CN109849019A - A kind of multirobot processing method for turning round class formation part - Google Patents
A kind of multirobot processing method for turning round class formation part Download PDFInfo
- Publication number
- CN109849019A CN109849019A CN201910272675.4A CN201910272675A CN109849019A CN 109849019 A CN109849019 A CN 109849019A CN 201910272675 A CN201910272675 A CN 201910272675A CN 109849019 A CN109849019 A CN 109849019A
- Authority
- CN
- China
- Prior art keywords
- robot
- formation part
- multirobot
- mobile
- class formation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 26
- 230000015572 biosynthetic process Effects 0.000 title claims description 65
- 238000007514 turning Methods 0.000 title claims description 6
- 238000003801 milling Methods 0.000 claims abstract description 61
- 238000003754 machining Methods 0.000 claims abstract description 59
- 238000012545 processing Methods 0.000 claims abstract description 52
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000000227 grinding Methods 0.000 claims abstract description 4
- 238000010521 absorption reaction Methods 0.000 claims description 23
- 150000001875 compounds Chemical class 0.000 claims description 20
- 238000005553 drilling Methods 0.000 claims description 11
- 238000005498 polishing Methods 0.000 claims description 10
- 238000013461 design Methods 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims description 6
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
本发明公开了一种回转类结构件的多机器人加工方法，包括：对场景实时定位系统、至少两个机器人和回转工件位姿保持与调整系统进行初始化；生成用多机器人协同作业指导书；将待加工回转类结构件固定在回转工件位姿保持与调整系统上；通过场景实时定位系统控制各机器人移动至相应的加工位置；各机器人根据所述多机器人协同作业指导书进行位姿调整，以确定加工刀具与待加工型面之间的高精度位姿关系；各机器人根据所述多机器人协同作业指导书，对待加工回转类结构件上对应的待加工型面进行加工。通过本发明实现了大型回转类结构上多个加工面并行铣削、制孔与打磨，并行作业的方法可有效提高大型回转类结构的自动化水平和加工效率。
The invention discloses a multi-robot processing method for rotating structural parts, comprising: initializing a scene real-time positioning system, at least two robots and a rotating workpiece posture maintaining and adjusting system; generating a multi-robot collaborative operation instruction book; The rotary structural parts to be processed are fixed on the position and posture maintenance and adjustment system of the rotary workpiece; each robot is controlled to move to the corresponding processing position through the scene real-time positioning system; Determine the high-precision pose relationship between the machining tool and the profile to be processed; each robot processes the profile to be processed corresponding to the rotary structural member to be processed according to the multi-robot collaborative operation guide. The invention realizes the parallel milling, hole making and grinding of multiple machining surfaces on the large rotary structure, and the parallel operation method can effectively improve the automation level and processing efficiency of the large rotary structure.
Description
Technical field
The invention belongs to Computerized Numerical Control processing technology field more particularly to a kind of multirobot processing sides for turning round class formation part
Method.
Background technique
As China is in the increase in demand of major design part manufacturing field, high-precision, high flexibility manufacture characteristic to adding
Tooling is standby to propose new challenge.If diameter is greater than 3 meters, large sealing cabin structure of the length greater than 10 meters, to guarantee its function
Meet design objective requirement with precision, need to integrally be processed, existing lathe is difficult to meet the requirement of the range of work, large-scale component
High-efficiency high-accuracy be manufactured as restrict China's development of high-end manufacturing main bottleneck.
The key technologies such as complex large-scale component design, manufacture, measurement are the preferential themes that manufacturing industry gives priority to field, this
Class component usually has many characteristics, such as big size, complex-shaped, position precision and surface quality requirements height and with thin-wall construction, right
The working ability of basic manufacturing equipment proposes severe challenge.
Currently, the processing of such component mainly uses portal-type multi-shaft numerically-controlled machine tool, and cost big there are lathe size is high
The expensive, some problems such as processing object is relatively single, processing efficiency is lower or even machine tool travel is difficult to meet.
Summary of the invention
Technology of the invention solves the problems, such as: the embodiment of the present invention provides a kind of multirobot processing side for turning round class formation part
Method, the collaboration suitable for huge revolving class formation manufacture in situ, complete a huge revolving class parallel using multiple manufacturing cells
The processing tasks of structure realize the parallel milling of multiple machined surfaces, drilling and polishing, the side of concurrent job on huge revolving class formation
Method can effectively improve the gentle processing efficiency of Automated water of huge revolving class formation.
