CN109746928A - A kind of the intelligent flexible production line and its operation method of removable dual robot milling automatic - Google Patents

A kind of the intelligent flexible production line and its operation method of removable dual robot milling automatic Download PDF

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Publication number
CN109746928A
CN109746928A CN201910091526.8A CN201910091526A CN109746928A CN 109746928 A CN109746928 A CN 109746928A CN 201910091526 A CN201910091526 A CN 201910091526A CN 109746928 A CN109746928 A CN 109746928A
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China
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robot
milling
processing
binocular vision
platform
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田威
廖文和
刘思明
薛达
张霖
郑法颖
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses the intelligent flexible production lines and its operation method of a kind of removable dual robot milling automatic, the production line includes moving freely platform, Milling Process robot, binocular vision robot, laser tool setting device, industrial robot control cabinet, main control cabinet, movable panel and cooler, first moves freely and is equipped with binocular vision robot on platform, industrial robot control cabinet, second moves freely and is equipped with Milling Process robot on platform, main control cabinet and cooler, two mobile robots are each responsible for Milling Process and on-line measurement, first, which moves freely platform, carries binocular vision robot motion to predetermined station, the Binocular vision photogrammetry instrument of robot end is completed to the Scanning Detction for workpieces processing, obtain Milling Process surplus;Then second platform carrying Milling Process robot execution milling task is moved freely.Height intelligentized control method can be achieved in the present invention, and working space is big, and positioning accuracy is high, and product processing quality is high and stability is good, and product is high in machining efficiency, can complete complicated Milling Process task.

Description

A kind of intelligent flexible production line of removable dual robot milling automatic and its operation Method
Technical field
The invention belongs to field of machining, and in particular to a kind of intelligent flexible of removable dual robot milling automatic Production line and its operation method.
Background technique
With implementing in full for China's manned space flight and moon exploration program, Large Spacecraft develops task amount and is multiplied, In high precision, short route, high flexibility manufacture characteristic to processing technology and equipment propose new challenge.For shapes such as space stations The demand that high precision instrument equipment mounting bracket is measured and processed in the Large Spacecraft that size is big, rigidity is weak, it is existing Method needs are completed on different workshops and station, are appointed by lifting, transhipment and clamping repeatedly with completing different operations Business.Not only need to prepare five large-scale axis gantry machining centers in this way, there is also the risk that benchmark in station conversion process deviates, Manufacturing cycle extends, it is difficult to realize the quick response requirement of Project R&D.In order to solve the processing problem of large-sized structural parts, improve Product processing efficiency, urgent need are developed a kind of combining omnidirectional intelligent family moving platform, robot, Precision Terminal actuator and are integrated Mobile robot intelligent flexible manufacturing cell, however due to single mobile robot unit process low efficiency, Wu Fayi Therefore the secondary complicated processing mission requirements met in the common manufacturing processes such as measurement, processing can adapt to new environment, new post The multirobot coordinated operation system of business is the development trend of the following large-scale component processing.
For current domestic research at present, cooperate the research of detection processing also seldom in relation to multiple mobile robots, Such as a kind of single mobile machine in " drilling milling machine device people system of packaged type automatic addressing " (CN201611161636.X) People completes drilling and milling task, " a kind of the intelligent flexible production line and its operation method of robot automatic assembling " (CN201510586767.1) individual machine people realizes that multi-court position works by moving in track in, both working methods Large-sized structural parts processing problems are not can effectively solve, therefore, in order to solve the processing problem and raising of large-sized structural parts Product processing efficiency is badly in need of introducing a kind of intelligent flexible production line of multirobot work compound.
Summary of the invention
In view of the above technical problems, the present invention devises a kind of intelligent flexible life of removable dual robot milling automatic Producing line and its operation method can be completed to the surplus detection of part and Milling Process task.Binocular vision robot carries It can be realized multi-court position on-line checking task on moving freely platform, Milling Process robot is also mounted in and moves freely platform On can be realized multi-court position Milling Process task, Milling Process work is completed in dual robot cooperation, effectively improves robot work Flexibility, expand the range of work of robot, improve product processing efficiency, solve the processing problem of large-sized structural parts.
