CN113910258A - Double-robot measurement-milling integrated machining system and control method thereof - Google Patents
Double-robot measurement-milling integrated machining system and control method thereof Download PDFInfo
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- CN113910258A CN113910258A CN202111226457.0A CN202111226457A CN113910258A CN 113910258 A CN113910258 A CN 113910258A CN 202111226457 A CN202111226457 A CN 202111226457A CN 113910258 A CN113910258 A CN 113910258A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
The invention discloses a double-robot measuring-milling integrated processing system, which comprises a laser scanning system, a milling processing system and an industrial personal computer; the laser scanning system comprises a scanning robot and a laser scanning sensor system, and the laser scanning sensor system is connected with the scanning robot; the milling system comprises a milling robot and a milling spindle, and the milling spindle is connected with the milling robot; the scanning robot and the milling robot are electrically connected with the industrial personal computer. The invention also discloses a control method of the double-robot measurement-milling integrated machining system. The invention realizes the measurement-processing integrated full-automatic production of parts and obviously improves the processing quality and the production efficiency.
Description
Technical Field
The invention relates to the technical field of robot full-automatic milling, in particular to a double-robot measurement-milling integrated processing system and a control method thereof.
Background
The industrial robot is a flexible automatic production device, and is suitable for occasions with large workpiece size, complex structure and small-batch flexible production. By installing the sensor and the milling tool on the sixth axis of the robot, the rapid measurement and milling processing of large and complex workpieces can be realized. Compared with a numerical control machining center, the application of the industrial robot in the milling machining field has the advantages of low cost, good flexibility, large working range, good space accessibility and the like, the production efficiency is greatly improved, and the resources are saved.
At present, although industrial robots are applied to the processing of large-scale workpieces with complex structures in the fields of aerospace and the like, the traditional manual arm operation is only replaced by a robot arm in the processing execution, and the automatic processing process of parts cannot be achieved. To large-scale complicated small batch casting work piece, its actual casting result often has very big difference with the design model, need carry out artifical manual measurement many times before milling, simultaneously, also have more spare parts and do not have accurate model data before milling, can't carry out contrastive analysis, can only the manual work carry out the measurement planning, manual work not only can bring great measuring error, has also wasted a large amount of manpowers and time simultaneously, has seriously restricted the promotion of machining efficiency.
In the existing robot milling technology, some processing systems use a coordinated motion synchronous control method of double-robot mirror milling equal-wall-thickness processing, but the method is only suitable for equal-wall-thickness processing, only an improvement strategy is provided on a processing mode, a full-automatic processing process of a robot is not realized, and measurement of a workpiece to be processed is not mentioned.
Therefore, those skilled in the art are dedicated to provide a dual-robot measurement-milling integrated processing system and a control method thereof, so as to realize automatic milling of parts, improve processing quality and production efficiency, and promote digitization and automation processes of large, complex and small-batch workpieces in the fields of aerospace and the like.
Disclosure of Invention
In view of the defects in the prior art, the technical problem to be solved by the present invention is how to provide a dual-robot measurement-milling integrated processing system and a control method thereof, which can realize the automatic milling processing of parts and improve the processing quality and efficiency.
In order to achieve the purpose, the invention provides a double-robot measurement-milling integrated processing system, which comprises a laser scanning system, a milling processing system and an industrial personal computer; the laser scanning system comprises a scanning robot and a laser scanning sensor system, and the laser scanning sensor system is connected with the scanning robot; the milling system comprises a milling robot and a milling spindle, and the milling spindle is connected with the milling robot; the scanning robot and the milling robot are electrically connected with the industrial personal computer.
Further, the robot control cabinet is further included, and the scanning robot and the milling robot are electrically connected with the robot control cabinet.
In the invention, the scanning robot and the milling robot are controlled by one control cabinet, and can also be independently controlled by the control cabinets respectively.
Further, the laser scanning system also comprises a scanning robot base, and the scanning robot is arranged on the scanning robot base.
