CN110434679A - A kind of Intelligent Machining method for the workpiece with random size error - Google Patents
A kind of Intelligent Machining method for the workpiece with random size error Download PDFInfo
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- CN110434679A CN110434679A CN201910673898.1A CN201910673898A CN110434679A CN 110434679 A CN110434679 A CN 110434679A CN 201910673898 A CN201910673898 A CN 201910673898A CN 110434679 A CN110434679 A CN 110434679A
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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
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
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Abstract
A kind of Intelligent Machining method for the workpiece with random size error, measures any region to be processed of the workpiece to be processed and obtains the initial pose of the workpiece to be processed；Pose adjustment is carried out to the workpiece to be processed according to the initial pose in the region to be processed, the pose of the workpiece to be processed is adjusted from the initial pose to a benchmark pose；The region to be processed of the workpiece to be processed in the benchmark pose is processed.The present invention realizes the intelligence and automation of workpiece surface processing on the whole, avoids the scale error bring mismachining tolerance because of batch large-scale workpiece.
Description
Technical field
The present invention relates to automation machining fields, process especially with the surface of the workpiece of random size error.
Background technique
Currently, such as on cargo train bogie bolster, large-scale workpiece needs after casting out green body side frame
It is processed for the surface of green body, such as blast cleaning, cut-fill system, excision dead head, dead head surplus are beaten
The sprue gate of protrusion is ground off, workable finished work-piece can be just accessed.
It is processed to complete the above-mentioned surface from slab to finished work-piece, the method that the prior art mostly uses artificial treatment,
Specifically, (1) will be unpacked by the workpiece of sand casting and be taken out, and then carry out ball blast sand removal；(2) gas flame cuttiug gas is manually used
Running gate system is cut；(3) manually the dead head on casting workpiece is cut off using carbon arc air gouging, and carried out again
Ball blast sand removal；(4) polishing removal is manually carried out to the dead head surplus after cutting using angle grinder, realize machining area and do not added
The smooth transition etc. in work area domain.
A large amount of dust, spark and noise will be generated in the entire process flow of this artificial treatment, will be had to operator
There are certain harmfulness and risk, also, cuts the time-consuming bothersome effort of manual polishing of dead head and dead head surplus, effect
Rate is low.
The effect for carrying out surface working process to this large-scale workpiece using numerically-controlled machine tool in the prior art is also undesirable.It is former
Because being, Big Steel Castings forging piece will generate biggish scale error in casting, it may be said that each slab all has different
Characteristic size.That is, the shape and size of slab and the shape and size of standard casting mold always have relatively large deviation, and this is partially
Poor random appearance, different casting blank are not total identical in the deviation that different parts generate.
Therefore, when workpiece this kind of using numerically-controlled machine tool batch machining, no matter using which position of workpiece as processing number
According to datum mark, the exact position in region to be processed and amount to be processed are all different, if preset according in numerically-controlled machine tool
Process data processed, biggish mismachining tolerance certainly will be generated, be unable to get qualified finished work-piece.
Therefore, so far, it there is no the successful application for replacing aforementioned artificial treatment using numerically-controlled machine tool, generally recognize in industry
Whole-course automation machining can not be carried out using existing numerically-controlled machine tool for the biggish large-scale workpiece of this error.
To sum up, (1) is existing in the prior art for the biggish workpiece of this random error there are following technical problem
The problem of artificial treatment low process efficiency, production environment severe (dust, spark, noise etc.)；(2) batch cast member to be processed
Between have the dimensions that error is different to cause general NC lathe that cannot or be inconvenient to the problem of processing；(3) Big Steel Castings forging piece
In transport process the problem of dangerous property.
Summary of the invention
(1) technical problems to be solved
In order to solve the above technical problems existing in the prior art, the present invention provides one kind for random size
The Intelligent Machining method of the workpiece of error can adapt to the random size error of batch cast member to be processed, reaches enough and adds
Work precision.
Further, it solves in influence and transport process of the severe production environment to human health to personal safety
Hidden danger realizes whole full automatic transhipment and processing.
