WO2020077945A1

WO2020077945A1 - Multi-parallel tri-co processing apparatus and processing method for parts having large-curved surface

Info

Publication number: WO2020077945A1
Application number: PCT/CN2019/078606
Authority: WO
Inventors: 程刚; 郭锋; 顾伟; 孔一璇; 金祖进; 万勇建; 张来宾; 王世林
Original assignee: 中国矿业大学; 山东中衡光电科技有限公司; 国家机床产品质量监督检测中心（山东）
Priority date: 2018-10-16
Filing date: 2019-03-19
Publication date: 2020-04-23
Also published as: CN109333547A; CN109333547B

Abstract

A multi-parallel tri-co processing apparatus for parts having a large-curved surface, comprising: a parallel loading device (2), a serial-parallel robotic device (4), an integrated polishing device, and a tri-co control and detection system; the parallel loading device (2) comprises a support seat (2-1), a UPU drive chain (2-2), a constrain support chain (2-4), and a rotating platform (2-3); the serial-parallel robotic device (4) comprises a support frame (4-1), a UPS drive chain (4-2), a UP constrain secondary chain (4-5), a moving platform (4-3), and a two-degree-of-freedom rotator (4-4). During operation, a blank (3) is clamped on the rotating platform (2-3), and the integrated polishing device is assembled at the terminus of the two-degree-of-freedom rotator (4-4). The tri-co control and detection system enables the parallel loading device (2) and the serial-parallel robotic device (4) to cooperate with one another, achieves active compensation for processing errors, and interaction and tri-co with human and the external environment, and allows for integrated intelligent processing from blank model building to milling and polishing for parts having a large-curved surface and parts having a complex surface. The system is also stable in structure and high in precision and rigidity, and enables tri-co among multiple devices. Also disclosed is a processing method for the multi-parallel tri-co processing apparatus for parts having a large-curved surface.

Description

Processing equipment and processing method for multi-parallel eutectic large curved surface parts

Technical field

The invention relates to a large-curved part processing equipment and processing method, in particular to a multi-parallel eutectic large-curved part processing equipment and processing method, which belongs to the technical field of precision and intelligent processing equipment.

Background technique

In order to meet the needs of economic and social development and national defense construction for major technical equipment, China has formulated a development line that integrates a new generation of information technology and manufacturing as the main line, and promotes intelligent manufacturing as the main attack direction. In the field of high-precision and intelligent processing, the conventional processing methods of traditional CNC machine tools or tandem manipulators have the problems of low processing accuracy, bulky processing and assembly, and poor processing flexibility. They have become more and more unable to meet the application requirements of current technological development. The parallel robot has the advantages of compact overall structure, high rigidity and small motion error, and has been well applied in many manufacturing and assembly fields.

However, compared with the series robot, due to the limitations of its own mechanism, the parallel robot is greatly restricted in working stroke and working angle. The defects are particularly obvious when processing large curved parts or complex curved parts.

Therefore, it is necessary to develop a functional processing equipment that can interact with the operating environment, human natural interaction, multi-robot collaborative work, and adapt to complex dynamic environments autonomously.

Summary of the invention

In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a multi-parallel eutectic large-curved part processing equipment and processing method, which can realize the cooperative operation of multiple processing devices and realize the natural interaction between the processing equipment and the operating environment and people The self-adaptation to the dynamic environment can effectively improve the intelligence of processing equipment and the efficiency of parts processing. At the same time, the overall equipment structure is compact, with high rigidity and processing accuracy, strong bearing capacity, small cumulative motion error, and at the same time, intelligent The inclusive control and detection system greatly improves the safety of the overall equipment.

The technical solution adopted by the present invention to solve its technical problems is: a multi-parallel eutectic large-curved part processing equipment, including a parallel bearing device, a hybrid robot device, a research and polishing integrated device and an eutectic control detection system, a parallel bearing device And the hybrid robot device are fixedly installed on the installation base; the parallel load-bearing device includes a support base, four UPU drive chains, a turntable platform, and a constrained support chain. The four UPU drive chains are evenly connected between the turntable platform and the support base. The two ends of the UPU drive chain are connected to the support base and the support platform through U-type vice I and U-type vice II, respectively, and the upper end is connected to the moving platform through a ball hinge; the constraining support chain is distributed at the center of the turntable platform and the support base, which The lower end is fixed on the support base, the upper end is connected to the turntable platform through a Hook hinge, and the blank is clamped on the turntable platform; the hybrid robot device includes a support frame, three UPS drive chains, a moving platform, an UP constrained branch chain and Two-degree-of-freedom rotating head, three UPS drive chains are evenly arranged between the moving platform and the support frame, and the lower and middle of the UPS drive chain The segment is connected to the support frame through the U-shaped vice III; the UP constrained branch chain is distributed at the center of the moving platform and the support frame, the upper end of which is fixedly connected to the moving platform, and the lower end is connected to the support frame through the U-shaped vice IV; Connected to the moving platform through the turntable bearing, the research and polishing integrated device is installed at the end of the two-degree-of-freedom rotating head; the eutectic control detection system includes an interactive display, an industrial computer, a motion control card, a servo driver, a visual processor, and a communication module , Vision camera, temperature sensor, three-dimensional imaging scanner, grating ruler, attitude gyroscope and laser tracker, the vision camera is installed outside the two-degree-of-freedom rotating head to detect the position of personnel during the work process, and at the same time pass the detection results through the vision The processor is transferred to the industrial computer; the temperature sensor is installed on the turntable platform, passed to the industrial computer through the communication module, and displayed on the interactive display in real time; the three-dimensional imaging scanner is installed behind the grinding and polishing integrated device, and the blank before processing Scanning modeling of parts; two attitude gyroscopes are installed on the turntable platform respectively On the moving platform, detect the posture changes during the work process; grating scales are installed on the UPU drive chain and UPS drive chain to detect the length change of the UPU drive chain and UPS drive chain in real time; the laser tracker is arranged on the installation base, Tracking and positioning the spatial position of the end of the integrated grinding and polishing device; grating ruler, attitude gyroscope and laser tracker detect the movement of the implementing component in real time and pass it to the industrial control computer through the communication module. The industrial control computer compares these feedback signals with predetermined parameters At the same time, the processing compensation program is generated and input again to the motion control card, and the servo drive driven by the dynamic control card drives the movement of the UPS drive chain and the UPU drive chain.