In order to solve the above-mentioned technical problem, the invention discloses it is a kind of turn round class formation part multirobot processing method,
Include:
To scene real-time positioning system (1), at least two robots and rotary work piece pose keep with adjust system (7) into
Row initialization；
Generate the multirobot work compound guiding book for instructing at least two robots work；
Revolution class formation part to be processed is fixed in the holding of rotary work piece pose and adjustment system (7)；
Each robot is controlled by scene real-time positioning system (1) to be moved in the multirobot work compound guiding book
Indicated corresponding Working position；
Each robot according to the multirobot work compound guiding book carry out pose adjustment, with determine process tool with to
High precision position and posture relationship between processing type face；
Each robot according to the multirobot work compound guiding book, on revolution class formation part to be processed it is corresponding to
Processing type face is processed.
In the multirobot processing method of above-mentioned revolution class formation part, at least two robots, comprising: mobile mixed connection
Robot (2), mobile series connection milling robot (3), mobile both arms machining robot (4), mobile series connection polishing machine
People (5) and absorption type parallel robot (6)；
Mobile series-parallel robot (2) is suitable for tolerance within the scope of ± 0.2mm, and molding surface size≤300mm ×
The milling and drilling in the drum face to be added of 300mm；
Movable type series connection milling robot (3) is suitable for tolerance within the scope of ± 0.5mm, molding surface size > 300mm
The milling and drilling in the drum face to be added of × 300mm；
The brill that mobile both arms machining robot (4) is suitable for weak rigid drum face to be added mills；
Movable type series connection milling robot (5) is suitable for the grinding and polishing in be added drum face of the roughness requirements not less than Ra0.8；
Absorption type parallel robot (6) is suitable for mobile series-parallel robot (2), movable type is connected milling robot (3),
It is that mobile both arms machining robot (4) and mobile series connection milling robot (5) stroke can not cover, in revolution to be processed
Drum face to be added at the top of class formation part is reduced the number of revolutions of revolution class formation part to be processed, is completed more on a station
The processing in more drum faces to be added, realizes the promotion of processing efficiency.
In the multirobot processing method of above-mentioned revolution class formation part, generate for instructing at least two robot
The multirobot work compound guiding book of work, comprising:
Determine designing a model for revolution class formation part to be processed；
According in designing a model working position, machining tolerance, the scale feature of machined surface, machined surface altitude feature
The regularity of distribution determines movable type series-parallel robot (2), mobile series connection milling robot (3), mobile both arms machining robot
(4), the processing of mobile series connection milling robot (5) and absorption type parallel robot (6) on revolution class formation part to be processed
The division in space；
Determine movable type series-parallel robot (2), mobile series connection milling robot (3), mobile both arms machining robot
(4), the machining locus of mobile series connection milling robot (5) and absorption type parallel robot (6) on corresponding processing space；
Track splicing is carried out to the machining locus of each robot, forms multirobot work compound guiding book.
In the multirobot processing method of above-mentioned revolution class formation part,
Working position refers to: revolution class formation part to be processed is mounted on the holding of rotary work piece pose and adjustment system (7),
And it rotates to fixed angle, spatial position where each drum face to be added, comprising: side wall working position, top working position
With bottom working position；
Machining tolerance, comprising: the high-precision grade machining tolerance of ± 0.2mm, the degree of precision grade of ± 0.5mm are processed public
The general precision grade machining tolerance of difference and ± 1mm or more；
The scale feature of machined surface, comprising: the larger drum face to be added of long × wide > 300mm × 300mm and length × wide≤
The smaller drum face to be added of 300mm × 300mm；
The altitude feature of machined surface refers to range difference of the drum identity distance to be added from revolution class formation part radius to be processed, packet
It includes: higher drum face, the general drum face to be added highly between 100mm-300mm and the height to be added of height > 300mm≤
The lower drum face to be added of 100mm.
In the multirobot processing method of above-mentioned revolution class formation part, according to the working position in designing a model, processing
Tolerance, the scale feature of machined surface, machined surface altitude feature the regularity of distribution, determine movable type series-parallel robot (2), mobile
Formula series connection milling robot (3), mobile both arms machining robot (4), mobile series connection milling robot (5) and absorption type are simultaneously
Join the division of the processing space of robot (6) on revolution class formation part to be processed, comprising:
Will the drum face to be added that need to process on revolution class formation part to be processed, according to the processing in determining design a model
Position, machining tolerance, the scale feature of machined surface, machined surface altitude feature place structural member on spatial position drawn
Point, to determine the type for the robot being applicable on corresponding spatial position.
