CN110560754A - Self-adaptive machining system, control method thereof and vehicle body machining equipment - Google Patents
Self-adaptive machining system, control method thereof and vehicle body machining equipment Download PDFInfo
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- CN110560754A CN110560754A CN201910838010.5A CN201910838010A CN110560754A CN 110560754 A CN110560754 A CN 110560754A CN 201910838010 A CN201910838010 A CN 201910838010A CN 110560754 A CN110560754 A CN 110560754A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C1/00—Milling machines not designed for particular work or special operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
Abstract
The invention discloses a self-adaptive machining system, a control method thereof and a vehicle body machining device. The self-adaptive machining system is used for machining a workpiece and comprises an actuating mechanism, an electric spindle, a milling tool head, a visual detection device and a control device. The actuating mechanism is in transmission connection with the electric spindle and drives the electric spindle to move. The electric spindle drives the milling tool head to move. The executing mechanism and the electric spindle are in communication connection with the control device, the control device comprises a memory for storing the primary processing data and the waste material parameters of the workpiece, the control device calculates to obtain the intermediate parameters and further obtain the processing data, and the control device adjusts the first working parameters and the second working parameters according to the post-processing data and the waste material parameters to respectively control the executing mechanism and the electric spindle to move, so that the milling parameters of the milling tool head can meet the requirements of the waste material parameters. The invention has the advantages of high automation degree, safe and environment-friendly production, greatly reduced production and labor cost and high precision consistency.
Description
Technical Field
The invention belongs to the technical field of machining, and particularly relates to a self-adaptive machining system, a control method thereof and vehicle body machining equipment.
Background
at present, in the process of machining parts, particularly metal parts, the surface flatness of the parts is often damaged due to machining acting force, and the weld reinforcement generated by welding an aluminum alloy material by adopting a welding process is a typical example. In recent years, with the advance of light weight of a finished automobile in the automobile industry, more and more aluminum alloy materials are applied to a white automobile body, the MIG welding process is commonly used for aluminum alloy connection in the current industry, the MIG welding process has the problem that interference is generated between the MIG welding process and the assembly of parts due to the fact that welding seam surplus height is generated after welding, although the situation that some interference situations are reduced due to the fact that welding seams of some key joints cannot be avoided by means of 3D design and synchronous engineering is avoided, therefore, the welding seam surplus height which will generate interference needs to be processed in the process of manufacturing the automobile body so as to avoid influence on the assembly of the finished automobile.
At present, the weld joint surplus height in the industry is mainly directly polished on the weld joint and a welding spot through a pneumatic angular polisher, and the method is widely used due to simple operation, but the defects of the polishing method comprise the following steps: 1. dust flies during the polishing process, the working environment is severe, and the requirements of occupational health and health of enterprises are contradictory; 2. the aluminum dust polished by the pneumatic angular polisher has explosion risk, and needs to be matched with explosion-proof dust removal equipment, so that the equipment has high investment cost, and can consume at least 37KWh in the using process; 3. the manual polishing has high requirement on the skills of staff and has poor consistency; 4. because the position precision of the welding seam surplus height of some 3D space curves fluctuates due to the accumulation of manufacturing tolerance in the manufacturing process of the automobile body, the automatic operation is difficult to realize, the manual polishing is used in the industry, but the processing cost is increased and the management is difficult to the enterprise due to the large use of manpower.
Therefore, the problems that the automation degree is high, the production is safe and environment-friendly, the production and labor cost is greatly reduced, and the accuracy consistency is high, the control method of the adaptive processing system and the vehicle body processing equipment are provided are needed to be solved.
disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a self-adaptive machining system, and aims to improve machining precision consistency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the self-adaptive machining system comprises a control device, a visual detection device, a milling tool head, an electric spindle and an execution mechanism, wherein the visual detection device is used for scanning a workpiece to obtain detection data, the milling tool head is used for machining the workpiece, the electric spindle is used for driving the milling tool head to move, the execution mechanism is in transmission connection with the electric spindle and drives the electric spindle to move, and the execution mechanism and the electric spindle are in communication connection with the control device.
The control device comprises a memory for storing the preliminary machining data and the waste material parameters of the workpiece, the control device calculates to obtain an intermediate parameter according to the detection data of the visual detection device and the preliminary machining data, the control device obtains post-machining data according to the comparison calculation of the preliminary machining data and the intermediate parameter, and the control device adjusts the first working parameter of the actuating mechanism and the second working parameter of the electric spindle according to the post-machining data and the waste material parameters to respectively control the movement of the first working parameter and the second working parameter of the electric spindle.