A multi-parallel eutectic large-curved part processing method, first complete the assembly of the entire equipment according to the relative position, the entire equipment is in the initial state, and then perform the following specific processing steps:

1) First clamp the blank on the parallel carrying device, adjust the equipment to the human-machine interactive mode through the interactive display, and enter the blank scanning program; at this time, the posture changes of the parallel carrying device and the hybrid robot can be interacted through The display can be adjusted arbitrarily, turn on the three-dimensional imaging scanner, adjust the position and posture of the parallel carrying device and the hybrid robot device, scan and model the three-dimensional model of the entire blank, and display the results on the interactive display; 2) according to the finished product The parameters are input to the industrial computer, the system can automatically compare with the three-dimensional scanning results of the blank, and form the processing program of the part. According to the detection result of the temperature sensor, the system can independently perform the first processing of the processing program according to the properties of the blank material Correction, at the same time, display the revised processing schematic diagram on the interactive display; 3) Adjust the equipment to the processing mode through the interactive display. Turn on the parallel carrying device and the hybrid robot device. The industrial computer passes the motion control card to the servo according to the generated processing program. Controller, parallel carrying device and hybrid robot device At the same operation, the rough part is processed. During the processing, the integrated grinding and polishing device can complete the grinding and polishing process of the part under one positioning; at the same time, during the processing, the grating ruler, attitude gyroscope and laser The tracker detects the movement of the executing parts in real time and transmits it to the industrial control computer through the communication module. The industrial control computer compares these feedback signals with predetermined parameters, and at the same time generates a processing compensation program and inputs it to the motion control card again; during the process, When there is a large error in the detection result, that is, the state of motion instability, the interactive display will display an alarm signal and stop the movement of the parallel carrying device and the hybrid robot device to prevent accidents; at the same time, the real-time open visual camera can be used during the work process The position of the personnel in the system is detected in time. When it is detected that the position of the personnel reaches the set value, the interactive display displays a warning or alarm signal, and the device performs the corresponding action; 4) After the processing is completed, adjust the equipment to the human-machine again through the interactive display Interactive mode, through 3D imaging Part of the scanner to detect when a failure occurs, and then corrected by the above processing steps 1) to 3); after passing the entire equipment to restore the initial state.

Compared with the prior art, the present invention is a multi-parallel eutectic large-curved part processing equipment and processing method. The present invention uses multiple parallel mechanisms as the main body of the large-curved part processing equipment, which has a compact structure, high rigidity, and bearing capacity It has the advantages of strong and small accumulated motion error; the parallel load-bearing device and the hybrid robot device work in coordination with each other, which widens the working space of a single serial or parallel mechanism, and has greater flexibility in working stroke and working posture. Many of the components designed in the mechanism use split connection. On the premise of ensuring accuracy, the manufacturing cost of the equipment is greatly reduced. The free switching between the human-machine interaction mode and the processing mode has realized the one-time processing of the workpiece from blank modeling to grinding to polishing to polishing, which greatly improves the processing efficiency. The arrangement of grating ruler, attitude gyroscope, encoder and laser tracker makes the motion control of the entire processing equipment form a closed-loop structure, which greatly improves the processing accuracy of the parts. At the same time, when the processing equipment exhibits abnormal motion or motion instability, it can be Stopping the processing equipment in a timely manner improves the safety of the system. In addition, the entire system considers the role of humans and the external environment in the processing of large curved parts, realizes the interaction and integration of humans, machines and the external environment, and realizes the intelligent precision machining of equipment. This equipment greatly compensates for the deficiencies of the existing processing equipment and processing methods in the processing of large curved parts or complex curved parts, and is the future development direction of intelligent manufacturing.

BRIEF DESCRIPTION

The present invention will be further described below with reference to the drawings and embodiments.

FIG. 1 is a schematic structural diagram of the overall equipment according to an embodiment of the present invention.

2 is a schematic structural diagram of a parallel bearing device in an embodiment of the present invention.

3 is a schematic structural diagram of a hybrid robot device in an embodiment of the present invention.

4 is a schematic structural diagram of a support frame in an embodiment of the present invention.

5 is a schematic structural diagram of a moving platform in an embodiment of the present invention.

6 is a schematic diagram of the structure of an inclusive control detection system in an embodiment of the present invention.