To achieve the above object, technical solution provided by the invention are as follows:
A kind of the intelligent flexible production line and its operation method of removable dual robot milling automatic, including consisting of Part:
This flexible production line is mainly made of Liang Tai robot, and a robot carries the completion of Binocular vision photogrammetry instrument To the on-line measurement task of workpiece to be processed, this robot is known as binocular vision robot;Another robot carries milling End effector realization is cut to the Milling Process task of workpiece, this robot is known as Milling Process robot;
Milling end effector is mounted at Milling Process robot ring flange, before milling end effector mainly includes Absolute grating scale is installed on back fed module, station conversion module, front and back feeding module and station conversion module and carries out position Full closed loop control is set, machining accuracy when robotic milling processing can be effectively improved;
Platform is moved freely, mesa base is moved freely and sighting device is installed, by identifying ribbon road sign, is carried Industrial robot is mobile to predetermined machining area or detection zone, opens four stabilizer blades of mobile platform after reaching designated position, leads to Cross four supporting legs support entirely move freely platform guarantee processing or detection process in stability;
Binocular vision photogrammetry instrument is mounted at binocular vision robot ring flange, by pasting target patch on workpiece, so Binocular vision robot drives Binocular vision photogrammetry instrument to be moved to the different position of near workpieces, Binocular vision photogrammetry instrument afterwards Shooting work is carried out to workpiece, is then fitted actual processing surface information, and theoretical digital-to-analogue compares and obtains Milling Process surplus;
Laser tool setting device, is mounted on and moves freely on platform, and it is disconnected that it can be used for high speed, high-precision counter blade and detection cutter It splits.When cutter passes through laser beam, the light intensity decreasing at receiver records current machine to controller one signal of sending People position obtains tool dimension (diameter or length) from face, and measured tool dimension is all brought into automatically and updates controller Cutter compensation table;
Industrial robot control cabinet is mounted on moving freely on platform for carrying binocular vision robot, controls vision machine The movement of device people, and communication connection is established with the main control cabinet;
Main control cabinet is mounted on moving freely on platform for carrying Milling Process robot, with Milling Process robot, view Feel that robot, milling end effector, cooler establish communication connection, control milling end effector, cooler and work respectively The movement of industry robot;
Cooler is mounted on moving freely on platform for carrying Milling Process robot, realizes in Milling Processes Cooling to electro spindle, lubricating function;
Movable panel is placed on the side of main control cabinet, for controlling industrial robot and milling end in debugging process The movement for holding actuator has urgent sudden-stop function on movable panel, can stop after in emergency circumstances pressing robot and The movement of end effector prevents from occurring fortuitous event in debugging or process to cause unnecessary casualties;
Laser tracker is integrated into control system by laser tracker, and laser tracker acquires Milling Process machine in real time The current pose of device people simultaneously feeds back to control system progress online compensation.
A kind of a kind of intelligent flexible production line of removable dual robot automatic drill milling as described above and its operation side Method, which comprises the following steps:
Step 1: establishing site coordinate system using laser tracker, industrial robot is demarcated, the scene coordinate System includes world coordinate system, robot basis coordinates system, tool coordinates system, tooling coordinate system, product coordinate system;
Step 2: product digital-to-analogue is imported in off-line programming software, product digital-to-analogue machining feature information is extracted and is added Work mission planning emulates finally by processing tasks and post-processes generative theory NC processing program;
Step 3: each component to production line carries out self-test, including move freely Platform communication state, master control system communication State, gas source air valve state, electro spindle state, laser tracker state, laser tool setting device state, Binocular vision photogrammetry equipment shape State carries out in next step if self-detection result is normal, if there are mistakes for self-detection result, detects error reason, executes troubleshooting step Suddenly;
It is moved on band Step 4: moving freely platform, passes through the track stored in identification two dimensional code and location information It drives industrial robot mobile to processing erect-position, four stabilizer blades for moving freely platform is opened, by the pressure for judging four stabilizer blades Force value size falls into place to realize;
It is executed Step 5: the NC processing program of generation is imported in industrial personal computer, binocular vision robot cooperates Milling Process Processing Detection task is completed in robot collaboration;
Step 6: Milling Process robot returns to HOME state, and closing moves freely after completing current erect-position processing operation Four stabilizer blades of platform, are moved to region of awaiting orders for Milling Process robot.
Above-mentioned steps two include:
By the function of CAA developing instrument secondary development, the automatic identification of processing region feature is carried out to product digital-to-analogue document With the extraction of characteristic information, processing object is generated, and then the attribute and parameter information that provide according to product digital-to-analogue create technique number Mould;
Off-line programming software reads the technique digital-to-analogue being stored in product digital-to-analogue document, completes processing according to technique digital-to-analogue and appoints Business planning, such as binocular vision robot path planning, Milling Process robot trajectory planning, end effector motion planning;
According to the data of technological data bank and standard parts library, processing technology is carried out to the processing object set of each sequence Planning, the setting of optimal setting and processing method, special process, miscellaneous function including machined parameters etc.;
According to the process that preceding step is planned, off-line programming software automatically generates the movement rail of robot and end effector Mark and machining posture are inserted into advance and retreat cutter position point with end position in sequence starting, and insertion evacuation point, is standing between processing object Robot reduction point is inserted into after the processing flow of position;
By the NC code specification of given system, off-line programming software reads processing flow program results, and is compiled as automatically The NC machining code read for DELMIA secondary development task simulation module and master system;
DELMIA secondary development task simulation module reads NC program and establishes robot simulation task automatically, analysis processing The interference and collision generated in task is generated by automatic obstacle-avoiding track, to guarantee the safety of actual processing, adjusts structure tree On evacuation point, to guarantee machining locus energy avoiding obstacles;
Postpositive disposal is carried out to processing tasks, the compensation of coordinate system and machining locus is converted by Post-processing Algorithm, and NC machining code after last conversion is inputed into control system.