In the scanning measurement process, the scanning robot controls the space motion of the laser scanning sensor system, so that the scanning measurement process of various surfaces of different parts is realized, the measurement flexibility and expansibility are improved, and relevant data are provided for subsequent milling.
Furthermore, the laser scanning sensor system comprises a servo motor, a transmission rod, a slide rail and a line laser scanning sensor, wherein the transmission rod is connected with an output shaft of the servo motor, the line laser scanning sensor is connected with the transmission rod, and the transmission rod and the line laser scanning sensor are arranged in the slide rail.
The servo motor is used as a driving module and is used for driving a transmission rod connected with the servo motor, and the transmission rod executes a servo driving command to perform transmission; the linear laser scanning sensor is connected with the transmission rod and is matched with the sliding rail to convert the motion of the transmission rod into linear motion, and the surface of the workpiece to be processed is scanned and measured.
Preferably, the transmission rod is a screw or a worm.
Further, the process parameters and the processing pose of the milling spindle are configured to be adjusted in real time.
After the measurement work is finished, the milling system finishes the milling process of the workpiece to be machined, drives various cutters to finish the tasks of material removal and surface correction through the rotation of the milling main shaft, and adopts the cooling of the milling main shaft and the cooling and lubricating between the cutters and the workpiece during machining according to the actual situation so as to obtain the index meeting the machining quality requirement.
The milling machining main shaft is fixed at the tail end of the milling machining robot through the connecting rod, technological parameters and machining poses of the milling machining main shaft can be adjusted and modified in real time in the machining process, the milling machining robot runs according to a specified machining track, flexibility of milling machining complex parts is improved, and machining targets can be achieved better and faster.
The industrial personal computer is a control center of the measuring-milling integrated processing system, and guides the milling processing process of parts by guiding the scanning measuring process and receiving the measuring data to generate feasible milling processing data in interaction with the milling processing system.
The invention also provides a control method of the double-robot measurement-milling integrated machining system, which comprises the following steps:
step 1, clamping and positioning a workpiece to be machined on an objective table, setting a coordinate system by adopting a three-point method, finishing tool setting work of the workpiece to be machined and a cutter, and recording the relative position of the workpiece to be machined and the linear laser scanning sensor;
step 4, carrying out simulation modeling on the milling robot, the milling spindle and the objective table, and simultaneously adding an actual three-dimensional model of the workpiece to be machined to obtain a milling simulation model;
step 5, setting a milling target for the milling simulation model, and simulating a processing path and storing information by the industrial personal computer when the milling paths of all areas and the processing transition of different areas meet the requirements;
and 6, starting the milling system, and driving the milling main shaft to process the workpiece to be processed by the milling robot.
Further, in the step 2, when the three-dimensional model data for designing the workpiece to be machined is lacked, the workpiece to be machined is divided into a ring type and a surface type to carry out scanning path planning; the ring-shaped workpiece to be machined needs to be measured internally and externally twice, and the scanning robot drives the line laser scanning sensor to rotate in the measuring process; the surface type workpiece is scanned and measured in front and back sides.
Further, in step 5, parameters in the milling process may be modified, and the industrial personal computer stores and outputs complete milling data as an executable file of the milling robot.
Further, in the step 6, trial cutting is performed on the workpiece to be processed, and then the steps 2, 3, 4 and 5 are repeated to perform accurate milling.
According to the invention, by using the laser scanning system with the line laser scanning sensor, the actual three-dimensional model of the workpiece to be machined is constructed, the casting error of the workpiece can be ignored, the subsequent milling process of the robot is directly guided, and the method is suitable for different machining wall thicknesses and workpiece shapes. Meanwhile, the industrial personal computer is used for carrying out assembly simulation on the workpiece to be machined and the milling system, so that not only can the on-site equipment installation arrangement be guided, but also the milling process of the robot can be simulated, and the executable file of the robot can be generated by recording a feasible machining path, so that the automatic milling of parts is realized, the machining quality and the production efficiency are obviously improved, and the digitization and the automation process of large-scale, complex and small-batch workpieces are promoted.