In the picture: 1. Installation base, 2. Parallel bearing device, 2-1, support base, 2-2, UPU drive chain, 2-2-1, U-shaped vice I, 2-2-2, servo electric cylinder, 2-2-3, U-shaped vice II, 2-3, turntable platform, 2-3-1, support platform, 2-3-2, rotating device, 2-2-3, fixture, 2-4, restraint support Chain, 2-4-1, U-shaped pair III, 2-4-2, support column, 3, rough parts, 4. Hybrid robot device, 4-1, support frame, 4-1-1, main frame, 4-1-2, U-shaped frame I, 4-1-3, telescopic rod sleeve locking positioning sleeve, 4-1-4, U-shaped auxiliary support frame, 4-1-5, U-shaped auxiliary inner support frame , 4-1-6, U-shaped auxiliary outer support frame, 4-2, UPS drive chain, 4-2-1, servo motor, 4-2-2, motor connection seat, 4-2-3, telescopic pole sleeve Tube, 4-2-4, telescopic rod, 4-2-5, ball hinge, 4-3, moving platform, 4-3-1, U-shaped frame II, 4-3-2, moving platform body sleeve, 4 -4, two-degree-of-freedom rotating head, 4-4-1, first-level rotating head, 4-4-2, two-level rotating head, 4-4-3, turntable bearing, 4-5, UP constrained branch chain, 4 -5-1, linear slide rail, 4-5-2, support rod, 4-5-3, motor support sleeve, 5, integrated grinding and polishing device, 6, laser tracker, 7, temperature Sensor, 8-1, first posture gyroscope, 8-2, second posture gyroscope, 9, visual camera, 10, 3D imaging scanner, 11-1, first grating ruler, 11-2, second grating ruler.

detailed description

To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

For the sake of clarity and special description, in the text, U represents a U-shaped pair with two degrees of freedom in rotation; P represents a mobile pair with a certain degree of freedom in one direction; S represents a ball pair with three degrees of freedom in rotation .

1 to 6 show a schematic structural view of a preferred embodiment of the present invention. A multi-parallel eutectic large-curved part processing equipment in the figure includes a parallel carrying device 2, a hybrid robot device 4, and a polishing The integrated device 5 and the eutectic control detection system, the parallel bearing device 2 and the hybrid robot device 4 are fixed together on the mounting base 1. The parallel bearing device 2 and the hybrid robot device 4 can coordinate their respective motion postures during the work process. During the processing of large curved parts, a single parallel or hybrid robot processing device cannot be completed in its work space One-time processing of the entire part. The coordinated movement of multiple mechanisms can expand the processing range in the work process, realize one-time processing of parts, reduce processing errors due to repeated positioning, and improve the processing efficiency of parts.

As shown in FIGS. 1 and 2, the parallel load-bearing device 2 is used to provide posture compensation during processing, and it includes a support base 2-1, four UPU drive chains 2-2, a turntable platform 2-3, and restraint supports Chain 2-4. The distribution radius of the hinge connection point on the support base 2-1 is larger than the distribution radius of the hinge connection point on the turntable platform 2-3. The four UPU drive chains 2-2 are identical in structure, and are evenly arranged between the turntable platform 2-3 and the support base 2-1, and are used to provide posture changes during work, including U-shaped vice I 2-2-1 、 Servo electric cylinder 2-2-2 and U-shaped vice Ⅱ 2-2-3; servo electric cylinder 2-2-2 can also be replaced by a servo linear module composed of a servo motor and a ball screw pair. The four servo electric cylinders 2-2-2 work together to provide the turntable platform 2-3 at different angles and postures through the change in length. The turntable platform 2-3 includes a supporting platform 2-3-1, a rotating device 2-3-2 and a fixture 2-2-3, and the two ends of the servo electric cylinder 2-2-2 pass through the U-shaped vice I2- 2-1 and U-shaped vice II 2-2-3 are fixedly connected to the supporting base 2-1 and the supporting platform 2-3-1, the rotating device 2-3-2 is installed on the supporting platform 2-3-1, and the fixture 2- 3-3 is fixed on the rotating device 2-3-2, and the first posture gyroscope 8-1 and the temperature sensor 7 are also installed on the supporting platform 2-3-1. The clamping and fixing of the blank 3, the rotating device 2-3-2 can provide different rotation speeds according to different processing requirements during operation; the parts to be processed are installed on the turntable platform 2-3, the turntable The platform 2-3 can be used to fix the workpiece to be processed on the one hand, and can provide axial rotation during the processing on the other hand. The constrained supporting chain 2-4 is distributed at the center of the turntable platform 2-3 and the supporting base 2-1, and includes a U-shaped pair III 2-4-1 and a supporting column 2-4-2, and the supporting column 2-4- 2 The upper end is connected to the turntable platform 2-3 through the U-shaped vice III 2-4-1, and the lower end is fixed on the support base 2-1. The entire parallel bearing device 2 is fixed on the mounting base 1 by bolts, and can achieve independent rotation degrees of freedom in two directions during operation. The U-shaped pair I 2-2-1 and U-shaped pair II 2-2-3 are both Hook hinges, which can also be replaced by ball hinges. At the same time, in order to improve the limitation of the rotation angle of the ball hinge, an inclined wedge can be connected at the upper end The angle range of the block and wedge is 10 ° ～ 30 °, and then connect with the turntable platform 2-3.

