CN109849019B - A multi-robot machining method for rotary structural parts - Google Patents
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- 238000003672 processing method Methods 0.000 claims abstract description 13
- 238000000227 grinding Methods 0.000 claims abstract description 12
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Abstract
本发明公开了一种回转类结构件的多机器人加工方法，包括：对场景实时定位系统、至少两个机器人和回转工件位姿保持与调整系统进行初始化；生成用多机器人协同作业指导书；将待加工回转类结构件固定在回转工件位姿保持与调整系统上；通过场景实时定位系统控制各机器人移动至相应的加工位置；各机器人根据所述多机器人协同作业指导书进行位姿调整，以确定加工刀具与待加工型面之间的高精度位姿关系；各机器人根据所述多机器人协同作业指导书，对待加工回转类结构件上对应的待加工型面进行加工。通过本发明实现了大型回转类结构上多个加工面并行铣削、制孔与打磨，并行作业的方法可有效提高大型回转类结构的自动化水平和加工效率。
The invention discloses a multi-robot processing method for rotary structural parts, comprising: initializing a scene real-time positioning system, at least two robots and a position and attitude maintaining and adjusting system of a rotary workpiece; generating a multi-robot collaborative operation instruction; The rotary structural parts to be processed are fixed on the position and posture maintenance and adjustment system of the rotary workpiece; each robot is controlled to move to the corresponding processing position through the scene real-time positioning system; Determine the high-precision pose relationship between the machining tool and the profile to be processed; each robot processes the profile to be processed corresponding to the rotary structural member to be processed according to the multi-robot collaborative operation guide. The invention realizes parallel milling, hole making and grinding of multiple machining surfaces on the large-scale rotary structure, and the parallel operation method can effectively improve the automation level and processing efficiency of the large rotary structure.
Description
Technical Field
The invention belongs to the technical field of numerical control machining, and particularly relates to a multi-robot machining method for a rotary structural member.
Background
With the increase of the demand of China in the field of manufacturing of important structural parts, the manufacturing characteristics of high precision and high flexibility provide new challenges for processing equipment. For example, in a large sealed cabin structure with the diameter larger than 3 meters and the length larger than 10 meters, in order to ensure that the function and the precision of the large sealed cabin structure meet the requirements of design indexes, the large sealed cabin structure needs to be integrally processed, the existing machine tool is difficult to meet the requirements of a processing range, and the efficient and high-precision manufacturing of large components becomes a main bottleneck restricting the development of high-end manufacturing industry in China.
The key technologies of design, manufacture, measurement and the like of large and complex components are the priority subjects of the key development field of the manufacturing industry, and such components usually have the characteristics of large size, complex shape, high requirements on position precision and surface quality, and are accompanied with thin-wall structures, and the like, thereby providing a serious challenge for the processing capability of basic manufacturing equipment.
At present, gantry type multi-axis numerical control machine tools are mainly used for machining the components, and the problems that the machine tool is large in size, expensive in manufacturing cost, relatively single in machined object, low in machining efficiency, even difficult to meet the stroke of the machine tool and the like exist.
Disclosure of Invention
The technical problem of the invention is solved: the embodiment of the invention provides a multi-robot machining method for a rotary structure, which is suitable for cooperative in-situ manufacturing of a large rotary structure, a plurality of manufacturing units are used for completing a machining task of the large rotary structure in parallel, a plurality of machining surfaces on the large rotary structure are milled, drilled and polished in parallel, and the automation level and machining efficiency of the large rotary structure can be effectively improved by a parallel operation method.
In order to solve the technical problem, the invention discloses a multi-robot machining method for a rotary structural part, which comprises the following steps:
initializing a scene real-time positioning system (1), at least two robots and a rotary workpiece pose maintaining and adjusting system (7);
generating a multi-robot cooperative work instruction for instructing the at least two robots to work;
fixing a rotary structural part to be processed on a rotary workpiece pose maintaining and adjusting system (7);
controlling each robot to move to a corresponding processing position indicated in the multi-robot cooperative operation instruction through a scene real-time positioning system (1);
each robot carries out pose adjustment according to the multi-robot cooperative operation instruction so as to determine the high-precision pose relation between the machining tool and the molded surface to be machined;
and each robot processes the corresponding profile to be processed on the rotary structural member to be processed according to the multi-robot cooperative operation instruction.