In the multirobot processing method of above-mentioned revolution class formation part, the applicable machine on determining corresponding spatial position
When the type of people, according to the type of following preferred sequence selection robot: preferred selection order are as follows: absorption type parallel robot
(6) → movable type series connection milling robot (5) → mobile both arms machining robot (4) → mobile series connection milling robot
(3) → movable type series-parallel robot (2).
In the multirobot processing method of above-mentioned revolution class formation part, completed when processing space is corresponding with robot
Afterwards, machining locus of the same robot in different spaces is attached, so as to form the complete machining path of robot,
Machining path, comprising: the operation track of the erect-position of mobile platform, robot.
In the multirobot processing method of above-mentioned revolution class formation part, multirobot work compound guiding book refers in machine
After device people's separate operaton track obtains, time point sync id is inserted on each track.
In the multirobot processing method of above-mentioned revolution class formation part, further includes:
After any robot completes the processing in current drum face to be added, institute is guided by scene real-time positioning system (1)
It states any robot and is moved to next drum face to be added position, next drum face to be added is processed.
In the multirobot processing method of above-mentioned revolution class formation part, the processing in processing type face is treated, comprising: milling,
At least one of drilled hole polishing.
The invention has the following advantages that
(1) the invention discloses a kind of multirobot processing method for turning round class formation part, it is suitable for huge revolving class knot
The collaboration of structure manufactures in situ, completes the processing tasks of a huge revolving class formation parallel using multiple manufacturing cells, realizes big
The parallel milling of multiple machined surfaces, drilling and polishing, the method for concurrent job can effectively improve huge revolving on type revolution class formation
The gentle processing efficiency of the Automated water of class formation.
(2) present invention is formed more using the robot for omnidirectional's platform and the partial high-precision adjustment flexibly moved on a large scale
Robot.After omnidirectional's platform reaches rough position, accurate positioning is realized by adjusting the pose of each robot, in this way can
It is big to adapt to the large scale structure range of work, while can guarantee that the dimensional accuracy of partial operation is met the requirements again.
(3) present invention realizes the type face processing of different scale, required precision using more different types of robots, that is, disappears
In addition to the limitation of all kinds of robot architecture's functions, stroke and precision.
(4) in the present invention, after each robot separate operaton track obtains, it is synchronous that time point is inserted on each track
Mark.The robot first reached can stop in the point, and wait other robot, until all robots reach the sync id
Afterwards, it is further continued for executing according to track, ensure that each robot motion's cutting parameter setting so rationally, adjustment is flexible, and energy
The safety in multirobot moving process is taken into account, guarantees that multirobot work compound process will not interfere collision.
(5) compared to single manufacturing cell, robot, multi-robot system has more superiority on spatio-temporal distribution,
Detection heat transfer agent effective supplement is adaptively realized a variety of process requirements, is completed based on advanced cooperation framework and collaborative strategy
Complicated processing task.
Detailed description of the invention
Fig. 1 is a kind of step process of the multirobot processing method of revolution class formation part described in the embodiment of the present invention
Figure；
Fig. 2 is a kind of multirobot processing schematic diagram of a scenario of revolution class formation part described in the embodiment of the present invention；
Fig. 3 is a kind of flow diagram of the multirobot processing of revolution class formation part described in the embodiment of the present invention；
When Fig. 4 is the execution after being inserted into time point sync id on a kind of each robot trajectory described in the embodiment of the present invention
Sequence schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to disclosed by the invention
Embodiment is described in further detail.
Such as Fig. 1~3, in the present embodiment, the multirobot processing method of the revolution class formation part, comprising:
Step 101, scene real-time positioning system 1, at least two robots and rotary work piece pose are kept and adjusts system
System 7 is initialized.
Scene real-time positioning system 1 is by several indoor GPS transmitting stations and the receiving station being mounted on Omni-mobile platform
Composition is responsible for the Omni-mobile platform boot of each robot in place, the series, parallel mechanical arm fortune in Shi Getai robot
Dynamic range can cover drum face to be added.
At least two robots can specifically include: mobile series-parallel robot 2, moves mobile series connection milling robot 3
Dynamic formula both arms machining robot 4, mobile series connection milling robot 5 and absorption type parallel robot 6.Wherein:
Mobile series-parallel robot 2 is in parallel by Omni-mobile platform, serial kinematic mechanism and the high-precision adjusted on a large scale
Robot composition is suitable for tolerance within the scope of ± 0.2mm, and molding surface size smaller (≤300mm × 300mm), tolerance are wanted
Ask the milling and drilling in highest drum face to be added.