As shown in FIGS. 3 to 5, the hybrid robot device 4 in this embodiment includes a support frame 4-1, three UPS drive chains 4-2, a moving platform 4-3, a two-degree-of-freedom rotating head 4-4 and UP Restrain the branch chain 4-5. The supporting frame 4-1 adopts a split-connected structure. The supporting frame 4-1 includes a main frame 4-1-1 and a U-shaped frame Ⅰ, and three U-shaped frames Ⅰ are evenly arranged on the main frame 4-1-1 Surrounded and fixed on the top, the main frame 4-1-1 has a middle hole. The three UPS drive chains 4-2 are identical in structure, and are evenly arranged between the moving platform 4-3 and the support frame 4-1. The hybrid robot device 4 of the present invention adopts a horizontal arrangement manner in its support frame 4-1 Three UPS drive chains 4-2 are arranged on the upper end, and one UPS drive chain 4-2 is arranged on the lower end, so that the robot can obtain a larger processing space; each UPS drive chain 4-2 includes the servo motors 4 connected in sequence 4- 2-1, Motor connection seat 4-2-2, telescopic rod sleeve 4-2-3, telescopic rod 4-2-4 and ball hinge 4-2-5, scale grating installation of the second scale 11-2 At the upper end of the telescopic rod 4-2-4, the grating reading head is installed on the telescopic rod sleeve 4-2-3, and the telescopic rod sleeve 4-2-3 is installed on the telescopic rod sleeve of the U-shaped pair III2-4-1 In the cylinder locking positioning sleeve 4-1-3, the upper end of the UPS drive chain 4-2 is connected to the moving platform 4-3 through the ball hinge 4-2-5; when working, the three UPS drive chains 4-2 are driven at the same time. In the process of providing the posture change of the moving platform 4-3, according to the different telescopic lengths of the branch chains, the uncontrollable spatial six degrees of freedom movement of the moving platform 4-3 can be realized.

The moving platform 4-3 adopts a split connection structure. The moving platform 4-3 includes a U-shaped frame Ⅱ and a moving platform main sleeve 4-3-2. The three U-shaped frames Ⅱ are evenly arranged on the moving platform main sleeve 4 -3-2 The outer periphery is connected and the main body cover of the moving platform 4-3-2 has a mounting hole in the middle. The two-degree-of-freedom rotating head 4-4 includes a first-level rotor 4-4-1 and a second-level rotor 4-4-2, a first-level rotor 4-4-1 and a second-level rotor 4-4- 2 are connected to the servo drive motor, the movement of the two-degree-of-freedom rotary head 4-4 is driven by two drive servo motors plus an accelerator, the second-level rotor 4-4-2 is hinged to the first-level rotor 4-4-1 At the opening of the upper end, the integrated polishing and polishing device is installed on the secondary rotor 4-4-2. The primary rotor 4-4-1 passes through the turntable bearing 4-4-3 and the main body sleeve 4-3-2 of the moving platform Connected, the vision camera 9 is installed at the upper and lower ends of the primary rotor 4-4-1; the servo drive motor of the primary rotor 4-4-1 is fixed to the motor support sleeve 4-5- at the lower end of the moving platform 4-3 3 Internally, the entire two-degree-of-freedom rotating head is driven to rotate in the 4-4Z direction directly through the transmission shaft, and the drive servo motor of the second-level rotor 4-4-2 is installed inside the first-level rotor 4-4-1. The synchronous belt drive drives the rotation of the secondary rotor 4-4-2, and also has a reducer at the rear of the drive servo motor of the primary rotor 4-4-1 and the secondary rotor 4-4-2. Encoders are installed at the output of the drive motor.

The UP constrained branch chain 4-5 includes a pair of linear slide rails 4-5-1, support rods 4-5-2 and motor support sleeves 4-5-3, and a pair of linear slide rails 4-5-1 to Combined in a 180-degree arrangement, the two ends of the support rod 4-5-2 are connected to the linear slide rail 4-5-1 and the motor support sleeve 4-5-3, and the upper end of the motor support sleeve 4-5-3 Installed in the mounting hole of the main body sleeve 4-3-2 of the moving platform, the linear slide 4-5-1 is installed in the U-shaped auxiliary inner support frame 4-1-5 of the U-shaped auxiliary Ⅳ; during the work, the UP constraint The branch chain 4-5 can constrain the moving platform 4-3 to have two degrees of freedom of movement and one degree of freedom of rotation, so that the overall parallel mechanism can realize two degrees of freedom of controllable space of one rotation and one movement. The UPS drive chain 4-2 middle and lower U-shaped pair III 2-4-1 is Hook hinge or ball hinge, the telescopic rod sleeve locking positioning sleeve 4-1-3 is connected to the U-shaped pair through a pair of angular contact ball shafts On the supporting frame 4-1-4, the U-shaped auxiliary supporting frame 4-1-4 is connected to the U-shaped frame Ⅰ through a pair of angular contact ball bearings, and the two angular contact ball bearings are arranged in a crisscross configuration; -5 The lower U-shaped auxiliary IV includes U-shaped auxiliary inner support frame 4-1-5 and U-shaped auxiliary outer support frame 4-1-6, U-shaped auxiliary inner support frame 4-1-5 contacts the ball through a pair of angles The bearing is connected to the U-shaped auxiliary outer support frame 4-1-6, and the U-shaped auxiliary outer support frame 4-1-6 is connected to the main body frame 4-1-1 through a pair of angular contact ball bearings, two diagonal The contact ball bearings are arranged in a crisscross manner; among them, the way realized by two diagonal contact ball bearings in a crisscross manner can also adopt the connection form of a universal joint to realize the rotation movement of the UP restrained branch chain 4-5 in two directions.