The invention has at least the following beneficial technical effects:
1. according to the model-based full-automatic flexible measuring-milling system with the double-robot cooperative system, the laser scanning system with the line laser scanning sensor is used for constructing the actual three-dimensional model of the workpiece to be machined, the actual model of the workpiece to be machined is generated through scanning measurement, manual operation is replaced, and measurement data are more comprehensive and reliable.
2. The invention carries out the assembly simulation of the workpiece to be machined and the milling system at the industrial personal computer terminal, not only can guide the installation and the arrangement of the equipment on site, but also can simulate the milling process of a robot, and realizes the path planning of the milling. By recording a feasible processing path, an executable file of the robot is generated, full-automatic production of the double-robot flexible measurement-processing integration of parts is realized, the processing quality and the production efficiency are obviously improved, digital energization is performed for the traditional manufacturing industry, and the digital process planning technology is accelerated.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of a processing system according to a preferred embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling a processing system according to a preferred embodiment of the present invention.
In the figure, 1-a scanning robot base, 2-a scanning robot, 3-a servo motor, 4-a transmission rod, 5-a sliding rail, 6-a line laser scanning sensor, 7-an industrial personal computer, 8-a milling machining spindle, 9-a control cabinet, 10-a milling machining robot, 11-a workpiece to be machined and 12-an objective table.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1, the two-robot measurement-milling integrated processing system according to the embodiment of the present invention includes a laser scanning system, a milling processing system, and an industrial personal computer 7.
The laser scanning system comprises a scanning robot 2 and a laser scanning sensor system, and the laser scanning sensor system is connected with the scanning robot 2; in this embodiment, the laser scanning sensor system and the scanning robot 2 are structurally connected to each other or electrically connected to each other, and the scanning robot 2 controls the operation of the laser scanning sensor system.
The laser scanning system also comprises a scanning robot base 1, the scanning robot 2 is arranged on the scanning robot base 1, and the scanning robot base 1 is arranged, so that the position of the scanning robot 2 is raised, and the action of the laser scanning sensor system is convenient to realize. In the scanning measurement process, the scanning robot 2 controls the space motion of the laser scanning sensor system, so that the scanning measurement process of various surfaces of different parts is realized, the measurement flexibility and expansibility are improved, and relevant data are provided for subsequent milling.
The laser scanning sensor system comprises a servo motor 3, a transmission rod 4, a sliding rail 5 and a line laser scanning sensor 6, wherein the transmission rod 4 is connected with an output shaft of the servo motor 3, the line laser scanning sensor 6 is connected with the transmission rod 4, and the transmission rod 4 and the line laser scanning sensor 6 are arranged in the sliding rail 5 and move up and down along the sliding rail 5.
The servo motor 3 is used as a driving module and is used for driving the transmission rod 4 connected with the servo motor, and the transmission rod 4 executes a servo driving command to perform transmission; the line laser scanning sensor 6 is connected with the transmission rod 4 and is matched with the slide rail 5 to convert the motion of the transmission rod 4 into linear motion, and the surface of the workpiece 11 to be processed is scanned and measured.
In this embodiment, the transmission rod 4 may be a screw or a worm.
The milling system comprises a milling robot 10 and a milling spindle 8, wherein the milling spindle 8 is connected with the milling robot 10; and adjusting the technological parameters and the processing pose of the milling main shaft 8 in real time.
After the measurement work is finished, the milling system performs the milling process of the workpiece 11 to be machined, drives various cutters to complete material removal and surface correction tasks through the rotation of the milling main shaft 8, and adopts the cooling of the milling main shaft 8 and the cooling and lubrication between the cutters and the workpiece during machining according to actual conditions so as to obtain indexes meeting the machining quality requirements.
The milling machining main shaft 8 is fixed at the tail end of the milling machining robot 10 through a connecting rod, technological parameters and machining poses of the milling machining main shaft 8 can be adjusted and modified in real time in the machining process, the milling machining robot runs according to a specified machining track, the flexibility of milling machining complex parts is improved, and machining targets can be achieved better and faster.
