CN109483234B - Intelligent manufacturing system and method based on mobile robot - Google Patents
Intelligent manufacturing system and method based on mobile robot Download PDFInfo
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- CN109483234B CN109483234B CN201811302384.7A CN201811302384A CN109483234B CN 109483234 B CN109483234 B CN 109483234B CN 201811302384 A CN201811302384 A CN 201811302384A CN 109483234 B CN109483234 B CN 109483234B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/02—Machine tools for performing different machining operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
An intelligent manufacturing system and method based on a mobile robot belong to the technical field of intelligent manufacturing. The invention organically integrates a three-dimensional process design system, a manufacturing execution system, a robot programming and simulation system, an intelligent mobile equipment cooperative control system, a robot control system and a manufacturing information fusion and analysis system, supports the in-situ manufacturing of large products based on mobile robots, improves the manufacturing efficiency and quality of the large high-precision products, reduces the production cost, and solves the problems of limited processing range, complex process, unstable quality, difficult process control, long production period, difficult cross and parallel processing and the like in the processing process of the large high-precision products.
Description
Technical Field
The invention relates to an intelligent manufacturing system and method based on a mobile robot, and belongs to the technical field of intelligent manufacturing.
Background
In the field of manufacturing large high-precision equipment, the product structure of the equipment is usually composed of a large main structure product and a plurality of auxiliary small structure products, for the products with smaller structure size, a traditional integral combination processing method can be adopted, namely, the whole main structure and the auxiliary structure products are integrally processed on line by using large-scale special numerical control machine equipment, and the size precision is higher. However, the above-mentioned machining method is greatly limited by the machining stroke of the numerical control machine, and the machining operation cannot be performed for a large product exceeding the machining stroke of the machine tool.
Aiming at the situation, an off-line processing mode is mainly adopted at present, namely, an integral product coordinate system is established firstly, the position data of the surface to be processed of the accessory structure product is measured under the coordinate system, the data is recorded into a computer and then the position of the surface to be processed is simulated, and the integral product coordinate system is converted into an accessory structure product processing coordinate system; and (4) detaching the accessory structure product for processing, and after the processing is finished, re-installing and adjusting the position until the precision requirement is met.
The method has the defects of complex and unstable process, repeated manual part disassembly and assembly in the production process, difficult process control, easy quality out-of-tolerance, long production period, difficult cross and parallel operation and the like, has stronger dependence on large-scale equipment and production sites, needs to purchase larger numerical control machine equipment along with the increase of product size, is provided with larger production sites, and has obvious disadvantages in the aspects of efficiency, quality, cost and the like.
Disclosure of Invention
The technical problem solved by the invention is as follows: the system and the method are used for organically integrating a three-dimensional process design system, a manufacturing execution system, a robot programming and simulation system, an intelligent mobile equipment cooperative control system, a robot control system and a manufacturing information fusion and analysis system, supporting the in-situ manufacturing of the large-scale product based on the mobile robot, effectively solving the problems, improving the manufacturing efficiency and quality of the large-scale high-precision product and reducing the production cost.
The technical solution of the invention is as follows:
in a first aspect, an intelligent manufacturing system based on a mobile robot comprises a process design system, a manufacturing execution system, a robot programming and simulation system, an intelligent mobile equipment cooperative control system and a robot control system;
the process design system receives an externally input design model of a product to be processed, carries out structured process design on the product to be processed according to the design model of the product to be processed, and sends structured process information to a manufacturing execution system and a robot programming and simulation system;
the manufacturing execution system receives the process information, conducts production organization of the mobile robot according to the process information, generates production plan information and sends the production plan information to the intelligent mobile equipment cooperative control system; the production plan information is the production flow sequence of the product to be processed;
the robot programming and simulation system receives the process information and an externally input design model of a product to be processed, plans and simulates the moving path and the processing process of the mobile robot, sends the planned and simulated position information to the intelligent mobile equipment cooperative control system, and sends the planned and simulated mobile robot numerical control program to the robot control system; the mobile robot numerical control program is a program for controlling the mobile robot to operate;
the intelligent mobile equipment cooperative control system receives the production plan information and the position information, generates mobile robot mobile path information and sends the mobile path information to the robot control system;
and the robot control system receives the numerical control program and the moving path information of the mobile robot, controls the specified mobile robot to move to a specified position and perform specified operation according to the numerical control program and the moving path information of the mobile robot, and completes the production task.
The system comprises a production planning system, a robot control system and a manufacturing information fusion and analysis system, wherein the production planning system is used for generating production planning information, process records and equipment information; the process record is a record generated by the manufacturing execution system and used for recording the working process of the mobile robot; the equipment information is mobile robot information which is generated by the intelligent mobile equipment cooperative control system and participates in a production task, the robot implementation data is actual operation data of the mobile robot generated by the robot control system, and the robot state data comprises the posture and the service time of the mobile robot.