The material of work piece is the aluminum alloy, the preliminary working data is the welding seam headroom processing map, the detection data is welding seam headroom cross-section map, the intermediate parameter is welding seam headroom deviation volume and work piece accumulative tolerance, the post-processing data is welding seam headroom milling height, the waste material parameter includes the particle size value, the milling parameter includes one or more in cutting speed, term angle, helix angle and the side relief angle.
The executing mechanism is a six-axis robot, the electric spindle is a stepless speed-regulating electric spindle, the vision detecting device is a 3D vision scanner, the first working parameter comprises a space coordinate value of the executing mechanism, and the second working parameter comprises a rotating speed value of the electric spindle.
The 3D vision scanner scans the weld reinforcement height, collects the section outline of the weld reinforcement height each time through scanning, combines the coordinates of the tool end of the six-axis robot through a calculation algorithm after scanning, establishes three-dimensional modeling on the collected section outline under the coordinate system of the six-axis robot, transmits the deviation value of the weld reinforcement height to the control device in a communication mode, and the control device controls the six-axis robot to conduct self-adaptive adjustment on the milling track.
The six-axis robot demonstrator directly adjusts the milling parameters through the communication between the execution mechanism and the electric spindle and the control device.
The milling tool head is an end mill made of high-speed steel.
The invention also provides vehicle body processing equipment which comprises the self-adaptive processing system, and the workpiece is an aluminum alloy vehicle body.
The invention also provides a control method of the self-adaptive processing system, which comprises the following steps:
The control device teaches the track of the executing mechanism according to the primary processing data to realize the basic running track of the executing mechanism;
Before the adaptive machining, the vision detection device detects a starting point of a machining part of the workpiece to obtain detection data;
the control device controls the actuating mechanism to move, the vision detection device detects a post-processing part in real time and collects detection data, and the control device calculates to obtain an intermediate parameter according to the collected detection data;
The control device obtains post-processing data according to comparison operation of the post-processing data and the intermediate parameters, and adjusts the first working parameter of the actuating mechanism and the second working parameter of the electric spindle according to the post-processing data and the waste material parameters to respectively control the movement of the first working parameter and the second working parameter of the electric spindle, so that the milling parameters of the milling tool head can meet the waste material parameters.
The workpiece is made of an aluminum alloy material, the primary processing data is a welding seam residual height processing diagram, the detection data is a welding seam residual height section diagram, the intermediate parameters are welding seam residual height deviation and workpiece accumulated tolerance, the post-processing data is welding seam residual height milling height, the waste material parameters comprise particle size values, the milling parameters comprise one or more of cutting speed, top angle, helix angle and side relief angle, the executing mechanism is a six-axis robot, the electric spindle is a stepless speed regulating electric spindle, the vision detecting device is a 3D vision scanner, the first working parameters comprise space coordinate values of the executing mechanism, and the second working parameters comprise rotating speed values of the electric spindle; the working method comprises the following steps:
The control device teaches the six-axis robot track according to the weld reinforcement machining diagram to realize the six-axis robot basic running track;
Before milling, the 3D vision scanner scans the weld reinforcement of the milling starting point of the workpiece to obtain a weld reinforcement cross-sectional diagram;
The 3D vision scanner scans a weld to be milled in real time and collects extra-high section data along with the movement of the six-axis robot along the basic operation track under the control of the control device, and the control device calculates the extra-high deviation of the weld and the accumulated tolerance of the workpiece according to the collected extra-high section data;
The control device guides the six-axis robot to adaptively adjust the feeding amount of the milling tool head for milling the depth of the welding seam according to the requirement of the milling height of the welding seam surplus height, and adjusts the rotating speed of the electric spindle and the spatial coordinate value of the six-axis robot in real time according to the feeding amount to mill the parameters of the milling tool head so as to obtain the aluminum skimmings with large grain size values.
the 3D vision scanner is integrated on the side face of the electric spindle through a connecting plate, the welding seam extra height is scanned frequently, the section contour of the welding seam extra height is collected every time through laser scanning, the tool end coordinates of the six-axis robot are combined after scanning, the tool end coordinates are the end coordinates of the six-axis robot at one end of the milling tool head, three-dimensional modeling is established on the collected section contour under the coordinate system of the six-axis robot, the deviation amount of the welding seam extra height is transmitted to control setting in a communication mode, and therefore the control device controls the milling track of the six-axis robot to be adjusted in a self-adaptive mode.