Processing tasks in above-mentioned steps five include Milling Process task, and milling task includes:
A1, it moves freely platform and carries binocular vision robot and be moved to predetermined station, robot motion arrives generation processing work Near part, binocular vision detection equipment carries out online milling surplus detection, is carried out according to the information of detection to processing program online Amendment, sends revised NC code in control system;
A2, move freely platform carry Milling Process robot be moved to processing initial point position, tracked using laser Instrument acquires current point attained pose information in real time, and deviation information is obtained compared with theoretical value and carries out online compensation;
Feeding motor on A3, milling end effector drives electro spindle to travel forward, in place rear station switching mechanism band Dynamic electro spindle carries out in-milling, and single track completes back fed motor movement and carries out tool backlash movement, and station switching mechanism drives Electro spindle returns to original in-situ, and robot drives milling end effector to move down after the completion, and feed mechanism drives electricity main again Axis feeding carries out next track processing;
Binocular vision photogrammetry instrument is reused after the completion of A4, Milling Process and carries out surplus detection, if there is also more than processing Amount then repetitive cycling step A3, if it does not exist machining allowance then mobile robot to next processing erect-position.
Surplus detection process in above-mentioned A1 step is as follows:
It moves freely platform and carries binocular vision robot motion to predetermined station, binocular vision robot motion is to be checked Near workpieces are surveyed, Binocular vision photogrammetry instrument projects slice blue light to workpiece surface, in image acquisition process, can effectively filter Surrounding environment light interference, then control Binocular vision photogrammetry instrument to posted target patch carried out for workpieces processing surface it is online Scanning Detction obtains the overall dimensions shape of product by the image processing software of Binocular vision photogrammetry instrument, actual processing Surface is compared with the data in product theory digital-to-analogue and judges whether there is machining allowance.
Laser tracker real-time compensation process in above-mentioned A2 step, process are as follows:
Robot motion is to target position, the reality of 4 target balls on laser tracker real-time detection milling end effector Border position, the physical location are the positions relative to robot basis coordinates system, with known target ball under tool coordinates system 4 A theoretical position is compared, and is found out by the matched mode of least square method based on singular value decomposition relative to robot base Deviation is sent to progress robot location's pose compensation in control system by position deviation and attitude misalignment under coordinate system.
Beneficial effects of the present invention:
The intelligent flexible production line that the present invention moves dual robot milling automatic carries work using platform is moved freely Industry robot carries out on-line checking and Milling Process task, and moving freely platform can be with mobile robot in difference by vision guided navigation Region carry out processing work, using the machining allowance of Binocular vision photogrammetry apparatus measures product, cooperate laser tracker fully closed Loop technique corrects robot pose deviation, improves robotic milling precision, by omnidirectional's intelligent family moving platform, industrial machine People, end effector become one, and greatly increase the flexibility degree of system, can effectively reduce production cycle and cost, energy Enough processing tasks for meeting high-precision, automation, flexibility.
Detailed description of the invention
Fig. 1 is that binocular vision robot is moved to the structural schematic diagram that designated position carries out online allowance detector;
Fig. 2 is the structural schematic diagram that Milling Process robot is moved to that predetermined station carries out Milling Process;
Fig. 3 is schematic diagram of the process of the invention;
In figure, 1- Milling Process robot, 2- milling end effector, 3- main control cabinet, 4- cooler, 5- binocular vision Robot, 6- Binocular vision photogrammetry instrument, 7- move freely platform, 8- industrial robot control cabinet.
Specific embodiment
In order to clarify the technical solutions and technical objectives of the present invention, with reference to the accompanying drawing and specific embodiment is the present invention It is further to introduce.