The embodiment further comprises a robot control cabinet 9, the scanning robot 2 and the milling robot 10 are electrically connected with the robot control cabinet 9, and the control cabinet 9 controls the actions of the scanning robot 2 and the milling robot 10.
In this embodiment, the scanning robot 2 and the milling robot 10 are controlled by a control cabinet 9; in other embodiments, the scanning robot 2 and the milling robot 10 may also be individually controlled by the control cabinet.
The scanning robot 2 and the milling robot 10 are electrically connected with an industrial personal computer 7, the industrial personal computer 7 is a control center of the measurement-milling integrated processing system of the embodiment, and the industrial personal computer guides the milling process of the parts by guiding the scanning measurement process and receiving the measurement data to generate feasible milling data in interaction with the milling system.
As shown in fig. 2, the control method of the dual-robot measurement-milling integrated processing system of the present embodiment includes the following steps:
step 1, clamping and positioning a workpiece 11 to be machined on an objective table 12, setting a coordinate system by adopting a three-point method, finishing tool setting work of the workpiece 11 to be machined and a cutter, and recording the relative position of the workpiece 11 to be machined and a linear laser scanning sensor 6.
And 2, inputting the designed three-dimensional model of the workpiece to be machined 11 into an industrial personal computer 7 as a reference model, planning an initial scanning path, transmitting the initial scanning path to a control cabinet 9, and driving the scanning robot 2 and the linear laser scanning sensor 6 to perform scanning measurement on the workpiece to be machined 11 to obtain scanning measurement data.
In this step, when there is no three-dimensional model data for designing the workpiece 11 to be processed, the scanning path can be simply planned, and since the line laser scanning sensor 6 has a relatively large field of view, the scanning path only needs the sensor field of view to completely cover the surface of the workpiece 11 to be processed. Therefore, the workpiece 11 to be processed is divided into a ring type workpiece and a surface type workpiece for scanning path planning, the ring type workpiece needs to be measured inside and outside twice, and the scanning robot 2 drives the line laser scanning sensor 6 to rotate in the measuring process; the surface type workpiece is scanned and measured in front and back surfaces.
And 3, analyzing the measurement data of the workpiece 11 to be machined by the scanning robot 2, transmitting the measurement result to the industrial personal computer 7, and receiving the data of the scanning robot 2 by the industrial personal computer 7 to obtain an actual three-dimensional model of the workpiece 11 to be machined.
And 4, performing simulation modeling on the milling robot 10, the milling spindle 8 and the objective table 12, and adding the actual three-dimensional model of the workpiece to be machined 11 to obtain the simulation model of milling.
In the step, the simulation model can not only guide the relative position of equipment such as a field clamp, a processing device and the like, but also has important guiding significance for the subsequent actual track planning of the milling process.
And 5, setting a milling target for the milling simulation model, and simulating a processing path and storing information by the industrial personal computer 7 when the milling paths of all the areas and the processing transition of different areas meet the requirements.
In the step, based on the position information of the tool point, each machining area adopts a reciprocating type feed mode, the milling machining main shaft 8 can adopt an nonstop mode during transition between different machining areas, the simulation model can carry out dynamic interference inspection of milling machining aiming at different areas and each step of each machining area, and an inspection result is fed back. Parameters in the milling process can be modified, and the industrial personal computer 7 stores and outputs complete milling data as an executable file of the milling robot 10.
And 6, starting the milling system, and driving the milling main shaft 8 by the milling robot 10 to process the workpiece to be processed 11.
In this step, the industrial personal computer 7 transmits the milling data obtained in step 5 to the milling robot 10, and then completes the processing process of the actual workpiece along the established track. And after trial cutting of the workpiece to be machined 11 is completed, repeating the steps 2, 3, 4 and 5 to perform accurate milling, and obtaining a part machining result meeting the requirements.