Movable type series connection milling robot 3 is by the Omni-mobile platform, 6DOF industrial robot and height that adjust on a large scale
Precision bore milling end effector composition, be suitable for tolerance within the scope of ± 0.5mm, molding surface size it is larger (> 300mm ×
300mm), the milling and drilling in the drum face to be added that machining accuracy and rigidity are taken second place.
Mobile both arms machining robot 4 is by the Omni-mobile platform, the two six degree of freedom industrial machines that adjust on a large scale
People, a main shaft and a handgrip composition, wherein main shaft is installed, another six freely on a Six-DOF industrial robot
Handgrip is installed on degree industrial robot；Brill suitable for weak rigid drum face to be added mills.A mechanical arm in process
Handgrip holding parts side increases rigidity, another carries out drilling and milling.
Movable type series connection milling robot 5 by adjust on a large scale Omni-mobile platform, Six-DOF industrial robot and
End effector of polishing forms, the grinding and polishing in the drum face to be added suitable for roughness requirements not less than Ra0.8.
Absorption type parallel robot 6 is made of vacuum chuck, supporting leg, parallel robot, is pacified in the end of parallel robot
Equipped with 1 main shaft；Suitable for mobile series-parallel robot 2, mobile series connection milling robot 3, mobile both arms processing machine
Drum to be added that people 4 and mobile series connection 5 stroke of milling robot can not cover, at the top of revolution class formation part to be processed
The number of revolutions of revolution class formation part to be processed is reduced in face, and the processing in more drum faces to be added is completed on a station, real
The promotion of existing processing efficiency.
Rotary work piece pose is kept and adjustment system 7: being realized to the support and positioning of revolution class formation part to be processed, is increased
Rigidity and stable support of the revolution class formation part to be processed in process.
In the present embodiment, as previously mentioned, mobile series-parallel robot precision, rigidity are high, it is suitble to tolerance highest
Profile milling and drilling, but its range of work is not big enough.Movable type series connection the milling robot range of work it is big, but machining accuracy and
Rigidity is taken second place.A mechanical arm handgrip holding parts side increases rigidity to mobile both arms machining robot in process,
Another carries out drilling and milling, the processing suitable for Low rigidity type face.Movable type series connection milling robot is suitable for having roughness
It is required that machined surface, the mounting surface suitable for sealing requirements.
Step 102, the multirobot work compound guiding book for instructing at least two robots work is generated.
In the present embodiment, designing a model for revolution class formation part to be processed can be first determined；Then, according to designing a model
In working position, machining tolerance, the scale feature of machined surface, machined surface altitude feature the regularity of distribution, determine mobile
Series-parallel robot 2, mobile series connection milling robot 3, mobile both arms machining robot 4, mobile series connection milling robot 5
With the division of processing space of the absorption type parallel robot 6 on revolution class formation part to be processed；Determine movable type mixed connection machine
People 2, mobile series connection milling robot 3, mobile both arms machining robot 4, mobile series connection milling robot 5 and absorption type
Machining locus of the parallel robot 6 on corresponding processing space；Finally, the machining locus to each robot carries out track spelling
It connects, forms multirobot work compound guiding book.
It is preferred:
Working position refers to: revolution class formation part to be processed is mounted in the holding of rotary work piece pose and adjustment system 7, and
Rotation is to after fixed angle, spatial position where each drum face to be added, comprising: side wall working position, top working position and
Bottom working position.Wherein, mobile robot's (mobile series-parallel robot 2, mobile series connection milling robot 3, movable type
Both arms machining robot 4, mobile series connection milling robot 5) side wall working position, absorption type robot (absorption type can be covered
Parallel robot 6) top and bottom working position can be covered.
Machining tolerance is divided into high-precision grade (± 0.2mm), degree of precision grade (± 0.5mm) and general precision grade
Three kinds of (± 1mm or more).Wherein: the processing of the mobile achievable above-mentioned three kinds of accuracy classes of series-parallel robot 2；Movable type string
Join the processing of milling robot 3 achievable degree of precision grade and general precision grade；Mobile both arms machining robot 4 moves
The processing of dynamic formula series connection milling robot 5 and the achievable general precision grade of absorption type parallel robot 6.