In the above multi-robot machining method for a rotating structure, at least two robots include: the system comprises a mobile series-parallel robot (2), a mobile series-milling robot (3), a mobile double-arm processing robot (4), a mobile series-polishing robot (5) and an adsorption parallel robot (6);
the mobile hybrid robot (2) is suitable for milling and drilling a profile to be processed with tolerance requirement within the range of +/-0.2 mm and profile size of less than or equal to 300mm multiplied by 300 mm;
the movable serial milling robot (3) is suitable for milling and drilling a profile to be machined, the tolerance requirement of which is within the range of +/-0.5 mm, and the profile size of which is more than 300mm multiplied by 300 mm;
the movable double-arm processing robot (4) is suitable for drilling and milling of a molded surface to be processed with weak rigidity;
the movable serial polishing robot (5) is suitable for polishing the profile to be processed with the roughness requirement not lower than Ra0.8;
the adsorption type parallel robot (6) is suitable for a movable type parallel-serial robot (2), a movable type serial milling robot (3), a movable type double-arm machining robot (4) and a movable type serial polishing robot (5), the stroke of the robot cannot cover the profile to be machined at the top of the rotary structural member to be machined, the rotating frequency of the rotary structural member to be machined is reduced, more machining of the profile to be machined is completed on one station, and the machining efficiency is improved.
In the above method for machining a rotating structure by multiple robots, generating a multiple-robot cooperative work instruction for instructing the at least two robots to work includes:
determining a design model of a rotary structural member to be processed;
determining the division of the processing space of the mobile series-parallel robot (2), the mobile series-parallel milling robot (3), the mobile double-arm processing robot (4), the mobile series-polishing robot (5) and the adsorption parallel robot (6) on the rotary structural member to be processed according to the distribution rule of the processing position, the processing tolerance, the scale characteristic of the processing surface and the height characteristic of the processing surface in the design model;
determining the processing tracks of a mobile series-parallel robot (2), a mobile series-parallel milling robot (3), a mobile double-arm processing robot (4), a mobile series-parallel polishing robot (5) and an adsorption type parallel robot (6) on corresponding processing spaces;
and carrying out track splicing on the processing tracks of the robots to form a multi-robot cooperative operation instruction book.
In the above-described multi-robot machining method for a rotary type structural member,
the processing part is as follows: treat that processing gyration type structure installs on gyration work piece position appearance keeps and adjustment system (7) to after rotatory to fixed angle, each treat the spatial position of processing profile place, include: a sidewall processing portion, a top processing portion and a bottom processing portion;
machining tolerances, including: machining tolerance of +/-0.2 mm high-precision grade, machining tolerance of +/-0.5 mm high-precision grade and machining tolerance of +/-1 mm and above general precision grade;
dimensional characteristics of the machined surface, including: a large molded surface to be processed with the length multiplied by the width larger than 300mm multiplied by 300mm and a small molded surface to be processed with the length multiplied by the width smaller than or equal to 300mm multiplied by 300 mm;
the height characteristic of the processing surface refers to the distance difference between the profile surface to be processed and the radius of the rotary structural member to be processed, and comprises the following steps: a higher profile to be processed with a height of more than 300mm, a general profile to be processed with a height of between 100mm and 300mm and a lower profile to be processed with a height of less than or equal to 100 mm.
In the above multi-robot processing method for rotary structural members, the division of the processing space of the mobile series-parallel robot (2), the mobile series-milling robot (3), the mobile double-arm processing robot (4), the mobile series-polishing robot (5) and the adsorption parallel robot (6) on the rotary structural member to be processed is determined according to the distribution rule of the processing position, the processing tolerance, the scale characteristic of the processing surface and the height characteristic of the processing surface in the design model, and includes:
dividing the molded surface to be machined on the rotary structural member to be machined according to the machining position, the machining tolerance, the scale characteristic of the machined surface and the spatial position of the structural member on which the height characteristic of the machined surface is located in the determined design model so as to determine the type of the robot suitable for the corresponding spatial position.
In the above-described multi-robot machining method for a revolving structure, when the type of robot to be applied to the corresponding spatial position is specified, the type of robot is selected in the following order of preference: the preferred selection order is: the adsorption type parallel robot (6) → the mobile type serial grinding robot (5) → the mobile type double-arm processing robot (4) → the mobile type serial milling robot (3) → the mobile type series-parallel robot (2).