according to the adaptive machining system, the control method thereof and the vehicle body machining equipment, the control device obtains the post-machining data according to the primary machining data, the detection data and the intermediate parameters, and controls the movement of the actuating mechanism and the electric spindle according to the post-machining data and the waste parameters, so that the milled workpiece meets the assembly requirement and is high in precision consistency, high in automation degree, safe and environment-friendly in production, and in addition, the production and labor cost is greatly reduced.
Drawings
FIG. 1 is a schematic view of an adaptive machining system and a workpiece being machined according to the present invention;
FIG. 2 is a schematic diagram of the adaptive machining system of the present invention milling the weld reinforcement of a workpiece;
FIG. 3 is a schematic illustration of the milling effect of the milling tool head of the adaptive machining system of the present invention;
In the figure: 1. a milling tool head; 2. an electric spindle; 3. a vision detection device; 4. an actuator; 5. a workpiece; 6. rolling machine skid; 7. pressing the tool; 8. a control device; 9. an actuator base; 10. a flange plate.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
As shown in fig. 1 to 3, the present invention provides an adaptive machining system for machining a workpiece 5, more specifically, for post-machining of milling a weld of a workpiece 5 that has been subjected to primary machining such as MIG welding. The self-adaptive machining system comprises a control device 8, a visual detection device 3 used for scanning a workpiece to obtain detection data, a milling tool head 1 used for machining the workpiece, an electric spindle 2 used for driving the milling tool head 3 to move, and an execution mechanism 4 in transmission connection with the electric spindle 2 and driving the electric spindle 2 to move, wherein the execution mechanism 4 and the electric spindle 2 are in communication connection with the control device 8, the communication connection can be understood as mutual electric connection and mutual communication to transmit data, and the communication connection can be formed by communication integration of control programs of the visual detection device 3, the execution mechanism 4, the electric spindle 2 and the control device 8 through a network protocol. The control device 8 includes a memory in which the preliminary processing data and the scrap parameters of the workpiece 5 are stored, and if the preliminary processing of the workpiece 5 is, for example, stamping, injection molding, welding, or the like, and if defects such as a burring, a burr, and a weld height exist in a preliminary processing portion, the following post-processing is processing for the burring, the burr, the weld height, and the like, and therefore, the adaptive processing system has a wide range of applications. It should be noted that the adaptive machining system of the present invention is particularly suitable for a vehicle body machining environment where the primary machining is MIG welding and the post-machining is milling the weld bead height (as will be described in further detail below), and the visual detection device 3 is used for scanning the weld bead of the workpiece to obtain detection data. The control device 8 obtains an intermediate parameter according to the detection data and the preliminary machining data of the visual detection device 3, the control device 8 obtains post-machining data according to the comparison operation of the preliminary machining data and the intermediate parameter, and the control device 8 adjusts the first working parameter of the execution mechanism 4 and the second working parameter of the electric spindle 2 according to the post-machining data and the waste material parameter so as to respectively control the movement of the execution mechanism 4 and the movement of the electric spindle 2, so that the milling parameter of the milling tool head 1 can meet the requirement of the waste material parameter. It should be noted that the control device 8 may be a CPU, a PLC, a single chip microcomputer, etc., and may be placed in one control cabinet and connected to the actuator 4 and the electric spindle 2 in a communication manner, or may be placed in two control cabinets and connected to the actuator 4 and the electric spindle 2 in a communication manner, respectively.
the self-adaptive processing system can replace manual operation, reduce the requirement on the operating environment, avoid the damage of the operating environment to the health of personnel and reduce the processing cost; the self-adaptive processing system realizes high automation, self-adaptation and flexibility, can be suitable for various processing scenes, greatly improves the production efficiency and the precision consistency after post-processing, adopts a milling post-processing mode, can replace the grinding processing of aluminum alloy materials, obtains milling waste materials in large particle millimeter level, avoids the explosion risk of aluminum dust, and also avoids high investment of explosion-proof dust removal equipment.