The present invention provides the intelligent flexible production line and its operation method of a kind of removable dual robot milling automatic, should The component part and processing flow of production line are as shown in Figure 1 to Figure 3, the set system can complete to the detection of the surplus of part with And Milling Process task.Binocular vision robot, which is mounted in move freely, can be realized multi-court position on-line checking task on platform, Milling Process robot, which is also mounted in move freely, can be realized multi-court position Milling Process task on platform, dual robot has cooperated It works at Milling Process, effectively improves the flexibility of robot work, expand the range of work of robot, improve product processing effect Rate solves the processing problem of large-sized structural parts.
Wherein, production line part include move freely platform, end effector, laser tool setting device, binocular vision robot, Milling Process robot, industrial robot control cabinet, main control cabinet, oil cooling machine, flexible frock frame, movable panel and laser with Track instrument.First moves freely and is equipped with binocular vision robot, industrial robot control cabinet on platform, and second moves freely platform On Milling Process robot, main control cabinet and cooler are installed.First, which moves freely platform, carries vision robot Detection is scanned to workpiece, actual product information obtains Milling Process balance information compared with theoretical digital-to-analogue, and then second certainly Milling Process robot is carried by mobile platform and is moved to corresponding processing erect-position, industrial robot drives end effector to carry out Milling Process movement.It should be noted that binocular vision robot and Milling Process robot are general industry processing machine People, installing binocular vision instrument on the ring flange of industrial processes robot is binocular vision robot, in industrial processes machine It is Milling Process robot that milling actuator is installed on the ring flange of people.
The described platform that moves freely for intelligent Omni-mobile platform, including Mecanum train and stable support structure, When moving freely platform and being moved to designated position, the downward supporting handle of stable supporting mechanism moves freely platform and props up, and increases work Stability when industry processing of robots reduces vibration when processing, and trolley bottom is equipped with vision guide device, logical with industrial personal computer Letter connection, can provide cartesian coordinate system x, the y value for moving freely platform, yaw angle θ value and cartesian coordinate system x, the side y To speed, yaw rate moves freely the cartesian coordinate system of platform to move freely the center of platform as origin, x to Move freely that platform direction of advance is consistent, and the direction y is vertical with direction of advance with AGV.
Main control cabinet is responsible for the overall control of production line, with vision robot's control cabinet, milling end effector, freely move Moving platform carries out real time communication.
The milling end effector mainly includes front and back feeding module, station conversion module, front and back feeding module and work Absolute grating scale is installed on the conversion module of position and carries out position full closed loop control, when can effectively improve robotic milling processing Machining accuracy.
The Binocular vision photogrammetry instrument is mounted at binocular vision robot ring flange, by pasting target on workpiece Patch, then projects slice blue light on workpiece, and binocular vision camera identifies target patch, is then fitted actual processing surface letter Breath, and theoretical digital-to-analogue compare and obtain Milling Process surplus.
The laser tool setting device, which is mounted on, to be moved freely on platform, it can be used for high speed, high-precision counter blade and detection cutter Fracture.When cutter passes through laser beam, the light intensity decreasing at receiver records current machine to controller one signal of sending Device people position obtains tool dimension (diameter or length) from face, and measured tool dimension is all brought into automatically and updates controller Cutter compensation table.
The movable panel is placed on the side of main control cabinet, for controlling end effector motion in debugging process.
The laser tracker is integrated into control system, and laser tracker acquires the current of Milling Process robot in real time Pose simultaneously feeds back to control system progress online compensation.
For processing spacecraft component product, the processing flow of present system is as follows:
Step 1: establishing site coordinate system using laser tracker, industrial robot is demarcated, the scene coordinate System includes world coordinate system, robot basis coordinates system, tool coordinates system, tooling coordinate system, product coordinate system;
Step 2: product digital-to-analogue is imported in off-line programming software, product digital-to-analogue machining feature information is extracted and is added Work mission planning emulates finally by processing tasks and post-processes generative theory NC processing program;
Step 3: each component to production line carries out self-test, including move freely Platform communication state, master control system communication State, gas source air valve state, electro spindle state, laser tracker state, laser tool setting device state, Binocular vision photogrammetry equipment shape State carries out in next step if self-detection result is normal, if there are mistakes for self-detection result, detects error reason, executes troubleshooting step Suddenly;
It is moved on band Step 4: moving freely platform, passes through the track stored in identification two dimensional code and location information It drives industrial robot mobile to processing erect-position, four stabilizer blades for moving freely platform is opened, by the pressure for judging four stabilizer blades Force value size falls into place to realize;
It is executed Step 5: the NC processing program of generation is imported in industrial personal computer, binocular vision robot cooperates Milling Process Processing Detection task is completed in robot collaboration;
Step 6: Milling Process robot returns to HOME state, and closing moves freely after completing current erect-position processing operation Four stabilizer blades of platform, are moved to region of awaiting orders for Milling Process robot.