In the above method for processing multiple robots of a rotating structure, after the processing space has been completed corresponding to the robot, the processing tracks of the same robot in different spaces are connected to form a complete processing path of the robot, where the processing path includes: the station position of the mobile platform and the operation track of the robot.
In the multi-robot machining method for the rotary structural member, the multi-robot cooperative operation instruction means that time point synchronous marks are inserted into each track after the independent operation tracks of the robot are obtained.
In the above multi-robot machining method for a rotary structural member, the method further includes:
after finishing the machining of the current molded surface to be machined by any robot, guiding any robot to move to the position of the next molded surface to be machined through the scene real-time positioning system (1) and machining the next molded surface to be machined.
In the above multi-robot processing method for a rotary structural member, the processing of the profile to be processed includes: and at least one of milling and drilling grinding.
The invention has the following advantages:
(1) the invention discloses a multi-robot machining method for a rotary structural member, which is suitable for cooperative in-situ manufacturing of a large rotary structure.
(2) The invention adopts a multi-robot consisting of an omnidirectional platform which can move flexibly in a large range and a robot which can be adjusted locally with high precision. After the omnidirectional platform reaches the rough position, the accurate positioning is realized by adjusting the pose of each robot, so that the large-scale structure machining range can be adapted, and the requirement of the size precision of local machining can be met.
(3) The invention adopts a plurality of robots of different types to realize profile processing with different dimensions and precision requirements, namely, the limitations of structural functions, strokes and precision of various robots are eliminated.
(4) In the invention, after the independent operation tracks of each robot are obtained, time point synchronous marks are inserted into each track. The robot which arrives first can be stopped at the point, and waits for other robots, and the robot continues to execute according to the track after all the robots arrive at the synchronous identifier, so that the movement cutting parameters of all the robots are reasonably set, the adjustment is flexible, the safety of the robots in the moving process can be considered, and the interference and collision can not occur in the multi-robot cooperative operation process.
(5) Compared with a single robot manufacturing unit, the multi-robot system has better superiority in time and space distribution, the detection sensing information is effectively complementary, multiple processing requirements are realized in a self-adaptive mode, and complex processing tasks are completed based on advanced cooperation architecture and cooperation strategies.
Drawings
Fig. 1 is a flowchart illustrating steps of a multi-robot machining method for a rotating type structural member according to an embodiment of the present invention;
FIG. 2 is a schematic view of a multi-robot machining scenario for a rotating structure according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating multi-robot machining of a rotating type structure according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an execution timing sequence after a time point synchronization identifier is inserted into each robot track according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, in the present embodiment, the multi-robot processing method for a rotary structure includes:
101, initializing the scene real-time positioning system 1, at least two robots and the rotary workpiece pose maintaining and adjusting system 7.
The scene real-time positioning system 1 consists of a plurality of indoor GPS transmitting stations and receiving stations installed on an omnidirectional mobile platform and is responsible for guiding the omnidirectional mobile platform of each robot to the proper position, so that the motion range of serial and parallel mechanical arms on each robot can cover the molded surface to be processed.
The at least two robots may specifically comprise: the system comprises a mobile series-parallel robot 2, a mobile series-parallel milling robot 3, a mobile double-arm processing robot 4, a mobile series-polishing robot 5 and an adsorption type parallel robot 6. Wherein:
the movable type series-parallel robot 2 consists of an omnidirectional moving platform which is adjusted in a large range, a series motion mechanism and a high-precision parallel robot, and is suitable for milling and drilling the profile to be machined, which has the tolerance requirement within the range of +/-0.2 mm, smaller profile size (less than or equal to 300mm multiplied by 300mm) and highest tolerance requirement.
The movable serial milling robot 3 consists of an omnidirectional moving platform which is adjusted in a large range, a 6-freedom-degree industrial robot and a high-precision drilling and milling end effector, and is suitable for milling and drilling the profile to be processed with the tolerance requirement within the range of +/-0.5 mm, larger profile size (larger than 300mm multiplied by 300mm) and inferior processing precision and rigidity.