In a preferred embodiment, the workpiece 5 is made of an aluminum alloy material, the preliminary processing data is a weld reinforcement processing diagram, the detection data is a weld reinforcement cross-sectional diagram, the intermediate parameters are a weld reinforcement deviation amount and a workpiece accumulated tolerance, and when the workpiece 5 is preferably an aluminum alloy vehicle body, the workpiece accumulated tolerance is a vehicle body accumulated tolerance. The post-processing data mill the height for the weld reinforcement, and the waste material parameter includes the particle diameter value, and the key combination refers to fig. 3, and milling process is carried out to the weld reinforcement of work piece 5 to the tool bit of milling tool head 1, mills the height that highly obtains the smear metal of waiting to strip through above-mentioned weld reinforcement, mills the smear metal of obtaining the bits of jumping bits of smashing of waiting to strip to this particle diameter value can obtain large granule millimeter level, and in addition, this height of waiting to strip the smear metal can be understood as weld reinforcement milling height. The milling parameters include one or more of cutting speed, top angle, helix angle and side relief angle. Therefore, the control device 8 can control the actuating mechanism 4 to move according to the basic operation track according to the weld reinforcement processing diagram, the weld reinforcement processing diagram can be obtained from the weld head welding trajectory of MIG welding as preliminary processing, after the workpiece 5 reaches the milling processing position, the visual detection device 3 moves along with the execution mechanism 4 according to the weld reinforcement processing diagram, thereby obtaining a welding seam surplus height section diagram aiming at the welding seam real-time detection, transmitting the surplus height section data corresponding to the welding seam surplus height section diagram to the control device 8, obtaining the deviation amount of the welding seam surplus height and the accumulated tolerance of the workpiece through calculation, and finally, the milling height of the weld reinforcement is calculated according to the deviation amount of the weld reinforcement and the accumulated tolerance of the workpiece, so that the motion of the actuating mechanism 4 and the electric spindle 2 is adjusted according to the milling height of the weld reinforcement and the waste material parameters, the milling waste material safe for the processing environment is obtained while the requirement that the weld reinforcement is milled to be consistent in precision and avoiding subsequent assembly interference is met. It will be appreciated that the vision detection device 3 is located upstream of the milling tool head 1 in the post-machining direction of the workpiece 5, so that the milling tool head 1 can adaptively adjust the post-machining of the workpiece 5 in accordance with the detection data of the vision detection device 3 as described above.
preferably, the actuating mechanism 4 is a six-axis robot, the electric spindle 2 is a stepless speed regulation electric spindle, the control device 8 controls the frequency converter to realize stepless speed regulation of the electric spindle 2 within the rotating speed range of 0-20000 rpm, and the power of the electric spindle 2 is 6 KW. The vision detection device 3 is a 3D vision scanner, and the 3D vision scanner can realize measurement before milling and guide of six-axis robot motion tracks in the milling process. The six-axis robot milling process track is controlled through a graph processing algorithm, the deviation caused by the accumulation of the dimensional tolerance of a workpiece is absorbed, the consistency of the milled welding line is ensured, and the self-adaptive processing system can realize automatic operation. The first operating parameter comprises a spatial coordinate value of the actuator 4, more specifically a six-axis spatial coordinate value. The second operating parameter comprises the rotational speed value of the electric spindle 2. Therefore, the electric spindle 2 rotates to make a main motion, and the actuating mechanism 4 drives the electric spindle 2 and the milling tool head 1 to make a feed motion, so that the milling process is realized. The milling tool head 1 is preferably a milling cutter, and the cutting of the cutting edge and the pushing of the tool face change the excess height of the aluminum alloy weld into chips. Because the total power of the self-adaptive processing system comprising the six-axis robot, the motorized spindle 2 and the 3D scanner is about 12kwh (the utilization rate is 60% of one beat), compared with 35kwh (the utilization rate is 100% of one beat) of the explosion-proof dust removal equipment, the production energy consumption can be greatly reduced.
preferably, the electric spindle 2 is connected with the actuating mechanism 4 through the flange 10 or a connecting plate, so that high motion synchronism of the electric spindle 2 and the six-axis robot can be guaranteed. The 3D vision scanner is connected with a connecting hole in the shell of the electric spindle 2, and the 3D vision scanner can be always located on the upstream side of the milling tool head 1 in the post-processing direction of the workpiece 5. The milling tool head 1 is detachably connected with the electric spindle 2, so that the milling tool head 1 can be conveniently replaced.