Above-mentioned steps two include:
By the function of CAA developing instrument secondary development, the automatic identification of processing region feature is carried out to product digital-to-analogue document With the extraction of characteristic information, processing object is generated, and then the attribute and parameter information that provide according to product digital-to-analogue create technique number Mould;
Off-line programming software reads the technique digital-to-analogue being stored in product digital-to-analogue document, completes processing according to technique digital-to-analogue and appoints Business planning, such as binocular vision robot path planning, Milling Process robot trajectory planning, end effector motion planning;
According to the data of technological data bank and standard parts library, processing technology is carried out to the processing object set of each sequence Planning, the setting of optimal setting and processing method, special process, miscellaneous function including machined parameters etc.;
According to the process that preceding step is planned, off-line programming software automatically generates the movement rail of robot and end effector Mark and machining posture are inserted into advance and retreat cutter position point with end position in sequence starting, and insertion evacuation point, is standing between processing object Robot reduction point is inserted into after the processing flow of position;
By the NC code specification of given system, off-line programming software reads processing flow program results, and is compiled as automatically The NC machining code read for DELMIA secondary development task simulation module and master system;
DELMIA secondary development task simulation module reads NC program and establishes robot simulation task automatically, analysis processing The interference and collision generated in task is generated by automatic obstacle-avoiding track, to guarantee the safety of actual processing, adjusts structure tree On evacuation point, to guarantee machining locus energy avoiding obstacles;
Postpositive disposal is carried out to processing tasks, the compensation of coordinate system and machining locus is converted by Post-processing Algorithm, and NC machining code after last conversion is inputed into control system.
Processing tasks in above-mentioned steps five include Milling Process task, and milling task includes:
A1, it moves freely platform and carries binocular vision robot and be moved to predetermined station, robot motion arrives generation processing work Near part, binocular vision detection equipment carries out online milling surplus detection, is carried out according to the information of detection to processing program online Amendment, sends revised NC code in control system;
A2, move freely platform carry Milling Process robot be moved to processing initial point position, tracked using laser Instrument acquires current point attained pose information in real time, and deviation information is obtained compared with theoretical value and carries out online compensation;
Feeding motor on A3, milling end effector drives electro spindle to travel forward, in place rear station switching mechanism band Dynamic electro spindle carries out in-milling, and single track completes back fed motor movement and carries out tool backlash movement, and station switching mechanism drives Electro spindle returns to original in-situ, and robot drives milling end effector to move down after the completion, and feed mechanism drives electricity main again Axis feeding carries out next track processing;
Binocular vision photogrammetry instrument is reused after the completion of A4, Milling Process and carries out surplus detection, if there is also more than processing Amount then repetitive cycling step A3, if it does not exist machining allowance then mobile robot to next processing erect-position.
Surplus detection process in above-mentioned A1 step is as follows:
It moves freely platform and carries binocular vision robot motion to predetermined station, binocular vision robot motion is to be checked Near workpieces are surveyed, Binocular vision photogrammetry equipment projects slice blue light to workpiece surface, in image acquisition process, can effectively filter Surrounding environment light interference, then control Binocular vision photogrammetry instrument to posted target patch carried out for workpieces processing surface it is online Scanning Detction obtains the overall dimensions shape of product by the image processing software of Binocular vision photogrammetry instrument, actual processing Surface is compared with the data in product theory digital-to-analogue and judges whether there is machining allowance.
Laser tracker real-time compensation process in above-mentioned A2 step, process are as follows:
The surrounding of milling end effector side wall is fixed with 4 target seats, and target ball, robot are fixed by target seat Target position is moved to, the physical location of 4 target balls on laser tracker real-time detection milling end effector side wall, with machine Device people's theory pose is compared, and finds out position deviation and appearance by the matched mode of least square method based on singular value decomposition State deviation compensates the position and attitude of robot by the algorithm that software inhouse integrates.