The movable double-arm processing robot 4 consists of an omnidirectional moving platform which is adjusted in a large range, two six-degree-of-freedom industrial robots, a main shaft and a gripper, wherein the main shaft is arranged on one six-degree-of-freedom industrial robot, and the gripper is arranged on the other six-degree-of-freedom industrial robot; the device is suitable for drilling and milling of a profile to be machined with weak rigidity. In the machining process, one mechanical arm gripper clamps the side face of the part to increase rigidity, and the other mechanical arm gripper conducts drilling and milling machining.
The movable serial polishing robot 5 consists of an omnidirectional moving platform which is adjusted in a large range, a six-degree-of-freedom industrial robot and a polishing end effector, and is suitable for polishing the molded surface to be processed with the roughness requirement not lower than Ra0.8.
The adsorption type parallel robot 6 consists of a vacuum chuck, supporting legs and a parallel robot, and 1 main shaft is arranged at the tail end of the parallel robot; the processing method is suitable for the profile to be processed at the top of the rotary structural part to be processed, which cannot be covered by the strokes of the mobile series-parallel robot 2, the mobile series milling robot 3, the mobile double-arm processing robot 4 and the mobile series polishing robot 5, and reduces the rotation times of the rotary structural part to be processed, more processing of the profile to be processed is completed on one station, and the processing efficiency is improved.
The rotary workpiece pose maintaining and adjusting system 7: the support and the positioning of the rotary structural member to be processed are realized, and the rigidity and the stable support of the rotary structural member to be processed in the processing process are increased.
In the embodiment, as described above, the mobile hybrid robot has high precision and rigidity, and is suitable for profile milling and drilling with the highest tolerance requirement, but the processing range is not large enough. The movable serial milling robot has a large processing range, but has inferior processing precision and rigidity. The movable double-arm machining robot has the advantages that the rigidity is increased by clamping the side face of a part by one mechanical arm gripper in the machining process, and the other mechanical arm gripper is used for drilling and milling, so that the movable double-arm machining robot is suitable for machining low-rigidity molded surfaces. The movable serial polishing robot is suitable for a machined surface with roughness requirement and a mounting surface with sealing requirement.
And 102, generating a multi-robot cooperative work instruction for guiding the at least two robots to work.
In this embodiment, a design model of a to-be-machined rotary structural member may be determined first; then, determining the division of the processing space of the mobile series-parallel robot 2, the mobile series-parallel milling robot 3, the mobile double-arm processing robot 4, the mobile series-polishing robot 5 and the adsorption parallel robot 6 on the rotary structural member to be processed according to the distribution rule of the processing position, the processing tolerance, the scale characteristic of the processing surface and the height characteristic of the processing surface in the design model; determining the processing tracks of a mobile series-parallel robot 2, a mobile series-parallel milling robot 3, a mobile double-arm processing robot 4, a mobile series-polishing robot 5 and an adsorption type parallel robot 6 on corresponding processing spaces; and finally, carrying out track splicing on the processing tracks of the robots to form a multi-robot cooperative operation instruction book.
Preferably:
the processing part is as follows: treat that processing gyration type structure installs on gyration work piece position appearance keeps and adjustment system 7 to after rotatory to fixed angle, each is treated the profile place spatial position of processing, include: a sidewall machined portion, a top machined portion, and a bottom machined portion. Wherein, the mobile robot (mobile series-parallel robot 2, mobile series milling robot 3, mobile double-arm processing robot 4, mobile series polishing robot 5) can cover the side wall processing part, and the adsorption robot (adsorption parallel robot 6) can cover the top and bottom processing parts.
The machining tolerance is divided into a high precision grade (+ -0.2 mm), a high precision grade (+ -0.5 mm) and a general precision grade (+ -1 mm and above). Wherein: the mobile series-parallel robot 2 can complete the processing of the three precision levels; the mobile serial milling robot 3 can finish the processing of higher precision grade and common precision grade; the mobile double-arm processing robot 4, the mobile serial polishing robot 5 and the adsorption parallel robot 6 can complete processing with general precision grade.
The scale characteristics of the machined surface are as follows: large machined surface (length multiplied by width > 300mm multiplied by 300mm) and small machined surface (length multiplied by width less than or equal to 300mm multiplied by 300 mm). Wherein: the processing ranges of the mobile parallel-serial robot 2 and the adsorption parallel robot 6 can only cover a smaller processing surface; the processing ranges of the mobile serial milling robot 3, the mobile double-arm processing robot 4 and the mobile serial polishing robot 5 can cover a large processing surface.