(2) technical solution
To achieve the above object, the main technical schemes that the present invention uses include:
A kind of Intelligent Machining method for the workpiece with random size error, including,
Initial pose obtaining step: measuring any region to be processed of the workpiece to be processed and obtain it is described to
The initial pose of workpieces processing；
Pose set-up procedure: pose tune is carried out to the workpiece to be processed according to the initial pose in the region to be processed
It is whole, the pose of the workpiece to be processed is adjusted from the initial pose to a benchmark pose；
Procedure of processing: the region to be processed of the workpiece to be processed in the benchmark pose is processed.
Preferably, the initial pose obtaining step, comprising:
It measures and obtains the three dimensional point cloud in the region to be processed to obtain the initial bit of the workpiece to be processed
Appearance.
Preferably, the pose set-up procedure, comprising:
By the three dimensional point cloud in the region to be processed, the three dimensional point cloud converted with the theoretical digital-to-analogue of the workpiece
Characteristic matching is carried out, the deviation between initial pose and workpiece benchmark pose is calculated, to obtain module and carriage transformation matrix；
The pose of the workpiece to be processed is adjusted from the initial pose to the base according to the module and carriage transformation matrix
Level appearance.
Preferably, the workpiece to be processed is cast member, and the region to be processed includes dead head structure, the processing packet
Include sawing and milling.
Preferably, further include step of polishing: polishing the workpiece that the processing is completed, the polishing includes needle
Profile-followed polishing to workpiece whole surface, the contact force polished between executing agency and workpiece surface remain constant.
Preferably, the initial pose is repeated for each described region to be processed of the workpiece to be processed obtain step
Suddenly, pose set-up procedure and procedure of processing complete the processing in each region to be processed on the workpiece to be processed.
Preferably, before the initial pose obtaining step, further includes: by means of transfer robot by workpiece to be processed
It is carried to processing stations and makes the workpiece to be processed and the adaptive tooling assembly connection for being fixed on the processing stations.
Preferably, on completing the workpiece to be processed after the processing in each region to be processed, further includes: borrow
Help transfer robot and the semi-finished product for completing the processing is carried to polishing station, and by means of milling robot to institute
The whole surface for stating semi-finished product is polished, and finished work-piece is obtained.
Preferably, the finished work-piece for completing the polishing is transported to designated position by means of transfer robot.
It preferably, further include by workpiece to be processed by means of online sled from online station to designated position, and/or
The Workpiece transfer of the polishing will be completed to offline station by means of offline sled.
(3) beneficial effect
The beneficial effects of the present invention are:
Before being processed for each region to be processed, the measurement all through measuring system is matched, and adjusts to benchmark position
Appearance carries out cutting and Milling Process again.For the processing in each region to be processed, the pose of processing object is accurately, only
It needs that processing can be readily achieved using pre-set cutter and machining locus and machined parameters.Therefore, Neng Goushi
Existing full automatic numerical control processing, work efficiency is high, realizes the intelligence of workpiece surface processing, and the size because of batch workpiece is avoided to miss
Poor bring mismachining tolerance.
Operator can be made to avoid the influence by dust in environment etc., and keeping away close to working space
Heavy workpiece is exempted from the handling process to the potential danger of people.The whole-course automation of workpiece processing is realized on the whole.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of the Intelligent Machining System according to the present invention for large-scale workpiece；
Fig. 2 is the flow process chart of the Intelligent Machining System according to the present invention for large-scale workpiece.
Specific embodiment
In order to better explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to the present invention
It is described in detail.
Intelligent Machining method of the invention is realized based on a kind of Intelligent Machining System.
In embodiments of the present invention, the workpiece that Intelligent Machining System is directed to is bolster and side frame of roller bearing adapter stabilizer bar etc.
The cast member that size is big, weight is big, specifically steel-casting, as shown in figure 1 shown in workpiece W.It is understood, however, that institute
The meaning for stating the workpiece with random size error is not limited thereto, and is only that and is emphasized, the workpiece in upstream manufacture link
Size there are random error, so that the relative position in each region to be processed, attitude error are bigger.Therefore, right of the present invention
The workpiece referred in it is required that, including but not limited to cast member or large scale heavy type steel-casting.It is all due to batch workpiece exist
Size, the error of position and posture it is different and cause numerically-controlled machine tool can not direct batch machining workpiece, be intelligence of the invention
The processing object that the system of being capable of processing is applicable in.