Laser tracker real-time compensation process in above-mentioned steps A2, process are as follows:
The Milling Process robot moves to target position, 4 on laser tracker real-time detection milling end effector The physical location of a target ball is set as point set P={ P1,P2,P3,P4, which is relative under robot basis coordinates system Position, it is known that 4 theoretical positions of the target ball under tool coordinates system, be set as point set Q={ Q1,Q2,Q3,Q4, it is modeled as Following formula:
Q=RP+t (1.1)
The central point for first calculating point set, is then moved to origin for point set, calculates optimal spin matrix R, finally count Calculate transfer matrix t;The formula for calculating central point is as follows:
By point set again centralization, new point set P ' is generatediWith Q 'i, then calculate the covariance matrix between point set, point It is obtained after collecting centralization again:
Covariance matrix between point set are as follows:
U, S, V are obtained by SVD singular value decomposition method, the spin matrix R between point set can be calculated, formula is as follows:
[U, S, V]=SVD (H) (1.7)
R=VUT (1.8)
Robot practical attitude angle A ', B ', C ' are found out by R spin matrix, finally, obtaining transition matrix t by R, is turned It is as follows to change matrix t calculation formula:
Physical location X ', Y ', Z ' of the tool coordinate system relative to robot basis coordinates system can be obtained by transition matrix t, passed through The robot attained pose that algorithm obtains relatively can be obtained with the theoretical pose of known machine people compared with the position deviation of robot with Attitude misalignment is finally sent to deviation in control system and carries out accuracy compensation to robot pose.
Scalar is defined as follows:
P′i, Q 'i New point set after decentralization H Covariance matrix
R Spin matrix U, V Orthogonal matrix
t Translation matrix P, Q Point set
X ', Y ', Z ' Robot physical location A ', B ', C ' The practical posture of robot
The system main-control software of the main control cabinet includes the management of NC processing program, robot control, system diagnostics, measurement The functions such as Single Component Management, equipment debugging management control Milling Process robot and binocular vision by twin-channel mode respectively Robot motion, wherein Milling Process robot is controlled by digital control system by the directly mode of driving;Binocular vision robot passes through support Pipe mode is controlled by digital control system, the security function of binocular vision robot by Profisafe mode by master controller trustship, The status information of binocular vision robot can be real-time transmitted on master control interface, and at it on master control interface Reason.
The present invention devises the intelligent flexible production line and its operation method of a kind of removable dual robot milling automatic, It can complete to the surplus detection of part and Milling Process task.Binocular vision robot, which is mounted in, moves freely energy on platform Enough realize multi-court position on-line checking task, Milling Process robot, which is also mounted in move freely, can be realized multi-court position milling on platform Processing tasks are cut, dual robot cooperation completes Milling Process work, effectively improves the flexibility of robot work, expands robot The range of work, improve product processing efficiency, solve the processing problem of large-sized structural parts.
Basic principles and main features and advantage of the present invention of the invention have been shown and described above.The technology people of the industry Member it should be appreciated that the present invention is not limited to the above embodiments, it is described in the above embodiment and specification illustrate it is of the invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, and the present invention claims guarantors Shield range is delineated by the appended claims, the specification and equivalents thereof from the appended claims.

Claims (15)

1. a kind of intelligent flexible production line of removable dual robot milling automatic, which is characterized in that the flexible production line Including consisting of part:
Binocular vision robot, the binocular vision robot, which carries Binocular vision photogrammetry instrument, to be completed to workpiece to be processed On-line measurement task, the Binocular vision photogrammetry instrument are mounted at binocular vision robot ring flange, and target is posted on workpiece Labeling shoots workpiece by Binocular vision photogrammetry instrument, and fitting actual processing surface information and theoretical digital-to-analogue compare Obtain Milling Process surplus;
Milling Process robot, the Milling Process robot carry the realization of milling end effector to the Milling Process of workpiece Task, the milling end effector are mounted at the ring flange of Milling Process robot, and milling end effector includes front and back Absolute grating scale is installed on feeding module, station conversion module, front and back feeding module and station conversion module and carries out position Full closed loop control improves machining accuracy when robotic milling processing;
The binocular vision robot and Milling Process robot, which are mounted in first respectively and move freely platform and second, freely moves On moving platform, first, second, which moves freely mesa base, is equipped with sighting device, by identifying ribbon road sign, carries industry Robot is moved to predetermined machining area or detection zone;
The binocular vision robot and Milling Process robot pass through the first controller, second controller control respectively;
The flexible production line further includes laser tracker, and the laser tracker is placed on robot side, the laser with Sighting device, the region to be processed of the field range coating workpieces of the sighting device, by laser tracker collection are installed in track instrument At into control system, laser tracker acquires the current pose of Milling Process robot in real time and feeds back to control system progress Online compensation.
2. a kind of intelligent flexible production line of removable dual robot milling automatic according to claim 1, feature It is, the flexible production line further includes laser tool setting device, and the laser tool setting device is mounted on second and moves freely on platform, when When milling cutter passes through laser beam, the receiver in laser tool setting device issues signal to controller, records current robot position, To obtain tool dimension into, measured tool dimension is all brought to automatically and is updated the cutter compensation table of controller.
3. a kind of intelligent flexible production line of removable dual robot milling automatic according to claim 1, feature It is, moves freely platform and second described first and move freely mesa base and be equipped with liftable support construction, pass through Liftable support construction, which supports, entirely moves freely platform to guarantee the stability in processing or detection process.