Preferably, the 3D vision scanner is integrated on the side of the motorized spindle 2 through a connecting plate, the 3D vision scanner scans the weld reinforcement at a frequency of 1/6000, that is, multiple times, collects the cross-sectional profile of the weld reinforcement each time through laser scanning, and combines the tool end coordinates of the six-axis robot through a calculation algorithm after scanning, the tool end coordinates are the end coordinates of the six-axis robot at one end of the milling tool head 1, the collected cross-sectional profile is established in a three-dimensional modeling under the coordinate system of the six-axis robot, and the deviation amount of the weld reinforcement is transmitted to a control device through communication, so that the control device 8 controls the milling track of the six-axis robot to be adjusted in a self-adaptive manner. Therefore, the real-time performance and the accuracy of the welding seam surplus height scanning are high, and the post-processing precision of milling is guaranteed.
Preferably, the actuator 4 realizes direct adjustment of milling parameters by the six-axis robot demonstrator through communication with the motorized spindle 2 and the control device 8. Thus, time and cost savings can be made in order to debug the milling parameters to yield acceptable scrap.
in addition, the milling tool head 1 is preferably an end mill made of high-speed steel, and due to the characteristics of tempering treatment, poor plasticity and low tensile strength of the aluminum alloy weld reinforcement, the end mill made of high-speed steel is adopted, and after the cutter cuts into the weld reinforcement, the cut part of the local weld reinforcement close to the cutting edge and the rake face in the cutting layer is brittle under the action of tensile stress without obvious plastic deformation, irregular broken block-shaped chips are formed, and accordingly the chips are broken.
the invention also provides vehicle body processing equipment which comprises the self-adaptive processing system with the structure, and the workpiece 5 is an aluminum alloy vehicle body. Accordingly, the tolerance of the work 5 is a vehicle body tolerance. The vehicle body processing equipment is preferably applied to processing the weld reinforcement of the aluminum alloy vehicle body of the automobile, and is particularly suitable for parts with high precision (the highest can be +/-0.2 mm) of the milling requirement of the weld reinforcement in the 3D curved surface of the aluminum alloy vehicle body and good consistency of the milled weld reinforcement.
in addition, as shown in fig. 1, the vehicle body processing equipment of the invention further comprises a conveying device and a positioning device, wherein the conveying device comprises a rolling machine skid 6 or a lifting appliance, and the positioning device comprises a pressing tool 7 or a tool clamp. When the aluminum alloy frame body is conveyed to a milling station through the rolling machine skid 6, the vision detection device 3 firstly scans the milling initial spot welding seam surplus height after the pressing tool 7 positions the body framework. After the milling process is finished, the clamping of the pressing tool 7 is opened, and the rolling machine skid 6 sends the workpiece 5 out of the milling process area.
With reference to fig. 1 to 3, in combination with the above description of the adaptive machining system, the present invention further provides a control method of the adaptive machining system for machining a workpiece 5, the adaptive machining system including an actuator 4, an electric spindle 2, a milling tool head 1, a vision detecting device 3, and a control device 8, the control device 8 including a memory in which preliminary machining data and scrap parameters of the workpiece 5 are stored. The control method of the invention comprises the following steps:
S10: the control device 8 teaches the track of the executing mechanism 4 according to the primary processing data to realize the basic running track of the executing mechanism 4;
S20: before the adaptive machining, the vision detection device 3 detects the starting point of the machining part of the workpiece 5 to obtain detection data;
s30: the control device 8 controls the actuating mechanism 4 to move, the vision detection device 3 detects the post-processing part in real time and collects detection data, and the control device 8 calculates to obtain an intermediate parameter according to the collected detection data;
S40: the control device 8 obtains post-processing data according to the comparison operation of the post-processing data and the intermediate parameters, and the control device 8 adjusts the first working parameter of the actuating mechanism 4 and the second working parameter of the electric spindle 2 according to the post-processing data and the waste parameters to respectively control the movement of the first working parameter and the second working parameter, so that the milling parameters of the milling tool head 1 can meet the waste parameters.