The ball hinge 4-2-5 realizes three degrees of freedom of rotation through three diagonal contact ball bearings. U-type vice III2-4-1 and U-type vice IV can be replaced by universal joints. The entire hybrid robot device 4 is fixed on the mounting base 1 by bolts, and can realize unrestrained movement of five degrees of freedom in the end space, that is, a hybrid robot that combines a two-degree-of-freedom rotating head 4-4 and a three-degree-of-freedom parallel mechanism The device can realize five-degree-of-freedom movement in space, and thus can provide any position and posture of the grinding and polishing integrated device in the working space to achieve flexible processing of large curved surfaces or complex curved surface parts.

As shown in FIG. 3, the integrated grinding and polishing device 5 includes a tool library and a tool loading system composed of different types of grinding heads and polishing heads. The tool library is used for grinding and surface polishing of different parts The tool loading system is used to provide the loading force during processing. The integrated grinding and polishing device 5 is installed on the two-stage rotary head 4-4-2, and its processing posture is realized by the change of the posture of the hybrid robot device 4, which can be changed at any position in the working space, and has a structure The advantages of compactness and high flexibility. In the process of processing, the integrated polishing and polishing device 5 can automatically switch the tools to realize the grinding and polishing procedures of the parts. Moreover, in the process of processing, the power system of the hybrid robot device 4 is independent, and can be flexibly changed according to processing requirements.

As shown in Figs. 1 to 6, the eutectic control detection system includes an interactive display, an industrial computer, a motion control card, a servo driver, a vision processor, a communication module, a vision camera 9, a temperature sensor 7, and a three-dimensional imaging scanner 10. Grating ruler, attitude gyroscope 8 and laser tracker 6. The three-dimensional imaging scanner 10 is installed at the end of the second-stage rotary head 4-4-2, and is arranged in the opposite direction to the grinding and polishing integrated device 5, and is connected to the industrial control computer through a communication module for the blank before processing Part 3 scan modeling. The posture gyroscope is installed on the supporting platform 2-3-1 and the moving platform 4-3 (the first posture gyroscope 8-1 installed on the supporting platform 2-3-1 is installed on the moving platform 4- 3 is called the second posture gyroscope 8-2, the two are collectively referred to as posture gyroscope), used to detect posture changes during the work process, and the detection results are fed back to the industrial control computer in real time, and the results will be on the interactive display real-time display. The temperature sensor 7 is installed on the supporting platform 2-3-1, and is connected to the industrial control computer through a communication module, used to detect the temperature of the external environment during work, and transmitted to the industrial control computer through the communication module and on the interactive display Real-time display; temperature sensor 7 can detect the change of working environment temperature in real time. In order to make the same parts get the same size when processed in different external environment temperatures, the entire robot system can record the processing errors under different environmental temperatures in real time and later Continuously learn during the processing, and independently compensate for the processing errors of the parts according to changes in the ambient temperature. Scales are installed on the UPU drive chain 2-2 and UPS drive chain 4-2 (the first scale 11-1 installed on the UPU drive chain, the second scale 11- on the UPS drive chain 2, collectively referred to as grating ruler), can be selected as linear displacement type grating ruler, used to detect the length change of UPU drive chain 2-2 and UPS drive chain 4-2 in real time, in fact the second installed on UPS drive chain 4-2 The grating ruler 11-2, the scale grating is installed on the upper end of the telescopic rod 4-2-4, and the grating reading head is mounted on the telescopic rod sleeve 4-2-3. The laser tracker 6 is arranged on the mounting base 1 and is used to track and locate the spatial position of the end of the integrated grinding and polishing device 5. The industrial computer is connected with an interactive display and can display real-time processing of parts, signals of various sensors and equipment, and the industrial computer drives the servo drive 4-2-1 through the motion control card to drive the servo driver. The grating ruler, attitude gyroscope, encoder and laser tracker 6 can transmit the detection information to the industrial control computer in real time and display it on the interactive display in real time. The industrial control computer controls the servo motor through the motion control card according to the feedback detection signal 4-2- 1 action, further, the motion control card can use IMAC series motion control card, and the type of the control card should be at least ten axes; on the one hand, it can realize real-time detection of the equipment during the processing process, and according to the detection result to the motion error Compensation enables the entire system to achieve closed-loop control, which greatly improves the mirror processing accuracy; on the other hand, when the processing equipment exhibits abnormal motion or instability, it can stop the entire processing equipment in time to improve the safety of the system Sex. The visual camera 9 is installed at the upper and lower ends of the first-level rotor 4-4-1, and is used to detect the position of the personnel during the work process, and at the same time pass the detection result to the industrial control computer through the visual processor; the visual camera 9 can In the process of work, the position of the personnel is detected in an all-round way, and its signal is transmitted to the industrial control computer through the visual processor. There are two modes of working mode, one is when the position of the detected person enters the robot's limit working range of 2.5 times during the processing of the part, the interactive display displays a warning signal, and the other is when the position of the detected person enters the limit of 2 times the work In the range, the entire equipment system starts to slow down, and the interactive display displays an alarm signal. When the personnel position is detected to enter the 1.5 times limit working range, the entire equipment system stops, and the interactive display continuously displays the alarm signal. Under the early warning, it improves the safety of the equipment and prevents casualties during processing. When the blank 3 is generated by the three-dimensional imaging scanner 10, the human and the entire assembly are required to work collaboratively. The human can continuously adjust the position and posture of the parallel carrying device 2 and the hybrid robot device 4 through the interactive display, thereby The whole blank 3 is scanned, and the result is displayed on the interactive display in real time until the scanning is finished. When the processing operation is carried out, the interactive display displays a warning signal when the personnel position is detected to enter the robot's limit working range of 2.5 times; when the personnel position is detected to enter the twice the limit working range, the entire equipment system starts to slow down, and the interactive display displays an alarm Signal, when it is detected that the position of the personnel enters 1.5 times the limit working range, the entire equipment system is shut down, and the interactive display continuously displays the alarm signal.