In addition, it is to be understood that the region to be processed referred in the present invention, refer to workpiece surface local distribution has spy
Surely it can recognize the surface region of morphological feature.In a preferred embodiment, as shown in figure 1 shown in workpiece W, region to be processed is band
There is the surface region of dead head structure.Work in-process is needed the dead head structure removal in region to be processed.
Mentioned processing, these regions to be processed for being directed to workpiece are processed in the present invention, not directed to
The surface of entire workpiece is processed.
As shown in Figure 1, Intelligent Machining System of the invention consists of the following components: workpiece up and down remove by linear system system 1, workpiece
Fortune system 2, Intelligent Machining Center (including numerically-controlled machine tool 3, pose measurement system 4 and adaptive tooling 5), grinding workpieces system 6
And control system 7.
Linear system system 1 above and below workpiece
Linear system system 1 includes two skid-mounted conveying devices 11,12 to workpiece up and down, for moving workpiece to be processed from online station
It send to designated position, and/or be transferred to offline station for workpieces processing is completed.Certainly, under the premise of meeting delivery requirements, on
Offline system may also comprise a sled conveying device, in the different periods for the online or offline of workpiece.Alternatively, according to defeated
Demand is sent to may also set up a plurality of sled conveying device.
Each sled conveying device 11,12 includes two sliding rails 11a/12a, 11b/12b, and is slided on the slide rail flat
Platform 11c, 12c.The upper surface platform 11c, 12c is placed with the tooling C that is loaded, and the tooling C that is loaded is suitable for carrying out assembling with workpiece W solid
It is fixed, and be suitable for being releasably engaged with transfer robot 2 and/or adaptive tooling 5, it is preferable that with transfer robot 2 and/or
The air spider engagement of adaptive tooling 5.For the workpiece bolster in the embodiment of the present invention, the bottom of the tooling that is loaded C and workpiece W
Assembly is fixed.Other suitable position assembly can also be chosen in the workpiece of other structures to fix, the suitable position should have
There is substantially concordant surface, do not include region to be processed or feature to be processed, and the tooling that is suitable for being loaded puts forth effort to be loaded.
It is driven with the workpiece W after the tooling C assembly that is loaded by platform 11c, 12c and realizes and convey.
In online station, worker assembles workpiece to be processed W and the tooling C that is loaded, and is sent to by online skid 11
Designated position waits transfer robot 2 to grab and carry it；After workpiece completes processing, it is sent to by offline skid 12
Offline station, the worker for being in offline station, which will be loaded, tooling and to be completed the workpiece of processing and splits.
Workpiece handling system 2
Workpiece handling system 2 is used to remove workpiece to be processed W together with tooling C is loaded from the platform 11c of online sled 11
The processing stations on the workbench of numerically-controlled machine tool are transported to, are also used for that the workpiece of processing will be completed in processing stations together with the tooling that is loaded
C moves polishing station to, and for will complete the workpiece handling of polishing to the platform 12c of offline sled 12 in polishing station.
In an embodiment of the present invention, workpiece handling system is realized by transfer robot 2.For in the embodiment of the present invention
Workpiece type-bolster, selection is model KUKA KR1000 industrial robot as transfer robot, and bearing capacity is
1000kg.The weight of the blank (including dead head) of entire bolster is about 700kg, and the tooling that is loaded of workpiece is about 200kg.It can
With understanding, other commercially available specification robots are can be used in transfer robot 2, are facilitated and are grabbed and meet load requirements.
Transfer robot 2 can be used following manner to the grasping manipulation of workpiece and realize.The end of transfer robot 2 passes through method
Blue formula zero-point positioning device, i.e. air spider 21 are attached with the tooling C that is loaded being connected on workpiece to be processed W.Pneumatic clamping
Disk 21 and the pin for the side tooling C that is loaded lock, and workpiece to be processed and transfer robot are without relative motion, carrying implement at this time
Device people 2 drives workpiece W to realize and carries, and is transported in the adaptive tooling 5 on the workbench of numerically-controlled machine tool 3.Be loaded work
The pin of the dress bottom C is locked with the zero-point positioning device (air spider 51) in adaptive tooling 5, at the same time carrying implement
Air spider 21 on 2 end of device people discharges, and transfer robot 2 and workpiece W are detached from.
Intelligent Machining Center
The position that in the embodiment of the present invention, Intelligent Machining Center includes numerically-controlled machine tool 3, is fixed on numerically-controlled machine tool 3
Appearance measuring system 4 and the adaptive tooling 5 being fixed on numerically controlled machine.