The scale feature of machined surface is divided into: larger machined surface (long × wide > 300mm × 300mm) and smaller machined surface are (long
× wide≤300mm × 300mm) two classes.Wherein: the range of work of mobile series-parallel robot 2 and absorption type parallel robot 6 is only
Smaller machined surface can be covered；Movable type series connection milling robot 3, mobile both arms machining robot 4 and mobile series connection polishing
The range of work of robot 5 can cover larger machined surface.
The altitude feature of machined surface refers to range difference of the drum identity distance to be added from revolution class formation part radius to be processed, is divided into
Higher machined surface (height > 300mm), general machined surface (highly between 100mm-300mm), lower machined surface (height≤
100mm) three classes.Wherein: the different face type processing of the mobile achievable above-mentioned three classes height of both arms machining robot 4, it is mobile
A set of industrial robot end handgrip on both arms machining robot 4 catches part to be processed to improve rigidity of support, another set of
Industrial robot end main shaft is processed；Mobile series-parallel robot 2 and mobile series connection milling robot 3 are achievable general
The processing of machined surface and lower machined surface；Movable type series connection milling robot 5 and absorption type parallel robot 6 can be only done lower
The processing of machined surface.
Preferably, the drum face to be added that will can need to process on revolution class formation part to be processed, according to determining design mould
Space on the scale feature of working position, machining tolerance, machined surface in type, the place structural member of the altitude feature of machined surface
Position is divided, to determine the type for the robot being applicable on corresponding spatial position.According to following preferred sequence (" best warp
Ji property " principle) selection robot type: preferred selection order are as follows: absorption type parallel robot 6 → movable type series connection sander
Device people 5 → movable type both arms machining robot 4 → movable type series connection milling robot 3 → movable type series-parallel robot 2.That is,
While meet demand, the machining robot for selecting cost minimum is preferentially processed.
Preferably, after the completion of processing space is corresponding with robot, by same robot adding in different spaces
Work track is attached, so as to form the complete machining path of robot, machining path, comprising: erect-position, the machine of mobile platform
The operation track of people.
Preferably, such as Fig. 4, multirobot work compound guiding book refers to after robot separate operaton track obtains,
Time point sync id is inserted on each track.When each robot motion, identical time point can be reached at the same time
Sync id.The robot first reached can stop in the point, and wait other robot, until all robots reach the synchronization
It after mark, is further continued for executing according to track, guarantees that each robot will not interfere collision in synchronization job with this.
Step 103, revolution class formation part to be processed is fixed in the holding of rotary work piece pose and adjustment system 7.
Step 104, it each robot is controlled by scene real-time positioning system 1 is moved to the multirobot work compound and refer to
Lead corresponding Working position indicated in book.
In the present embodiment, each robot can be controlled by scene real-time positioning system 1 and is moved to Position Approximate.Its
In, Position Approximate refers to: mobile robot and absorption type robot are moved in the guidance of scene real-time positioning system 1 to be made
Series, parallel manipulator motion range in robot can cover machined surface.The guidance accuracy of scene real-time positioning system 1
Reach 10mm grades, to guarantee to reach the tolerance grade of ± 0.2mm, needs series, parallel mechanical arm to carry out further
Adjustment reaches.
Step 105, each robot carries out pose adjustment according to the multirobot work compound guiding book, to determine processing
High precision position and posture relationship between cutter and drum face to be added.
Step 106, each robot is according to the multirobot work compound guiding book, on revolution class formation part to be processed
Corresponding drum face to be added is processed.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of multirobot processing method for turning round class formation part characterized by comprising
Scene real-time positioning system (1), at least two robots and rotary work piece pose are kept and adjust system (7) progress just
Beginningization；
Generate the multirobot work compound guiding book for instructing at least two robots work；
Revolution class formation part to be processed is fixed in the holding of rotary work piece pose and adjustment system (7)；
Each robot, which is controlled, by scene real-time positioning system (1) is moved to meaning in the multirobot work compound guiding book
The corresponding Working position shown；
Each robot according to the multirobot work compound guiding book carry out pose adjustment, with determine process tool with it is to be processed
High precision position and posture relationship between type face；
Each robot is according to the multirobot work compound guiding book, to corresponding to be processed on revolution class formation part to be processed
Type face is processed.