After the entire equipment is assembled according to the position shown in Figure 1, the entire assembly is in the initial state. When processing large curved surface parts or complex curved surface parts, the processing steps and processing methods are as follows:

1. First clamp the blank 3 on the parallel load-bearing device 2, adjust the equipment to the human-machine interactive mode through the interactive display, and enter the blank 3 scanning program. At this time, the posture changes of the parallel carrying device 2 and the hybrid robot device 4 can be arbitrarily adjusted through the interactive display, the three-dimensional imaging scanner 10 is turned on, the posture of the parallel carrying device 2 and the hybrid robot device 4 is adjusted, and the entire blank The 3D model of item 3 is scanned and modeled, and the results are displayed on the interactive display.

2. According to the input of the finished product parameters to the industrial computer, the system can automatically compare with the three-dimensional scanning results of the blank 3 and form a part processing program. According to the detection result of the temperature sensor 7, the system can automatically determine the material of the blank 3 Attributes modify the processing program for the first time, and at the same time display the revised processing schematic diagram on the interactive display.

3. Turn on the parallel bearing device 2 and the hybrid robot device 4. The industrial computer can be transferred to the servo controller through the motion control card according to the generated processing program. The contract operation of the two devices begins to process the blank 3. During the processing, the grinding The integrated polishing device 5 can complete the grinding and polishing procedures of the parts in the case of one-time positioning. At the same time, in the process of processing, the grating ruler, posture gyroscope and laser tracker 6 can detect the movement of the execution component in real time and pass it to the industrial control computer through the communication module. The industrial control computer can compare these feedback signals with predetermined parameters. At the same time, the machining compensation program is generated and input to the motion control card again. Through such closed-loop control, the grinding and polishing procedures of the parts are completed in sequence. In the process of processing, when there is a large error in the detection result, that is, the state of motion instability, the interactive display will display an alarm signal and stop the movement of the parallel carrying device 2 and the hybrid robot device 4 to prevent accidents. At the same time, the visual camera 9 that is turned on in real time can detect the position of the personnel in the process of work in time. When the detected position of the personnel reaches the set value, the interactive display displays a warning or alarm signal, and the device performs the corresponding action.

4. After the processing is completed, the equipment is adjusted to the human-machine interactive mode again through the interactive display, and the parts are detected by the three-dimensional imaging scanner 10, and when a non-conformity occurs, it is corrected through the above processing steps 1 to 3. After passing the test, the entire equipment is restored to its original state.

During work, the blank 3 is clamped on the turntable platform 2-3, the integrated polishing and polishing device is installed at the end of the two-degree-of-freedom rotating head 4-4, and the eutectic control detection system makes the parallel carrying device 2 and the hybrid robot device 4 mutually Coordination, active compensation of processing errors, and interactive interaction with people and the external environment, which can realize large-scale curved parts or complex curved parts from blank modeling, grinding to polishing one-time intelligent processing.

The above is only the preferred embodiment of the present invention, and does not limit the present invention in any form. Any simple modifications and equivalent changes made to the above embodiments based on the technical essence of the present invention are included in the present invention. Within the scope of protection of the invention.

Claims

A multi-parallel eutectic large-curved part processing equipment, which is characterized by comprising a parallel carrying device (2), a hybrid robot device (4), an integrated polishing and polishing device and an eutectic control and detection system, and a parallel carrying device (2 ) And the hybrid robot device (4) are fixedly installed on the mounting base (1);

The parallel load-bearing device (2) includes a support base (2-1), four UPU drive chains (2-2), a turntable platform (2-3) and a constrained support chain (2-4), and four UPU drive chains ( 2-2) Evenly distributed between the turntable platform (2-3) and the support base (2-1), the two ends of the UPU drive chain (2-2) pass through the U-shaped vice I (2-2-1) Connected with U-shaped vice Ⅱ (2-2-3) and support base (2-1) and support platform (2-3-1), the upper end of which is connected to moving platform (4- 3) Connected; the restraining support chain (2-4) is distributed in the center of the turntable platform (2-3) and the support base (2-1), the lower end of which is fixed on the support base (2-1), and the upper end passes through Hook The hinge is connected to the turntable platform (2-3), and the blank (3) is clamped on the turntable platform (2-3);