Numerically-controlled machine tool 3 specifically includes a three shaft vertical numerically-controlled machine tools.For the size characteristic of bolster, numerically-controlled machine tool 3
Three shaft sizes need to carry out particular arrangement.For example, bolster size: being about 260cm, wide about 50cm, high about 50cm, x-axis in three axis
Stroke >=300cm, y-axis stroke >=80cm.
Certainly, numerically-controlled machine tool 3 is also possible to horizontal or planer type numerical control lathe or machining center.Specific machine tool chief axis and work
Make the arrangement relation of platform, can be determined according to the shape of workpiece to be processed, type and process requirements.
Preferably, lathe use BT50 mechanical main shaft, be equipped with can automatic tool changer tool magazine, including at least multiple sizes
The cutters such as wire rod quality, saw blade carry out the demand of Cutting indexes and Milling Process to meet for the dead head of bolster workpiece.Certainly,
The type of cutter is without being limited thereto, but depending on the processing type demand of workpiece to be added.
In an embodiment of the present invention, it includes: firstly, with saw that bolster, which needs the processing type completed in numerically-controlled machine tool 3,
Knife cuts dead head, and the surplus of about 3mm is stayed after having cut；Then, wire rod quality is used instead to carry out the surplus after cutting
The small surplus of about 0.3mm is stayed in milling after the completion of milling.
Pose measurement system 4 includes at least one three-dimensional scanner 41 being fixed on the numerically-controlled machine tool 3, with
And the measuring and calculating module with 41 data connection of three-dimensional scanner.Three-dimensional scanner 41 in the embodiment of the present invention is excellent
Choosing uses contactless device, such as projection three-dimensional scanner.
Three-dimensional scanner 41 is fixedly connected by rigid support 43 set above the workbench with numerically-controlled machine tool 3, and two
There is no relative displacement between person.The projecting direction of the three-dimensional scanner 41 it is parallel with the main shaft 31 of the numerically-controlled machine tool 3 or
In minute angle, obtained subject to complete scanned image to avoid blocking.In the scheme of a this only three-dimensional scanner 41
Under, the three-dimensional scanner acquires the three dimensional point cloud in a region to be processed, obtains the workpiece for being directed to the region to be processed
Posture information.
Preferably, the pose measurement system includes two three-dimensional scanners being fixed on the numerically-controlled machine tool
41,42, two three-dimensional scanners acquire the three dimensional point cloud in a region to be processed, and carry out data splicing, obtain
For the workpiece posture information in the region to be processed.Specifically, using two three-dimensional scanners simultaneously to workpiece to be processed
The same region to be processed is scanned, and two scanners are arranged to scanning range and partly overlap.Obtaining two scannings
Data splicing is carried out after the point cloud data of instrument, can obtain the workpiece posture information for the region to be processed, and obtain to be processed
More detailed local feature in region.
Measuring and calculating module can integrate in the control system 7.Software and hardware shape of the present invention to measuring and calculating module
Formula, specific implementation, setting position with no restrictions, as long as can satisfy in the present invention based on according to the 3-D scanning fill
The three dimensional point cloud for setting acquisition obtains the function of the initial pose of workpiece, output module and carriage transformation matrix and amount data to be processed i.e.
It can.
Specifically, the theoretical digital-to-analogue of workpiece is prestored in the measuring and calculating module, the theoretical digital-to-analogue of the workpiece includes
Multiple and different lathe benchmark location status to be processed.More specifically, the different lathe benchmark location status to be processed is suitable
For processing different regions to be processed, and accordingly there is a benchmark pose.Generally, corresponding to different to be processed
Region, benchmark pose are different.
The practical three dimensional point cloud in certain region to be processed that three-dimensional scanner 41 collects is suitable for and the workpiece
Theoretical digital-to-analogue conversion three dimensional point cloud carry out characteristic matching, calculate inclined between initial pose and workpiece benchmark pose
Difference, to obtain module and carriage transformation matrix.