According to the invention, by using the laser scanning system with the line laser scanning sensor, the actual three-dimensional model of the workpiece to be machined is constructed, the casting error of the workpiece can be ignored, the subsequent milling process of the robot is directly guided, and the method is suitable for different machining wall thicknesses and workpiece shapes. Meanwhile, the industrial personal computer is used for carrying out assembly simulation on the workpiece to be machined and the milling system, so that not only can the on-site equipment installation arrangement be guided, but also the milling process of the robot can be simulated, and the executable file of the robot can be generated by recording a feasible machining path, so that the automatic milling of parts is realized, the machining quality and the production efficiency are obviously improved, and the digitization and the automation process of large-scale, complex and small-batch workpieces are promoted.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A double-robot measurement-milling integrated processing system is characterized by comprising a laser scanning system, a milling processing system and an industrial personal computer; the laser scanning system comprises a scanning robot and a laser scanning sensor system, and the laser scanning sensor system is connected with the scanning robot; the milling system comprises a milling robot and a milling spindle, and the milling spindle is connected with the milling robot; the scanning robot and the milling robot are electrically connected with the industrial personal computer.
2. The dual-robot measurement-milling integrated processing system of claim 1, further comprising a robot control cabinet, wherein the scanning robot and the milling robot are electrically connected with the robot control cabinet.
3. The dual-robot measurement-milling integrated processing system of claim 1, wherein the laser scanning system further comprises a scanning robot base, and the scanning robot is disposed on the scanning robot base.
4. The dual robot measuring-milling integrated processing system as claimed in claim 1, wherein the laser scanning sensor system comprises a servo motor, a transmission rod, a slide rail, and a line laser scanning sensor, the transmission rod is connected with an output shaft of the servo motor, the line laser scanning sensor is connected with the transmission rod, and the transmission rod and the line laser scanning sensor are disposed in the slide rail.
5. The dual robot measurement-milling integrated processing system of claim 4, wherein the transmission rod is a screw or a worm.
6. The dual robotic measurement-milling integrated processing system of claim 1, wherein process parameters and processing pose of the milling spindle are configured to be adjusted in real time.
7. A control method of the double robot measuring-milling integrated processing system according to any one of claims 1-6, characterized in that the control method comprises the following steps:
step 1, clamping and positioning a workpiece to be machined on an objective table, setting a coordinate system by adopting a three-point method, finishing tool setting work of the workpiece to be machined and a cutter, and recording the relative position of the workpiece to be machined and the linear laser scanning sensor;
step 2, inputting the designed three-dimensional model of the workpiece to be processed into the industrial personal computer as a reference model, planning an initial scanning path and transmitting the initial scanning path to the control cabinet, and driving the scanning robot and the linear laser scanning sensor to perform scanning measurement on the workpiece to be processed to obtain scanning measurement data;
step 3, the scanning robot analyzes the measured data of the workpiece to be machined, the measured result is transmitted to the industrial personal computer, and the industrial personal computer receives the data of the scanning robot to obtain an actual three-dimensional model of the workpiece to be machined;
step 4, carrying out simulation modeling on the milling robot, the milling spindle and the objective table, and simultaneously adding an actual three-dimensional model of the workpiece to be machined to obtain a milling simulation model;
step 5, setting a milling target for the milling simulation model, and simulating a processing path and storing information by the industrial personal computer when the milling paths of all areas and the processing transition of different areas meet the requirements;
and 6, starting the milling system, and driving the milling main shaft to process the workpiece to be processed by the milling robot.
8. The control method of the double-robot measurement-milling integrated processing system according to claim 7, wherein in the step 2, when there is no design three-dimensional model data of the workpiece to be processed, the workpiece to be processed is divided into "ring type" and "face type" for scan path planning; the ring-shaped workpiece to be machined needs to be measured internally and externally twice, and the scanning robot drives the line laser scanning sensor to rotate in the measuring process; the surface type workpiece is scanned and measured in front and back sides.
9. The method as claimed in claim 7, wherein in step 5, parameters of the milling process are modified, and the industrial personal computer stores and outputs complete milling data as an executable file of the milling robot.
10. The method for controlling the double-robot measurement-milling integrated processing system according to claim 7, wherein in the step 6, trial cutting is performed on the workpiece to be processed, and then the steps 2, 3, 4 and 5 are repeated to perform the precise milling processing.
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