The height characteristic of the processing surface refers to the distance difference between the profile surface to be processed and the radius of the rotary structural member to be processed, and is divided into a higher processing surface (the height is more than 300mm), a common processing surface (the height is between 100mm and 300mm) and a lower processing surface (the height is less than or equal to 100 mm). Wherein: the mobile double-arm processing robot 4 can finish the three types of surface processing with different heights, one set of industrial robot tail end gripper on the mobile double-arm processing robot 4 grabs the processed part to improve the support rigidity, and the other set of industrial robot tail end spindle carries out processing; the mobile series-parallel robot 2 and the mobile series-parallel milling robot 3 can finish the processing of a common processing surface and a lower processing surface; the movable serial polishing robot 5 and the adsorption parallel robot 6 can only complete the processing of a lower processing surface.
Preferably, the molded surface to be machined on the rotary structural member to be machined can be divided according to the machining position, the machining tolerance, the scale characteristic of the machined surface and the spatial position of the structural member on which the height characteristic of the machined surface is located in the determined design model, so as to determine the type of the robot suitable for the corresponding spatial position. The types of robots are selected according to the following order of preference ("best economy" principle): the preferred selection order is: the adsorption type parallel robot 6 → the mobile serial polishing robot 5 → the mobile double-arm processing robot 4 → the mobile serial milling robot 3 → the mobile hybrid robot 2. Namely, the machining robot with the lowest cost is selected to perform machining preferentially while the requirements are met.
Preferably, after the machining space is finished corresponding to the robot, the machining tracks of the same robot in different spaces are connected to form a complete machining path of the robot, wherein the machining path includes: the station position of the mobile platform and the operation track of the robot.
Preferably, as shown in fig. 4, the multi-robot cooperative work instruction is that after the robot individual work tracks are obtained, a time point synchronization mark is inserted into each track. When all robots move, the same time point synchronous identification can be achieved at the same time. The robot which arrives first can be stopped at the point, and waits for other robots until all the robots arrive at the synchronous mark, and then continues to execute according to the track, so that interference and collision of the robots during synchronous operation can be avoided.
103, fixing the rotary structural part to be processed on the rotary workpiece pose maintaining and adjusting system 7.
And 104, controlling each robot to move to a corresponding processing position indicated in the multi-robot cooperative work instruction through the scene real-time positioning system 1.
In the present embodiment, each robot may be controlled to move to an approximate position by the scene real-time positioning system 1. Wherein, the approximate position refers to: the mobile robot and the adsorption robot move under the guidance of the scene real-time positioning system 1 to enable the motion range of the serial and parallel mechanical arms on the robot to cover the processed surface. The guiding precision of the scene real-time positioning system 1 can reach 10mm level, and in order to ensure that the tolerance precision of +/-0.2 mm can be reached, the scene real-time positioning system needs to be further adjusted by connecting mechanical arms in series and in parallel.
And 105, adjusting the pose of each robot according to the multi-robot cooperative operation instruction to determine the high-precision pose relation between the machining tool and the molded surface to be machined.
And 106, machining the corresponding to-be-machined molded surface on the to-be-machined rotary structural member by each robot according to the multi-robot cooperative operation instruction.
The embodiments in the present description are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (8)
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| CN110509067B (en) * | 2019-07-31 | 2021-06-29 | 清华大学 | A multi-robot system equipment for in-situ machining of large and complex components |
| CN110977478B (en) * | 2019-12-26 | 2021-11-16 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN111496580A (en) * | 2020-04-24 | 2020-08-07 | 中国工程物理研究院激光聚变研究中心 | Multi-machine cooperative processing system and method for large-caliber aspheric optical element |
| CN113276112B (en) * | 2021-04-30 | 2022-12-13 | 北京卫星制造厂有限公司 | Mobile double-robot-based weak rigid member machining process planning method |
| CN114850989B (en) * | 2022-05-27 | 2023-04-28 | 清华大学 | Multi-machine collaborative compliant machining device for inner wall of large-scale rotary part and control method |
| CN114749943B (en) * | 2022-05-27 | 2023-03-21 | 清华大学 | Multi-robot processing system and control method for inner wall of large rotary thin-walled structural parts |
| CN116551684B (en) * | 2023-05-17 | 2024-05-24 | 南京航空航天大学 | Multi-robot collaborative planning method for machining large spacecraft cabin components |
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