Therefore, by adopting the control method, the automation and flexibility of the self-adaptive processing system are high, the self-adaptive performance is strong, manual operation can be replaced, the method is suitable for various processing scenes, the production cost is reduced, the production efficiency and the precision consistency after post-processing are greatly improved, and the production safety is high.
as a preferred embodiment of the above control method, the workpiece 5 is an aluminum alloy material, the preliminary processing data is a weld reinforcement processing diagram, the detection data is a weld reinforcement cross-sectional diagram, the intermediate parameters are a weld reinforcement deviation and a workpiece accumulated tolerance, the post-processing data is a weld reinforcement milling height, the waste parameters include a grain size value, the milling parameters include one or more of a cutting speed, a neck angle, a helix angle and a side relief angle, the actuator 4 is a six-axis robot, the electric spindle 2 is a stepless speed-regulating electric spindle, the vision detector 3 is a 3D vision scanner, the first working parameter includes a spatial coordinate value of the actuator 4, and the second working parameter includes a rotation speed value of the electric spindle 2. In step S10, the control device 8 teaches the six-axis robot trajectory based on the weld reinforcement machining map to realize the six-axis robot basic movement trajectory. In step S20, before the milling process, the 3D vision scanner scans the weld reinforcement at the milling start point of the workpiece 5 to obtain a weld reinforcement cross-sectional view. In step S30, as the six-axis robot moves along the basic movement trajectory under the control of the control device 8, the 3D vision scanner scans the weld to be milled in real time and collects the weld height and cross-section data, and the control device 8 calculates the weld height deviation and the accumulated workpiece tolerance according to the collected weld height and cross-section data. In step S40, the control device 8 guides the six-axis robot to adaptively adjust the feeding amount of the milling tool head 1 for milling the depth of the weld according to the requirement of the height of the weld surplus height, and adjusts the rotation speed of the electric spindle 2 and the spatial coordinate value of the six-axis robot in real time according to the feeding amount to mill the parameters of the milling tool head 1, so as to obtain the aluminum scrap with a large particle size value. Therefore, by controlling the adaptive machining system through the control method, the requirement of milling the weld reinforcement to be consistent in precision is met, subsequent assembly interference is avoided, and meanwhile, safe milling waste materials for the machining environment are obtained.
In conclusion, the invention can realize the automation and the flexibility of the production line, in addition, milling is replaced by milling, the particle size of milling waste is increased, scrap jumping is realized, the processing environment is improved, the explosion-proof risk level in a working area is reduced, the equipment investment and the production energy consumption of enterprises are further reduced, the requirements of the new technology and the new process of green manufacturing advocated by the state are met, in addition, the precision and the consistency of post-processing objects of workpieces such as welding seam surplus height are improved through the development of a self-adaptive processing system, the appearance quality of products particularly taking car bodies as the workpieces is improved, the operation intensity is reduced, and the production efficiency of the enterprises is improved through an automatic and flexible production mode.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps, or perform several steps simultaneously, after comprehending the spirit of the present invention.
the invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (12)
1. the self-adaptive machining system is characterized by comprising a control device, a visual detection device, a milling tool head, an electric spindle and an execution mechanism, wherein the visual detection device is used for scanning a workpiece to obtain detection data, the milling tool head is used for machining the workpiece, the electric spindle is used for driving the milling tool head to move, the execution mechanism is in transmission connection with the electric spindle and drives the electric spindle to move, and the execution mechanism and the electric spindle are in communication connection with the control device.
2. an adaptive machining system according to claim 1, wherein the control means includes a memory storing preliminary machining data and a scrap parameter of the workpiece, the control means calculates an intermediate parameter from the detection data of the vision detection means and the preliminary machining data, the control means obtains post-machining data from a comparison calculation of the preliminary machining data and the intermediate parameter, and the control means adjusts the first operating parameter of the actuator and the second operating parameter of the electric spindle to control the movements of the actuator and the electric spindle, respectively, based on the post-machining data and the scrap parameter.
3. The adaptive machining system according to claim 1 or 2, wherein the workpiece is made of an aluminum alloy, the preliminary machining data is a weld reinforcement machining map, the detection data is a weld reinforcement cross-sectional map, the intermediate parameters are a weld reinforcement deviation amount and a workpiece accumulated tolerance, the post-machining data is a weld reinforcement milling height, the scrap parameters include a grain size value, and the milling parameters include one or more of a cutting speed, a top angle, a helix angle and a side relief angle.
4. The adaptive machining system of claim 3, wherein the actuator is a six-axis robot, the motorized spindle is a stepless speed-adjustable motorized spindle, the vision detecting device is a 3D vision scanner, the first operating parameter comprises a spatial coordinate value of the actuator, and the second operating parameter comprises a rotational speed value of the motorized spindle.
