind of industrial robot cutting processing system that is applied to the auxiliary assembling of aircraft according to claim 1, it is characterized in that, described instrument clamping frock (6) is connected by cross key with the tool quickly-replacing device that is installed on robot end's flange (5), instrument clamping frock (6) is provided with two clamping areas up and down, high-speed electric main shaft (7) is clamped in instrument clamping frock (6) center cavity, and positions by seam.
5. one kind is used the industrial robot cutting working method that is applied to the auxiliary assembling of aircraft of system according to claim 1, it is characterized in that, the aluminium alloy aeronautical material is holed, reaming, counter boring, mill face, cut multiple machining, adopt 4000rpm～12000rpm High-speed Machining Technology, suppress of the influence of processing cutting force to robot, by first boring, mill reaming again, Jiao Kong process and drilling process at last, improve drilling aperture precision and surface smoothness, during processing plane, by rough milling earlier, finish-milling technology again, the finish-milling cutting-in is no more than 0.15mm, can guarantee that the flatness of processing plane reaches 0.05mm/200mm * 200mm plane.
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