Further, the process information is information to be used for producing two-dimensional or three-dimensional products, and comprises methods, processes, raw materials, detection methods and detection requirements required by processing.
Further, the work includes mobile robot milling operations, robot drilling operations, robot detection operations.
In a second aspect, a mobile robot-based smart manufacturing method includes the following steps:
receiving a design model of a product to be processed, and carrying out process design according to the design model of the product to be processed to generate structured process information;
carrying out production organization of the mobile robot according to the process information to generate production plan information; the production plan information is the production flow sequence of the product to be processed;
planning and simulating the moving path and the processing process of the mobile robot according to the process information and the design model of the product to be processed, and generating a numerical control program and position information of the mobile robot planned and simulated; the mobile robot numerical control program is a program for controlling the mobile robot to operate;
generating mobile robot moving path information according to the production plan information and the position information;
and controlling the mobile robot to move to a specified position and perform specified operation according to the mobile robot numerical control program and the mobile robot moving path information to finish the production task.
Further, optimizing the production process and tracing the product quality according to the production plan information, the process record and the equipment information and the feedback robot implementation and state data; the process record is used for recording the operation process of the mobile robot; the equipment information is information of the mobile robot participating in the production task, the robot implementation data is actual operation data of the mobile robot, and the robot state data comprises the posture and the service time of the mobile robot.
Further, the process information is information to be used for producing two-dimensional or three-dimensional products, and comprises methods, processes, raw materials, detection methods and detection requirements required by processing.
Further, the work includes mobile robot milling operations, robot drilling operations, robot detection operations.
Compared with the prior art, the invention has the advantages that: aiming at the problems of limited processing range, complex process, unstable quality, difficult process control, long production period, difficult cross and parallelism and the like in the processing process of large-scale high-precision products, the invention adopts the intelligent manufacturing system and method based on the mobile robot to support the in-situ manufacturing of the large-scale products based on the mobile robot, can effectively solve the problems and achieve the following effects:
(1) the in-situ machining of large high-precision products is realized, namely machining equipment works around the products, the problem that the machining stroke of numerical control machine equipment is limited is solved, and the manufacturing capacity is improved;
(2) the process of a large high-precision product is shortened and simplified, a large number of working procedures of manual operation such as measurement, disassembly and assembly are omitted, namely, parts do not need to be disassembled and assembled manually, and the quality stability of the product can be obviously improved;
(3) the control capability of the manufacturing process of the large high-precision product is enhanced, namely the manufacturing process is controlled through a system (human-system-robot), various data information can be recorded in detail, and the traceability of the manufacturing process can be obviously improved;
(4) the cross parallel capability in the production process is improved, namely various robots can move to perform cross operation among different products according to the production process, the problem that cross parallel production cannot be performed due to the fact that machine tool equipment needs to be occupied for a long time in the product machining process in the prior art is solved, the production period can be obviously shortened, and the manufacturing efficiency is improved;
(5) the dependence of the manufacturing process of large-scale high-precision products on large-scale equipment and production fields is reduced, namely, large-scale special numerical control machine tool equipment and production fields are not required to be configured for producing products with larger sizes, and the manufacturing cost of the products can be obviously reduced.
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FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
As shown in fig. 1, the present invention is realized by the following technical solutions:
the invention relates to an intelligent manufacturing system and method based on a mobile robot, wherein the system comprises: the system comprises a three-dimensional process design system 1, a manufacturing execution system 2, a robot programming and simulation system 3, an intelligent mobile equipment cooperative control system 4, a robot control system 5 and a manufacturing information fusion and analysis system 6.
The three-dimensional process design system 1 is used for carrying out three-dimensional process design based on a product design model, and sending structured three-dimensional process information to the manufacturing execution system 2 and the robot programming and simulation system 3;
the manufacturing execution system 2 is used for carrying out production organization and process recording based on the three-dimensional process information, sending the production plan information to the intelligent mobile equipment cooperative control system 4 and sending the production plan and the process recording to the manufacturing information fusion and analysis system 6;
the robot programming and simulation system 3 is used for programming and simulating optimization before actual processing of various robots, sending robot programming position information to the intelligent mobile equipment cooperative control system 4 and sending a robot number control program to the robot control system 5;
the intelligent mobile equipment cooperative control system 4 is used for cooperatively controlling various intelligent mobile equipment such as a processing robot, a detection robot and the like, including equipment selection, path planning and the like, sending the mobile path information of each intelligent equipment to the robot control system 5, and sending the relevant information of the intelligent equipment to the manufacturing information fusion and analysis system 6;
the robot control system 5 is used for actually controlling the movement and operation of the mobile robot equipment such as machining, detection and the like, sending detection data to the robot programming and simulation system 3 for closed-loop feedback optimization, and sending implementation and state data of the robot equipment to the manufacturing information fusion and analysis system 6;
the manufacturing information fusion and analysis system 6 is used for fusing and analyzing various types of received data information generated in the manufacturing process, and supporting production process optimization, product quality tracing and the like.