5. The adaptive machining system according to claim 4, wherein the 3D vision scanner scans the weld reinforcement, collects a cross-sectional profile of the weld reinforcement each time through scanning, combines coordinates of a tool end of the six-axis robot through a calculation algorithm after scanning, establishes three-dimensional modeling on the collected cross-sectional profile in a coordinate system of the six-axis robot, and transmits a deviation value of the weld reinforcement to the control device, and the control device controls the six-axis robot to adaptively adjust the milling track.
6. An adaptive machining system according to claim 4 or 5, wherein the actuator enables the six-axis robot teach pendant to directly adjust the milling parameter by communicating with the motorized spindle and the control device.
7. An adaptive machining system according to any one of claims 1 to 6, wherein the milling tool head is an end mill of high speed steel.
8. The vehicle body processing apparatus characterized by comprising the adaptive processing system according to any one of claims 1 to 7, wherein the workpiece is an aluminum alloy vehicle body.
9. the method of controlling an adaptive processing system according to any one of claims 1 to 7, comprising:
The control device teaches the track of the executing mechanism according to the primary processing data to realize the basic running track of the executing mechanism;
Before the adaptive machining, the vision detection device detects a starting point of a machining part of the workpiece to obtain detection data;
The control device controls the actuating mechanism to move, the vision detection device detects a post-processing part in real time and collects detection data, and the control device calculates to obtain an intermediate parameter according to the collected detection data;
The control device obtains post-processing data according to comparison operation of the post-processing data and the intermediate parameters, and adjusts the first working parameter of the actuating mechanism and the second working parameter of the electric spindle according to the post-processing data and the waste material parameters to respectively control the movement of the first working parameter and the second working parameter of the electric spindle, so that the milling parameters of the milling tool head can meet the waste material parameters.
10. the control method according to claim 9, wherein the workpiece is an aluminum alloy material, the preliminary processing data is a weld reinforcement processing diagram, the detection data is a weld reinforcement cross-sectional diagram, the intermediate parameters are a weld reinforcement deviation amount and a workpiece accumulated tolerance, the post-processing data is a weld reinforcement milling height, the waste material parameters include a grain size value, the milling parameters include one or more of a cutting speed, a top angle, a helix angle and a side relief angle, the actuator is a six-axis robot, the electric spindle is a stepless speed-regulating electric spindle, the vision detection device is a 3D vision scanner, the first operating parameter includes a spatial coordinate value of the actuator, and the second operating parameter includes a rotation speed value of the electric spindle; the working method comprises the following steps:
The control device teaches the six-axis robot track according to the weld reinforcement machining diagram to realize the six-axis robot basic running track;
Before milling, the 3D vision scanner scans the weld reinforcement of the milling starting point of the workpiece to obtain a weld reinforcement cross-sectional diagram;
the 3D vision scanner scans a weld to be milled in real time and collects extra-high section data along with the movement of the six-axis robot along the basic operation track under the control of the control device, and the control device calculates the extra-high deviation of the weld and the accumulated tolerance of the workpiece according to the collected extra-high section data;
the control device guides the six-axis robot to adaptively adjust the feeding amount of the milling tool head for milling the depth of the welding seam according to the requirement of the milling height of the welding seam surplus height, and adjusts the rotating speed of the electric spindle and the spatial coordinate value of the six-axis robot in real time according to the feeding amount to mill the parameters of the milling tool head so as to obtain the aluminum skimmings with large grain size values.
11. the control method according to claim 10, wherein the 3D vision scanner is integrated on the side of the motorized spindle through a connecting plate, and scans the weld reinforcement at multiple times, collects the cross-sectional profile of the weld reinforcement each time through laser scanning, and combines the tool end coordinates of the six-axis robot after scanning, i.e. the end coordinates of the six-axis robot at one end of the milling tool head, and establishes three-dimensional modeling of the collected cross-sectional profile in the coordinate system of the six-axis robot, and transmits the deviation amount of the weld reinforcement to the control device, so that the control device controls the milling track of the six-axis robot to be adjusted adaptively.
12. The adaptive machining system according to any one of claims 1 to 7, the vehicle body machining apparatus according to claim 8, or the control method according to any one of claims 8 to 11, characterized in that: the adaptive machining system or the vehicle body machining device or the control method is used for milling the weld seam of the workpiece which is subjected to primary machining.
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