4. a kind of intelligent flexible production line of removable dual robot milling automatic according to claim 1, feature Be, in digital control system first passage configuration 6 joint shafts of Milling Process robot and end effector on 3 axis informations and Its correlation machine people's kinematics parameters configure the axis information and its kinematics parameters of binocular vision robot in second channel, can To realize that controlling dual robot simultaneously in two channels carries out in-process measurement task.
5. a kind of intelligent flexible of removable dual robot milling automatic according to any one of claims 1 to 4 produces Line, which is characterized in that the flexible production line further includes cooler and movable panel;
Cooler is mounted on moving freely on platform for carrying Milling Process robot, realizes in Milling Processes to electricity The cooling of main shaft, lubricating function;
Movable panel is placed on the side of main control cabinet, holds for control industrial robot and milling end in debugging process The movement of row device is provided with urgent scram button on movable panel, can stop robot and end after in emergency circumstances pressing The movement for holding actuator prevents from occurring fortuitous event in debugging or process to cause unnecessary casualties.
6. a kind of intelligent flexible production line of removable dual robot milling automatic according to claim 3, feature Be, the described platform that moves freely for intelligent Omni-mobile platform, including Mecanum train and liftable support construction, Omni-mobile mesa base is equipped with vision inspection apparatus, by the two dimensional code icon in identification ribbon road sign, obtains the figure Command information in mark, and then it is mobile to predetermined machining area or detection zone to carry industrial robot.
7. a kind of intelligent flexible production line of removable dual robot milling automatic according to claim 5, feature It is, the surrounding of the milling end effector side wall is fixed with 4 target seats, and target ball is fixed on actuator by target seat End.
8. a kind of intelligent flexible production line of removable dual robot milling automatic according to claim 3, feature It is, the liftable support construction is stabilizer blade, and the stabilizer blade is fixedly mounted on mobile platform bottom surrounding, and stabilizer blade passes through electricity Machine driving is gone up and down, and is supported by supporting leg and is entirely moved freely platform to guarantee the stabilization in processing or detection process Property.
9. a kind of intelligent flexible production line of removable dual robot milling automatic according to claim 7, feature It is, the milling end effector is mounted at the ring flange of Milling Process robot, mainly includes front and back feeding module, cross To mobile module and high-speed electric main shaft, front and back feeding module and transverse shifting module are all by servo motor and straight-line ball lead screw Linear moving mechanism is formed, is each responsible for that high-speed electric main shaft is driven to carry out feed motion and in-milling campaign, front and back feeds mould Absolute grating scale is installed on block and transverse shifting module and carries out position full closed loop control, robotic milling can be effectively improved Machining accuracy when processing.
10. a kind of operation of the intelligent flexible production line of removable dual robot milling automatic according to claim 9 Method, which is characterized in that the operation method the following steps are included:
Step 1 is established site coordinate system using laser tracker, is demarcated to industrial robot, the site coordinate system packet Include world coordinate system, robot basis coordinates system, tool coordinates system, tooling coordinate system, product coordinate system;
Step 2 imports product digital-to-analogue in off-line programming software, extracts product digital-to-analogue machining feature information and carries out processing and appoints Business planning emulates finally by processing tasks and post-processes generative theory NC processing program;
Step 3 carries out self-test to each component of production line;
Step 4, first and second move freely platform moves on band, passes through the track and position stored in identification two dimensional code Confidence breath drives industrial robot mobile to processing erect-position;
The NC processing program of generation is imported in industrial personal computer and is executed by step 5, and binocular vision robot cooperates Milling Process machine People, which cooperates with, completes processing Detection task;
Step 6, after completing current erect-position processing operation, Milling Process robot returns to HOME state, and Milling Process robot is moved Move region of awaiting orders.
11. operation method according to claim 10, which is characterized in that the step 2 includes:
Step 2.1, the automatic identification of processing region feature and the extraction of characteristic information are carried out to product digital-to-analogue document, generate processing pair As, and then the attribute and parameter information that are provided according to product digital-to-analogue create technique digital-to-analogue;
Step 2.2, off-line programming software reads the technique digital-to-analogue being stored in product digital-to-analogue document, completes to add according to technique digital-to-analogue Work mission planning, such as binocular vision robot path planning, Milling Process robot trajectory planning, end effector motion rule It draws;
Step 2.3, the data according to technological data bank and standard parts library, carry out processing work to the processing object set of each sequence The planning of skill, the setting of optimal setting and processing method, special process, miscellaneous function including machined parameters etc.;
Step 2.4, it according to the process planned in step 2.3, generates the motion profile of robot and end effector and adds Work posture, is inserted into advance and retreat cutter position point with end position in sequence starting, and the insertion evacuation point between processing object is processed in erect-position Robot reduction point is inserted into after process;
Step 2.5, it by the NC code specification of given system, is planned according to processing flow program results, and by the processing flow As a result it is compiled as the NC machining code read for master system;
Step 2.6, robot simulation task is established, the interference and collision generated in processing tasks is analyzed, automatically generates avoidance track;
Step 2.7, postpositive disposal is carried out to processing tasks, the benefit of coordinate system and machining locus is converted by Post-processing Algorithm It repays, and the NC machining code after last conversion is inputed into control system.