An intelligent manufacturing method based on a mobile robot comprises the following specific steps:
step 1: the three-dimensional process design system 1 carries out process design based on a three-dimensional design model;
step 2: the manufacturing execution system 2 carries out production organization based on the three-dimensional process obtained in the step 1, makes a production plan and records the production process;
and step 3: the robot programming and simulation system 3 programs the operation process of the mobile robot based on the three-dimensional process obtained in the step 1, and performs simulation optimization on a programming result, wherein the step 3 and the step 2 can be executed in parallel;
and 4, step 4: in the intelligent mobile equipment cooperative control system 4, appropriate robot equipment is distributed according to the production plan information obtained in the step 2 and the robot position planning information obtained in the step 3, and a reasonable moving path is formulated for the robot;
and 5: the robot control system 5 controls the processing and detecting robot to carry out actual operation according to the robot number control program obtained in the step 3 and the movement planning path obtained in the step 4, and feeds back a detection result to the robot programming and simulation system 3;
step 6: and (3) in the manufacturing information fusion and analysis system 6, optimizing the production process and tracing the product quality according to the production plan and the process record obtained in the step 2, the equipment information obtained in the step 4, the robot implementation and state data obtained in the step 5 and the like.
The specific embodiment is as follows:
taking the manufacturing of a main structure of a core cabin of a space station as an example, the method comprises the following specific steps:
step 1: the three-dimensional process design system 1 carries out process design based on a three-dimensional design model of a main structure of a core cabin of a space station, and comprises a process method, a process flow, required raw materials, a detection method, detection requirements and the like required by manufacturing, wherein if the 1 st process is milling, the 2 nd process is detection, the 3 rd process is drilling, the 4 th process is detection, and the 5 th process is general inspection;
step 2: the manufacturing execution system 2 carries out production organization based on the three-dimensional process obtained in the step 1, makes a production plan according to the process content and the resource conditions of equipment, raw materials, personnel and the like, and records the production process according to the process execution condition, namely, the start record is carried out when each process is started and the completion feedback record is carried out when the process is completed;
and step 3: in the robot programming and simulation system 3, the operation process of the mobile robot is programmed based on the three-dimensional process obtained in the step 1, and the programming result is simulated and optimized to obtain different robot numerical control programs (including robot station position coordinate information) of each process, such as a numerical control program for milling in the 1 st process, a numerical control program for detecting in the 2 nd process, a numerical control program for drilling in the 3 rd process, a numerical control program for detecting in the 4 th process and a numerical control program for general inspection in the 5 th process, wherein the step 3 can be executed in parallel with the step 2;
and 4, step 4: the intelligent mobile equipment cooperative control system 4 allocates proper robot equipment according to the production plan information obtained in the step 2 and the robot position planning information obtained in the step 3, and makes a reasonable moving path for the robot, namely, the robot is controlled to move and operate according to the process execution condition recorded in the step 2, if the 1 st process is started in the step 2, the intelligent mobile equipment cooperative control system 4 allocates a milling robot for the process, and makes a reasonable reciprocating moving path according to the position planned in the step 3;
and 5: the robot control system 5 controls the processing and detecting robot to carry out actual operation according to the robot number control program obtained in the step 3 and the movement planning path obtained in the step 4, and feeds back a detection result to the robot programming and simulation system 3; after the 1 st procedure is started, after robot distribution information and path information of the intelligent mobile equipment cooperative control system 4 in the step 4 are received, the milling robot is controlled to move to the position planned in the step 3 according to the moving path, the numerical control program programmed in the step 3 is executed, after the execution is finished, a worker can complete and feed back the 1 st procedure in the step 2, then the milling robot is controlled to return according to the moving path, and after the 2 nd procedure is started in the step 2, the procedures are repeated until the whole process is finished;
step 6: and (3) in the manufacturing information fusion and analysis system 6, optimizing the production process and tracing the product quality according to the production plan and the process record obtained in the step 2, the equipment information obtained in the step 4, the robot implementation and state data obtained in the step 5 and the like.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. An intelligent manufacturing system based on mobile robot, its characterized in that: the system comprises a process design system (1), a manufacturing execution system (2), a robot programming and simulation system (3), an intelligent mobile equipment cooperative control system (4) and a robot control system (5);
the process design system (1) receives an externally input design model of a product to be processed, carries out structured process design on the product to be processed according to the design model of the product to be processed, and sends structured process information to the manufacturing execution system (2) and the robot programming and simulation system (3);