The pose measurement and calculating process of pose measurement system 4 are as follows:
(1) spatial digitizer and numerically-controlled machine tool (numerically-controlled machine tool 3) are demarcated, spatial digitizer coordinate system sum number is calculated
Control the corresponding relationship between lathe coordinate system；
(2) three-dimensional scanner is scanned a certain region to be processed of workpiece to be processed, forms practical three-dimensional point cloud
Data obtain its coordinate values under spatial digitizer coordinate system；
(3) measuring and calculating module is according to the corresponding relationship of Two coordinate system, by practical three-dimensional point cloud spatial digitizer coordinate system
Under coordinate values be converted to the coordinate values under lathe coordinate system, that is, obtain the initial attitude of workpiece.
(4) lathe benchmark station to be added is in what is prestored by the practical three dimensional point cloud to the region to be processed
The three dimensional point cloud for setting the theoretical digital-to-analogue of state carries out characteristic matching, calculates inclined between initial pose and benchmark pose
Difference, and export module and carriage transformation matrix, the relative position in region to be processed and amount to be processed.
In the present embodiment, the deviation between initial pose and benchmark pose is by comparing in practical work piece and theoretical digital-to-analogue
Workpiece features where region to be processed are (for example, workpiece surface feature, workpiece profile feature, SIFT where dead head root
Characteristic value etc.) it determines.
The relative position in the region to be processed, when referring to that the pose of workpiece to be processed is adjusted to benchmark pose, work to be processed
Relative position of the region to be processed relative to workpiece surface where it on part, i.e., dead head is relative to where dead head root
The relative position of plane；The amount to be processed refers to that dead head needs the height cut off in the region to be processed of practical work piece.
Adaptive tooling 5 is fixedly connected on the workbench of numerically-controlled machine tool, realize to workpiece to be processed be loaded it is fixed and
Pose adjusts function.The zero-point positioning device (air spider) 51 to face upward in adaptive tooling 5 with work, air spider 51
It is locked with the pin for the bottom tooling C that is loaded on the workpiecew that is connected, workpiece W is made to be fixed on adaptive tooling 5 from bottom
On the working face of air spider, and without relative displacement between adaptive tooling 5.It is emitted since the bottom of bolster slab does not have to pour
Mouthful, without heretofore described region to be processed, therefore, workpiece W can be sudden and violent by all positions to be processed from bottom fixation
Expose, is processed in order to measure and implement.
Adaptive tooling 5 has workpiece locking state and the adjustable state of workpiece.When being in workpiece locking state, adaptively
Tooling 5 realizes fixing and being loaded to workpiece, can bear the self gravity and eccentric force of cutting force when machine tooling, workpiece
Square, and keep stable, it does not slide or deflects because of the interference of internal and external factor.When state adjustable in workpiece, adaptive tooling 5
Workpiece can be driven to carry out the adjustment of position and posture according to the result of system scan matching.
The freedom of motion of adaptive tooling includes: around x-axis (the horizontal spindle line of workpiece) under the adjustable state of workpiece
It is rotated；Translation of the tooling right side (left side) heel post relative to left (right side) heel post along the x-axis direction；On right side uprights y-axis direction
Translation.
Grinding workpieces system 6
After processing is completed in all regions to be processed in numerically-controlled machine tool 3 on workpiece, such as after cutting and milling,
Workpiece surface needs to carry out whole polishing to obtain finished work-piece.In particular, after the dead head in region to be processed is cut, processing
There may be sharp protrusion or fin between region and non-processing region, polishing can be realized machining area and non-processing region
Smooth transition.
As previously mentioned, the workpiece in adaptive tooling 5 is removed by means of transfer robot 2 and is carried to polishing by the present invention
System 6 is to complete polishing operation.As shown in Figure 1, workpiece W, which is handled upside down robot 2, is transported to polishing station.Diagram polishing station is set
It is equipped with the platform 61 with horizontal top surface, workpiece W is positioned horizontally on the platform together with the tooling C that is loaded, and
It keeps stablizing under self gravitation effect.
Polishing is realized by means of milling robot 62 in the embodiment of the present invention, specifically, chooses model KUKA KR210
Robot, robot end setting one polishing executing agency 63.Polishing executing agency is, for example, to use BT30 cutter interface
Electro spindle drives polishing grinding wheel or polishing cutter head rotation.