12. operation method according to claim 10, which is characterized in that the milling task in the step 5 includes:
Step 5.1, described first move freely platform carry binocular vision robot be moved to predetermined station, binocular vision machine People moves near workpieces processing, and Binocular vision photogrammetry instrument carries out online milling surplus detection, according to the information pair of detection Processing program carries out on-line amending, sends revised NC code in control system;
Step 5.2, described second move freely platform carry Milling Process robot be moved to processing initial point position, utilize Laser tracker acquires current point attained pose information in real time, and deviation information is obtained compared with theoretical value and carries out online compensation;
Step 5.3, the feeding motor on milling end effector drives electro spindle to travel forward, in place rear station switching mechanism band Dynamic electro spindle carries out in-milling, and single track completes back fed motor movement and carries out tool backlash movement, and station switching mechanism drives Electro spindle returns to original in-situ, and robot drives milling end effector to move down after the completion, and feed mechanism drives electricity main again Axis feeding carries out next track processing;
Step 5.4, Binocular vision photogrammetry instrument is reused after the completion of Milling Process and carry out surplus detection, if there is also more than processing Amount then repetitive cycling step 5.3, if it does not exist machining allowance then mobile robot to next processing erect-position.
13. operation method according to claim 12, which is characterized in that 5.1 binocular vision detection stream in the step Journey, process are as follows:
Binocular vision photogrammetry equipment projection slice blue light arrives workpiece surface, and then control Binocular vision photogrammetry instrument is to having pasted Good target patch carries out online Scanning Detction, the actual processing table that Binocular vision photogrammetry apparatus measures come out for workpieces processing surface Face is compared with the data in product theory digital-to-analogue and judges whether there is machining allowance.
14. operation method according to claim 12, which is characterized in that the laser tracker in the step 5.2 is real-time Process is compensated, process is as follows:
The Milling Process robot moves to target position, the reality of target ball on laser tracker real-time detection end effector Border position is compared with robot theory pose, is found out by the matched mode of least square method based on singular value decomposition Position deviation and attitude misalignment compensate the position and attitude of robot by the algorithm that software inhouse integrates.
15. operation method described in 3 or 14 according to claim 1, which is characterized in that the laser tracker in the step 5.2 Real-time compensation process, process are as follows:
The Milling Process robot moves to target position, 4 targets on laser tracker real-time detection milling end effector The physical location for marking ball, is set as point set P={ P1,P2,P3,P4, which is relative to the position under robot basis coordinates system Set, it is known that 4 theoretical positions of the target ball under tool coordinates system, be set as point set Q={ Q1,Q2,Q3,Q4, it is modeled as follows Formula:
Q=RP+t (1.1)
The central point for first calculating point set, is then moved to origin for point set, calculates optimal spin matrix R, finally calculates and turns Move matrix t;The formula for calculating central point is as follows:
By point set again centralization, new point set P is generatedi' and Q 'i, then calculate the covariance matrix between point set, point set weight It is obtained after new centralization:
Covariance matrix between point set are as follows:
U, S, V are obtained by SVD singular value decomposition method, the spin matrix R between point set can be calculated, formula is as follows:
[U, S, V]=SVD (H) (1.7)
R=VUT (1.8)
Robot practical attitude angle A ', B ', C ' are found out by R spin matrix, finally, obtaining transition matrix t by R, converts square Battle array t calculation formula is as follows:
Physical location X ', Y ', Z ' of the tool coordinate system relative to robot basis coordinates system can be obtained by transition matrix t, pass through algorithm The position deviation and posture of robot relatively can be obtained in the robot attained pose of acquisition compared with the theoretical pose of known machine people Deviation is finally sent to deviation in control system and carries out accuracy compensation to robot pose,
Scalar is defined as follows:
Pi', Q 'i New point set after decentralization H Covariance matrix R Spin matrix U, V Orthogonal matrix t Translation matrix P, Q Point set X ', Y ', Z ' Robot physical location A ', B ', C ' The practical posture of robot
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