2. the multirobot processing method of revolution class formation part according to claim 1, which is characterized in that at least two machines
Device people, comprising: mobile series-parallel robot (2), mobile series connection milling robot (3), mobile both arms machining robot
(4), mobile series connection milling robot (5) and absorption type parallel robot (6)；
Mobile series-parallel robot (2) is suitable for tolerance within the scope of ± 0.2mm, molding surface size≤300mm × 300mm
The milling and drilling in drum face to be added；
Movable type series connection milling robot (3) is suitable for tolerance within the scope of ± 0.5mm, and molding surface size > 300mm ×
The milling and drilling in the drum face to be added of 300mm；
The brill that mobile both arms machining robot (4) is suitable for weak rigid drum face to be added mills；
Movable type series connection milling robot (5) is suitable for the grinding and polishing in be added drum face of the roughness requirements not less than Ra0.8；
Absorption type parallel robot (6) is suitable for mobile series-parallel robot (2), mobile series connection milling robot (3), movement
It is that formula both arms machining robot (4) and mobile series connection milling robot (5) stroke can not cover, in revolution class knot to be processed
The drum face to be added of component top is reduced the number of revolutions of revolution class formation part to be processed, is completed on a station more
The processing in drum face to be added, realizes the promotion of processing efficiency.
3. the multirobot processing method of revolution class formation part according to claim 2, which is characterized in that generate for referring to
Lead the multirobot work compound guiding book of at least two robots work, comprising:
Determine designing a model for revolution class formation part to be processed；
According in designing a model working position, machining tolerance, the scale feature of machined surface, machined surface altitude feature distribution
Rule, determine movable type series-parallel robot (2), mobile series connection milling robot (3), mobile both arms machining robot (4),
The processing space of movable type series connection milling robot (5) and absorption type parallel robot (6) on revolution class formation part to be processed
Division；
Determine movable type series-parallel robot (2), mobile series connection milling robot (3), mobile both arms machining robot (4),
The machining locus of movable type series connection milling robot (5) and absorption type parallel robot (6) on corresponding processing space；
Track splicing is carried out to the machining locus of each robot, forms multirobot work compound guiding book.
4. the multirobot processing method of revolution class formation part according to claim 3, which is characterized in that
Working position refers to: revolution class formation part to be processed is mounted on the holding of rotary work piece pose and adjustment system (7), and is revolved
After going to fixed angle, spatial position where each drum face to be added, comprising: side wall working position, top working position and bottom
Portion's working position；
Machining tolerance, comprising: the high-precision grade machining tolerance of ± 0.2mm, ± 0.5mm degree of precision grade machining tolerance and
The general precision grade machining tolerance of ± 1mm or more；
The scale feature of machined surface, comprising: the larger drum face to be added of long × wide > 300mm × 300mm and length × wide≤300mm
The smaller drum face to be added of × 300mm；
The altitude feature of machined surface refers to range difference of the drum identity distance to be added from revolution class formation part radius to be processed, comprising: high
Spend higher drum face, the general drum face to be added highly between 100mm-300mm and the height≤100mm to be added of > 300mm
Lower drum face to be added.
5. the multirobot processing method of revolution class formation part according to claim 4, which is characterized in that according to design mould
The regularity of distribution of the scale feature of working position, machining tolerance, machined surface in type, the altitude feature of machined surface determines movement
Formula series-parallel robot (2), mobile series connection milling robot (3), mobile both arms machining robot (4), mobile series connection are beaten
Grind the division of the processing space of robot (5) and absorption type parallel robot (6) on revolution class formation part to be processed, comprising:
Will the drum face to be added that need to process on revolution class formation part to be processed, according to the processing department in determining design a model
Position, machining tolerance, the scale feature of machined surface, machined surface altitude feature place structural member on spatial position drawn
Point, to determine the type for the robot being applicable on corresponding spatial position.
6. the multirobot processing method of revolution class formation part according to claim 5, which is characterized in that corresponded to determining
When the type for the robot being applicable on spatial position, according to the type of following preferred sequence selection robot: preferred selection order
Are as follows: absorption type parallel robot (6) → movable type series connection milling robot (5) → mobile both arms machining robot (4) → moves
Dynamic formula series connection milling robot (3) → mobile series-parallel robot (2).
7. the multirobot processing method of revolution class formation part according to claim 3, which is characterized in that work as processing space
After the completion of corresponding with robot, machining locus of the same robot in different spaces is attached, so as to form machine
The complete machining path of device people, machining path, comprising: the operation track of the erect-position of mobile platform, robot.
8. the multirobot processing method of revolution class formation part according to claim 7, which is characterized in that multirobot association
Refer to after robot separate operaton track obtains with job instruction, time point sync id is inserted on each track.