A set of constant force control system is connected between mill robot end and polishing executing agency 63.Constant force control system
Axial direction is polishing executing agency and wait provide constant contact force between workpiece of polishing, and for polishing, executing agency is provided centainly
The cushion stroke of amount, to play the function of polishing with the shape.Constant force control system is intended to improve since there are rulers between batch workpiece
Very little error and bring can not plan the problem of polishing path in advance.Specifically, since mechanical arm is rigid body, polishing is executed
When device contacts rough surface, in different places, the pressure to workpiece is different, when using unified trajectory path polishing,
The case where will appear damage milling tools or damage workpiece, therefore the polishing path of good fitting contact surface is planned in advance.But
It is that can not plan the polishing of good fitting contact surface in advance if not identical the case where surface irregularity between batch workpiece
Path.Constant force control system realizes profile-followed polishing of the fitting to buffed surface for solving the problems, such as this.
Due to using constant force control system, so that polishing executing agency 63 is being certain to the pressure on buffed surface: In
At surface bulge, pressure is constant, and the relative distance polished between executing agency and robot end is compressed much；It is recessed on surface
Into place, pressure is constant, and the relative distance polished between executing agency and robot end is compressed few.
Commercial product realization can be used in the specific device of constant force control system, and is installed at robot end and polishing execution
Between mechanism 63, such as it is AFD1100-2 type active constant force control device that commercially available PUSHCORP brand and model, which can be used,.
Control system 7
Control system 7 is using linear system system 1, workpiece handling system 2, numerically-controlled machine tool 3, pose measurement above and below PLC control workpiece
The movement and information processing of system 4, adaptive tooling 5 and grinding workpieces system 6.For example, passing through Profinet communications protocol
Transfer robot, milling robot, polishing executing agency and upper offline skid mechanism are connected, signal interaction is carried out and data passes
It is defeated, pass through the open and close of I/O Interface Controller numerically-controlled machine tool.The present invention is directed to illustrate workpiece or more linear system system 1, workpiece handling
System 2, numerically-controlled machine tool 3, pose measurement system 4, adaptive tooling 5 and grinding workpieces system 6 function, control system 7 can
By using it is in the prior art it is any in a manner of realize, to its implementation, herein with no restrictions.
Processing method
Setting based on the above machining center and pose measurement system, workpiece to be processed are removed in the system of the present invention
Fortune, the process of measurement, positioning, processing, polishing, as shown in Figure 2.
(1) worker assembles workpiece to be processed and the tooling that is loaded in online station；
(2) workpiece is transported to designated position by offline sled on；
(3) workpiece to be processed W is transported to the adaptive tooling 5 of numerically-controlled machine tool and fixed by transfer robot 2；
(4) pose measurement system 4 being connected on numerically-controlled machine tool 3 carries out part to a region to be processed on workpiece and sweeps
Measurement is retouched, the three dimensional point cloud comprising the workpiece to be processed including the region to be processed is obtained, accordingly obtains work to be processed
The initial pose of part at this time；
(5) the acquired three dimensional point cloud of analysis match pair with the three dimensional point cloud of the theoretical digital-to-analogue prestored
Than obtaining the deviation of initial pose and benchmark pose to get module and carriage transformation matrix is arrived, while obtaining the opposite position in region to be processed
It sets and amount to be processed；
(6) module and carriage transformation matrix is fed back into control system 7, controls adaptive tooling 5 and workpiece to be processed W is driven to carry out position
Appearance adjustment, is adjusted to be overlapped with benchmark pose；
(7) numerically-controlled machine tool 3 adjusts access site according to the relative position in region to be processed and amount to be processed, and according to pre-
The machining locus and machined parameters first set carries out Cutting indexes to the region to be processed of workpiece, such as dead head is cut
It is disconnected；
(8) milling cutter is replaced, milling is carried out to the surplus after cutting dead head；
(9) it checks whether and completes all regions to be processed: if so, then carrying out the operation of following (10) step；If not yet complete
At the processing operation in all regions to be processed, then by the view of the mobile knife pose measurement system in next region to be processed on workpiece
In, repeat the above steps (4)-(8), completes the processing in all regions to be processed on workpiece；
(10) the workpiece W for completing cutting and Milling Process is transported to polishing station by transfer robot 2；
(11) milling robot smoothly polishes to all Working positions according to preset polishing track and polishing mode；
(12) the workpiece W that will polish of transfer robot 2 is transported on the platform of offline sled；
(13) workpiece for completing processing is transported to offline station by offline sled；
(14) worker disassembles the workpiece for completing processing with the tooling that is loaded in offline station, obtains finished work-piece.