The hybrid robot device (4) includes a support frame (4-1), three UPS drive chains (4-2), a moving platform (4-3), a UP constrained branch chain (4-5) and two degrees of freedom The rotating head, three UPS drive chains (4-2) are evenly arranged between the moving platform (4-3) and the support frame (4-1), the middle and lower sections of the UPS drive chain (4-2) pass through the U-shaped vice III ( 2-4-1) Connected to the support frame (4-1); UP constrained branch chains (4-5) are distributed in the center of the moving platform (4-3) and the support frame (4-1). The platform (4-3) is fixedly connected, the lower end is connected to the support frame (4-1) through the U-shaped auxiliary IV; the two-degree-of-freedom rotating head (4-4) is connected to the moving platform (4 through the turntable bearing (4-4-3)) -3) Connection, research and polishing integrated device is installed on the two-degree-of-freedom rotor (4-4);

The eutectic control and detection system includes interactive display, industrial computer, motion control card, servo driver, visual processor, communication module, visual camera (9), temperature sensor (7), three-dimensional imaging scanner (10), grating Ruler, attitude gyroscope and laser tracker (6), vision camera (9) are installed outside the two-degree-of-freedom rotating head (4-4) to detect the position of personnel during the work, and pass the detection results through the vision processor Transfer to the industrial computer; the temperature sensor (7) is installed on the turntable platform (2-3), and its temperature information is transmitted to the industrial computer through the communication module and displayed on the interactive display in real time; the three-dimensional imaging scanner (10) is installed on the mill At the back of the integrated polishing device (5), scan and model the blank (3) before processing; two posture gyroscopes are installed on the turntable platform (2-3) and the moving platform (4-3), respectively Posture changes during the work process; grating scales are installed on the UPU drive chain (2-2) and UPS drive chain (4-2) to detect the UPU drive chain (2-2) and UPS drive chain (4- 2) The length changes; the laser tracker (6) is arranged on the mounting base (1), Tracking the spatial position of the end of the integrated grinding and polishing device (5); grating ruler, attitude gyroscope and laser tracker (6) real-time detection of the movement of the execution component, and transmitted to the industrial computer through the communication module, the industrial computer will these feedback The signal is compared with the predetermined parameters, and the processing compensation program is generated and input to the motion control card again. The motion control card drives the servo drive to drive the UPS drive chain (4-2) and UPU drive chain (2-2).
The multi-parallel eutectic large-curved parts processing equipment according to claim 1, characterized in that the UPU drive chain (2-2) includes a U-shaped vice Ⅰ (2-2-1), a servo motor Cylinder (2-2-2) and U-shaped vice II (2-2-3), the turntable platform (2-3) includes a support platform (2-3-1), a rotating device (2-3-2 ) And the clamp (2-3-3), the two ends of the servo electric cylinder (2-2-2) are respectively connected to the U-shaped sub-I (2-2-1) and U-shaped sub-II (2-2-3) and The supporting base (2-1) and the supporting platform (2-3-1) are fixedly connected, the rotating device (2-3-2) is installed on the supporting platform (2-3-1), and the clamp (2-3-3) It is fixed on the rotating device (2-3-2), the blank (3) is clamped and fixed by the clamp (2-3-3), and the first posture gyroscope is installed on the support platform (2-3-1) (8-1) and temperature sensor (7); the constrained support chain (2-4) includes U-shaped vice III (2-4-1) and support column (2-4-2), support column (2 -4-2) The lower end is fixed on the supporting base (2-1), and the upper end is connected to the lower part of the supporting platform (2-3-1) through the U-shaped auxiliary III (2-4-1).
A multi-parallel eutectic large-curved part processing equipment according to claim 2, wherein the servo electric cylinder (2-2-2) is replaced by a ball screw pair.
A multi-parallel eutectic large-curved part processing equipment according to claim 2, characterized in that: said U-shaped vice I (2-2-1) and U-shaped vice II (2-2-3) All are Hook hinges or ball hinges.
A multi-parallel eutectic large-curved part processing equipment according to claim 2, wherein the distribution radius of the hinge connection point on the support base (2-1) is slightly larger than that of the turntable platform (2-3) The distribution radius of the hinge connection point.
A multi-parallel eutectic large-curved part processing equipment according to claim 1 or 2, wherein the support frame (4-1) includes a main body frame (4-1-1) and a U-shaped frame Ⅰ, three U-shaped frames Ⅰ are evenly arranged around the main frame (4-1-1) and fixed on it, the main frame (4-1-1) has a middle hole; the middle and lower section of the UPS drive chain (4-2) The U-shaped pair III (2-4-1) is Hook hinge or ball hinge connection; the telescopic rod sleeve locking positioning sleeve (4-1-3) is connected to the U-shaped auxiliary support through a pair of angular contact ball shafts On the frame (4-1-4), the U-shaped auxiliary support frame (4-1-4) is connected to the U-shaped frame I through a pair of angular contact ball bearings, and the two pairs of angular contact ball bearings are arranged in a cross; UP constraints The U-shaped secondary IV at the lower end of the branch chain (4-5) includes the U-shaped secondary inner support frame (4-1-5) and the U-shaped secondary outer support frame (4-1-6), and the U-shaped secondary inner support frame (4 -1-5) Connected to the U-shaped auxiliary outer support frame (4-1-6) through a pair of angular contact ball bearings, and then passed a pair of angular contact balls on the U-shaped auxiliary outer support frame (4-1-6) The bearing is connected to the main frame (4-1-1), and the two pairs of angular contact ball bearings are arranged in a crisscross manner; the UPS drive chain (4-2) includes the servo motors (4-2-1) connected in sequence ), Motor connection seat (4-2-2), telescopic rod sleeve (4-2-3), telescopic rod (4-2-4) and ball hinge (4-2-5), second grating ruler ( The scale grating of 11-2) is installed on the upper end of the telescopic rod (4-2-4), the grating reading head is installed on the telescopic rod sleeve (4-2-3), the telescopic rod sleeve (4-2-3) Installed in the telescopic rod sleeve locking positioning sleeve (4-1-3) of U-shaped vice III (2-4-1); the moving platform (4-3) includes U-shaped frame Ⅱ and the main body of the moving platform Sleeve (4-3-2), three U-shaped frames Ⅱ are evenly arranged on the outer periphery of the main body sleeve of the moving platform and are connected; the middle part of the main body sleeve (4-3-2) of the moving platform has a mounting hole; the two degrees of freedom rotation Head (4-4) includes first-level rotor (4-4-1) and second-level rotor (4-4-2), first-level rotor (4-4-1) and second-level rotor (4-4-1) 4-2) Both are connected to the servo drive motor, the secondary rotor (4-4-2) is hinged at the upper opening of the primary rotor (4-4-1), and the integrated polishing and polishing device is installed on the secondary rotor On (4-4-2), the first-level rotor (4-4-1) is connected to the main body sleeve (4-3-2) of the moving platform through the turntable bearing (4-4-3), and the vision camera (9) is installed At the upper and lower ends of the first-level rotor (4-4-1); the UP restraining branch chain (4-5) includes a pair of linear slide rails (4-5-1) and support rods (4-5) -2) Combined with the motor support sleeve (4-5-3), a pair of linear slide rails (4-5-1) arranged in a 180 degree arrangement, and the support rod (4-5-2) at both ends Connect the linear slide rail (4-5-1) and the motor support sleeve (4-5-3) respectively. The upper end of the motor support sleeve (4-5-3) is installed on the main body sleeve (4-3-2) of the moving platform In the installation hole, the linear slide rail (4-5-1) is installed in the U-shaped sub-inner support frame (4-1-5) of U-shaped sub-Ⅳ.
A multi-parallel eutectic large-curved part processing equipment according to claim 6, characterized in that: the ball hinge (4-2-5) realizes three directions of free rotation through three diagonal contact ball bearings degree.
A multi-parallel eutectic large-curved part processing equipment according to claim 6, characterized in that the two pairs of angular contact ball bearings arranged in a crisscross manner are replaced by the connection form of a universal joint.
The multi-parallel eutectic large-curved parts processing equipment according to claim 6, characterized in that the servo drive motor of the first-level rotor (4-4-1) is fixed at the lower end of the moving platform (4-3) Inside the motor support sleeve (4-5-3), the drive servo motor of the second-level rotor (4-4-2) is installed inside the first-level rotor (4-4-1), and drives the second through the synchronous belt drive The rotary motion of the four-stage rotor (4-4-2) is also equipped with a reducer at the rear of the drive servo motor of the first-stage rotor (4-4-1) and the two-stage rotor (4-4-2) , The output of the servo drive motor is equipped with an encoder.
A processing method based on the multi-parallel eutectic large-curved part processing equipment according to any one of claims 1 to 9, first assembles the entire equipment according to relative positions, the entire equipment is in the initial state, and its characteristics are: The specific processing steps are as follows:

1) First clamp the blank part (3) on the parallel bearing device (2), adjust the equipment to the human-machine interactive mode through the interactive display, and enter the blank part (3) scanning program; at this time, the parallel bearing device (2) The posture change of the hybrid robot device (4) can be adjusted arbitrarily through the interactive display, turn on the three-dimensional imaging scanner (10), adjust the posture of the parallel carrier device (2) and the hybrid robot device (4), the entire Scan and model the three-dimensional model of the blank (3) and display the results on the interactive display;

2) According to the input of the finished product parameters to the industrial computer, the system can automatically compare with the three-dimensional scanning results of the blank (3), and form a part processing program. According to the detection result of the temperature sensor (7), the system can automatically determine the blank (3) The attribute of the material is modified for the first time to the processing program, and the corrected processing schematic diagram is displayed on the interactive display;

3) Adjust the equipment to the processing mode through the interactive display, turn on the parallel carrier device (2) and the hybrid robot device (4), and the industrial computer passes the motion control card to the servo controller according to the generated processing program, and the parallel carrier device (2 ) Work with the hybrid robot device (4) to start processing the blank (3). During the processing, the integrated grinding and polishing device (5) can complete the grinding and polishing process of the part in the case of one-time positioning; In the process of processing, the grating ruler, attitude gyroscope and laser tracker (6) detect the movement of the implementing component in real time and pass it to the industrial control computer through the communication module. The industrial control computer compares these feedback signals with predetermined parameters. Generate the machining compensation program and input it to the motion control card again; during the machining process, when a large error occurs in the detection result, that is, the motion is unstable, the interactive display will display an alarm signal, and stop parallel loading device (2) and mixing Linked to the movement of the robot device (4) to prevent accidents; at the same time, the visual camera (9) that is turned on in real time can Timely detection position, when the position detection of a person reaches the set value, the interactive display to display a warning or an alarm signal, while the device corresponding action;

4) After the processing is completed, adjust the equipment to the human-computer interactive mode through the interactive display again, and detect the parts through the three-dimensional imaging scanner (10). When a non-conformity occurs, then pass the above processing steps 1) to 3) Perform local position correction; after passing the test, the entire equipment will be restored to its original state.