9. the multirobot processing method of revolution class formation part according to claim 1, which is characterized in that further include:
After any robot completes the processing in current drum face to be added, appoint by the way that scene real-time positioning system (1) guidance is described
One robot is moved to next drum face to be added position, processes to next drum face to be added.
10. the multirobot processing method of revolution class formation part according to claim 1, which is characterized in to be processed
The processing in type face, comprising: at least one of milling, drilled hole polishing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910272675.4A CN109849019B (en) | 2019-04-04 | 2019-04-04 | A multi-robot machining method for rotary structural parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910272675.4A CN109849019B (en) | 2019-04-04 | 2019-04-04 | A multi-robot machining method for rotary structural parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109849019A true CN109849019A (en) | 2019-06-07 |
| CN109849019B CN109849019B (en) | 2021-02-05 |
Family
ID=66903440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910272675.4A Active CN109849019B (en) | 2019-04-04 | 2019-04-04 | A multi-robot machining method for rotary structural parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109849019B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A multi-robot system equipment for in-situ machining of large complex components |
| CN110977478A (en) * | 2019-12-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN111496580A (en) * | 2020-04-24 | 2020-08-07 | 中国工程物理研究院激光聚变研究中心 | Multi-machine cooperative processing system and method for large-caliber aspheric optical element |
| CN113276112A (en) * | 2021-04-30 | 2021-08-20 | 北京卫星制造厂有限公司 | Mobile double-robot-based weak rigid member machining process planning method |
| CN114749943A (en) * | 2022-05-27 | 2022-07-15 | 清华大学 | Multi-robot machining system for inner wall of large rotary thin-wall structural part and control method |
| CN114850989A (en) * | 2022-05-27 | 2022-08-05 | 清华大学 | Multi-machine cooperative flexible machining device for inner wall of large rotary part and control method |
| WO2024060822A1 (en) * | 2023-05-17 | 2024-03-28 | 南京航空航天大学 | Multi-robot collaborative planning method for machining large capsule member of spacecraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005124486A2 (en) * | 2004-06-15 | 2005-12-29 | Abb Ab | Method and system for off-line programming of multiple interacting robots |
| US20100204824A1 (en) * | 2009-02-12 | 2010-08-12 | David Keith Luce | Methods, systems, and devices for manipulating cutting elements for earth-boring drill bits and tools |
| CN204965141U (en) * | 2015-08-19 | 2016-01-13 | 四川省创天成机电工程技术有限公司 | Based on real -time online welding process adjustment system of 3D model |
| CN107253084A (en) * | 2017-07-03 | 2017-10-17 | 上海昂恒航空自动化装备有限公司 | Efficient high-precision robot milling automatic system in aircraft digital assembling |
| CN108972573A (en) * | 2018-06-12 | 2018-12-11 | 浙江大学 | A kind of industrial robot automation wheel hub polishing system and method based on characteristics of image identification |
| CN109366503A (en) * | 2018-12-17 | 2019-02-22 | 北京卫星制造厂有限公司 | The processing technology towards large-scale component based on mobile series-parallel robot |
-
2019
- 2019-04-04 CN CN201910272675.4A patent/CN109849019B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005124486A2 (en) * | 2004-06-15 | 2005-12-29 | Abb Ab | Method and system for off-line programming of multiple interacting robots |
| US20100204824A1 (en) * | 2009-02-12 | 2010-08-12 | David Keith Luce | Methods, systems, and devices for manipulating cutting elements for earth-boring drill bits and tools |
| CN204965141U (en) * | 2015-08-19 | 2016-01-13 | 四川省创天成机电工程技术有限公司 | Based on real -time online welding process adjustment system of 3D model |
| CN107253084A (en) * | 2017-07-03 | 2017-10-17 | 上海昂恒航空自动化装备有限公司 | Efficient high-precision robot milling automatic system in aircraft digital assembling |
| CN108972573A (en) * | 2018-06-12 | 2018-12-11 | 浙江大学 | A kind of industrial robot automation wheel hub polishing system and method based on characteristics of image identification |
| CN109366503A (en) * | 2018-12-17 | 2019-02-22 | 北京卫星制造厂有限公司 | The processing technology towards large-scale component based on mobile series-parallel robot |
Non-Patent Citations (1)
| Title |
|---|
| 张春林: "《高等机构学》", 31 March 2005 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A multi-robot system equipment for in-situ machining of large complex components |