the manufacturing execution system (2) receives the process information, conducts production organization of the mobile robot according to the process information, generates production plan information and sends the production plan information to the intelligent mobile equipment cooperative control system (4); the production plan information is the production flow sequence of the product to be processed;
the robot programming and simulation system (3) receives the process information and an externally input design model of a product to be processed, plans and simulates the moving path and the processing process of the mobile robot, sends the planned and simulated position information to the intelligent mobile equipment cooperative control system (4), and sends the planned and simulated mobile robot numerical control program to the robot control system (5); the mobile robot numerical control program is a program for controlling the mobile robot to operate;
the intelligent mobile equipment cooperative control system (4) receives the production plan information and the position information, generates mobile robot moving path information and sends the moving path information to the robot control system (5);
the robot control system (5) receives the mobile robot numerical control program and the moving path information, controls the specified mobile robot to move to a specified position and perform specified operation according to the mobile robot numerical control program and the moving path information, and completes a production task; the mobile robot comprises a processing and detecting robot;
the system also comprises a manufacturing information fusion and analysis system (6), wherein the manufacturing information fusion and analysis system (6) receives the production plan information, the process record and the equipment information, and robot implementation and state data fed back by the robot control system (5), and optimizes the numerical control program and the moving path information of the mobile robot and traces back the product quality; the process record is a record generated by the manufacturing execution system (2) for recording a mobile robot working process; the equipment information is mobile robot information which is generated by the intelligent mobile equipment cooperative control system (4) and participates in production tasks, the robot implementation data is actual operation data of the mobile robot generated by the robot control system (5), and the robot state data comprises the posture and service time of the mobile robot.
2. The mobile robot-based smart manufacturing system of claim 1, wherein: the process information is information required by producing two-dimensional or three-dimensional products and comprises methods, processes, raw materials, detection methods and detection requirements required by processing.
3. The mobile robot-based smart manufacturing system of claim 1, wherein: the operation comprises a mobile robot milling operation, a robot drilling operation and a robot detection operation.
4. An intelligent manufacturing method based on a mobile robot is characterized by comprising the following steps:
receiving a design model of a product to be processed, and carrying out process design according to the design model of the product to be processed to generate structured process information;
carrying out production organization of the mobile robot according to the process information to generate production plan information; the production plan information is the production flow sequence of the product to be processed;
planning and simulating the moving path and the processing process of the mobile robot according to the process information and the design model of the product to be processed, and generating a numerical control program and position information of the mobile robot planned and simulated; the mobile robot numerical control program is a program for controlling the mobile robot to operate;
generating mobile robot moving path information according to the production plan information and the position information;
controlling the mobile robot to move to a specified position and perform specified operation according to the mobile robot numerical control program and the mobile robot moving path information to complete a production task; the mobile robot comprises a processing and detecting robot;
the production process optimization and the product quality tracing are carried out according to the production plan information, the process record and the equipment information and the feedback robot implementation and state data; the process record is used for recording the operation process of the mobile robot; the equipment information is information of the mobile robot participating in the production task, the robot implementation data is actual operation data of the mobile robot, and the robot state data comprises the posture and the service time of the mobile robot.
5. The intelligent manufacturing method based on mobile robot as claimed in claim 4, wherein: the process information is information required by producing two-dimensional or three-dimensional products and comprises methods, processes, raw materials, detection methods and detection requirements required by processing.
6. The intelligent manufacturing method based on mobile robot as claimed in claim 4, wherein: the operation comprises a mobile robot milling operation, a robot drilling operation and a robot detection operation.
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| JP2003341834A (en) * | 2002-05-24 | 2003-12-03 | Denso Wave Inc | Unmanned carrying vehicle and machining system utilizing the same |
| WO2013037693A2 (en) * | 2011-09-15 | 2013-03-21 | Convergent Information Technologies Gmbh | System and method for the automatic generation of robot programs |
| CN104483905A (en) * | 2014-11-11 | 2015-04-01 | Abb技术有限公司 | Method and system for controlling robot to machine components |
| US9776326B2 (en) * | 2015-10-07 | 2017-10-03 | X Development Llc | Battery and hard drive exchange station for robots |
| CN105824300A (en) * | 2016-03-16 | 2016-08-03 | 沈阳恒久安泰科技发展有限公司 | Heavy type intelligent factory system based on IoT (Internet of Things) technology and digital management technology |
| CN105807720B (en) * | 2016-05-17 | 2018-07-06 | 深圳职业技术学院 | Phone mould forming part numerical control programming and automation Working control device |
| US10782670B2 (en) * | 2016-12-14 | 2020-09-22 | The Boeing Company | Robotic task system |
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