Under another optional embodiment, disposably all regions to be processed are scanned, obtain relative to
The initial pose in each region to be processed, and by being compared with the benchmark pose relative to each region to be processed, it obtains
Then module and carriage transformation matrix, region relative position to be processed and amount to be processed carry out position for each region to be processed one by one
Appearance adjusts and processing.That is, step (4)-(5) are repeated, the data in all regions to be processed are obtained, and in step
(9) step (6)-(8) are repeated in.
From the above description, it can be seen that before being processed for each region to be processed, all through the measurement of measuring system
Match, and adjusts to ideal pose and carry out cutting and Milling Process again.For the processing in each region to be processed, processing object
Pose is accurate, it is only necessary to use pre-set cutter and machining locus and machined parameters, that is, be convenient to
At processing.
In the absence of conflict, the feature in the above embodiments and embodiment can be combined with each other.
It is to be appreciated that describing the skill simply to illustrate that of the invention to what specific embodiments of the present invention carried out above
Art route and feature, its object is to allow those skilled in the art to can understand the content of the present invention and implement it accordingly, but
The present invention is not limited to above-mentioned specific embodiments.All various changes made within the scope of the claims are repaired
Decorations, should be covered by the scope of protection of the present invention.
Claims (10)
1. a kind of Intelligent Machining method for the workpiece with random size error, which is characterized in that including,
Initial pose obtaining step: any region to be processed of the workpiece to be processed is measured and is obtained described to be processed
The initial pose of workpiece；
Pose set-up procedure: carrying out pose adjustment to the workpiece to be processed according to the initial pose in the region to be processed, will
The pose of the workpiece to be processed is adjusted from the initial pose to a benchmark pose；
Procedure of processing: the region to be processed of the workpiece to be processed in the benchmark pose is processed.
2. Intelligent Machining method according to claim 1, which is characterized in that the initial pose obtaining step, comprising:
It measures and obtains the three dimensional point cloud in the region to be processed to obtain the initial pose of the workpiece to be processed.
3. Intelligent Machining method according to claim 1, which is characterized in that the pose set-up procedure, comprising:
By the three dimensional point cloud in the region to be processed, the three dimensional point cloud converted with the theoretical digital-to-analogue of the workpiece is carried out
Characteristic matching calculates the deviation between initial pose and workpiece benchmark pose, to obtain module and carriage transformation matrix；
The pose of the workpiece to be processed is adjusted from the initial pose to the benchmark position according to the module and carriage transformation matrix
Appearance.
4. Intelligent Machining method according to claim 1, which is characterized in that the workpiece to be processed is cast member, described
Region to be processed includes dead head structure, and the processing includes sawing and milling.
5. Intelligent Machining method according to claim 1, which is characterized in that further include,
Polishing step: polishing to the workpiece that the processing is completed, the polishing include for workpiece whole surface with
Shape polishing, the contact force polished between executing agency and workpiece surface remain constant.
6. Intelligent Machining method according to claim 1, which is characterized in that for each institute of the workpiece to be processed
It states region to be processed and repeats the initial pose obtaining step, pose set-up procedure and procedure of processing, complete described to be processed
The processing in each region to be processed on workpiece.
7. Intelligent Machining method according to claim 1, which is characterized in that before the initial pose obtaining step,
Further include: workpiece to be processed is carried to processing stations by means of transfer robot and makes the workpiece to be processed and is fixed on institute
State the adaptive tooling assembly connection of processing stations.
8. Intelligent Machining method according to claim 6, which is characterized in that on completing the workpiece to be processed each
After the processing in the region to be processed, further includes: removed the semi-finished product for completing the processing by means of transfer robot
It is transported to polishing station, and is polished by means of whole surface of the milling robot to the semi-finished product, finished product work is obtained
Part.
9. Intelligent Machining method according to claim 8, which is characterized in that described beat will be completed by means of transfer robot
The finished work-piece of mill is transported to designated position.
10. Intelligent Machining method according to claim 9, which is characterized in that further including will be to be processed by means of online sled
Workpiece will complete the Workpiece transfer of the polishing under from online station to designated position, and/or by means of offline sled
Line station.
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