| CN110509067B (en) * | 2019-07-31 | 2021-06-29 | 清华大学 | A multi-robot system equipment for in-situ machining of large and complex components |
| CN110977478A (en) * | 2019-12-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN110977478B (en) * | 2019-12-26 | 2021-11-16 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN111496580A (en) * | 2020-04-24 | 2020-08-07 | 中国工程物理研究院激光聚变研究中心 | Multi-machine cooperative processing system and method for large-caliber aspheric optical element |
| CN113276112A (en) * | 2021-04-30 | 2021-08-20 | 北京卫星制造厂有限公司 | Mobile double-robot-based weak rigid member machining process planning method |
| CN114749943A (en) * | 2022-05-27 | 2022-07-15 | 清华大学 | Multi-robot machining system for inner wall of large rotary thin-wall structural part and control method |
| CN114850989A (en) * | 2022-05-27 | 2022-08-05 | 清华大学 | Multi-machine cooperative flexible machining device for inner wall of large rotary part and control method |
| CN114749943B (en) * | 2022-05-27 | 2023-03-21 | 清华大学 | Multi-robot processing system and control method for inner wall of large rotary thin-walled structural parts |
| CN114850989B (en) * | 2022-05-27 | 2023-04-28 | 清华大学 | Multi-machine collaborative compliant machining device for inner wall of large-scale rotary part and control method |
| WO2024060822A1 (en) * | 2023-05-17 | 2024-03-28 | 南京航空航天大学 | Multi-robot collaborative planning method for machining large capsule member of spacecraft |
| US12197196B2 (en) | 2023-05-17 | 2025-01-14 | Nanjing University Of Aeronautics And Astronautics | Multi-robot collaborative planning method for machining large capsule member of spacecraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109849019B (en) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109849019A (en) | A kind of multirobot processing method for turning round class formation part | |
| CN106312574B (en) | A kind of increase and decrease material composite manufacture device of large format parts | |
| CN101279422B (en) | Parallel-series principle milling vehicle combined numerically controlled machine | |
| CN106625665B (en) | A kind of drilling milling machine device people's system of packaged type automatic addressing | |
| US7185412B2 (en) | Multi-axis, processor-controlled, toolhead positioner | |
| CN206415882U (en) | A kind of increase and decrease material composite manufacture device of large format parts | |
| CN109129031B (en) | Grinding wheel path generation method for low-speed servo grinding of free-form surface | |
| CN101859126A (en) | Tool Path Transformation Method for Five-axis NC Machining | |
| CN106312570A (en) | Multifunctional machining machine tool | |
| CN107471882B (en) | A kind of processing of robots control system of large volume workpiece engraving | |
| CN109702600B (en) | A blade polishing CNC machining center with ten moving axes | |
| CN109877851B (en) | Mobile double-robot mirror image processing system for processing weak rigid wall plate | |
| CN205835000U (en) | Complex-curved burnishing device based on six-DOF robot | |
| CN102990365A (en) | Multifunctional machine tool for laser cladding reproduction | |
| CN102500765B (en) | Numerical control spherical lathe | |
| CN108262591A (en) | A kind of five shaft vertical turning-milling complex processing method of aero-engine casing | |
| Girsang et al. | Machine tools for machining | |
| CN112846323B (en) | Three-dimensional vibration-assisted milling processing system and three-dimensional vibration-assisted milling method for structural surface | |
| Xu et al. | Dynamic analysis of a linear delta robot in hybrid polishing machine based on the principle of virtual work | |
| CN106334942A (en) | Coarse and fine composite lattice type multi-head milling machine tool and self-adaptive sweeping and shaping method | |
| CN1264630C (en) | Laser quick forming system and forming method with six shaft machine hand for powder material | |
| CN113406928B (en) | Five-axis machining tool position feeding speed control method and system | |
| CN104889321A (en) | Method for machining sand mold through multi-robot linkage | |
| CN115415801A (en) | Robot support device and processing method for thin-walled workpiece with weak rigidity annular wheel rotation surface | |
| Song et al. | Postprocessor algorithm and feedrate optimization for nine-axis milling machine tool with twin cutters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230731 Address after: 100190 Zhichun Road, Haidian District, Beijing, No. 63 Patentee after: BEIJING SATELLITE MANUFACTURING FACTORY Co.,Ltd. Patentee after: TSINGHUA University Address before: 100190 Zhichun Road, Haidian District, Beijing, No. 63 Patentee before: BEIJING SATELLITE MANUFACTURING FACTORY Co.,Ltd. |