CN109333547A - A kind of yeast surface parts process unit that multi-parallel is co-melting and processing method - Google Patents
A kind of yeast surface parts process unit that multi-parallel is co-melting and processing method Download PDFInfo
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- CN109333547A CN109333547A CN201811202697.5A CN201811202697A CN109333547A CN 109333547 A CN109333547 A CN 109333547A CN 201811202697 A CN201811202697 A CN 201811202697A CN 109333547 A CN109333547 A CN 109333547A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
A kind of yeast surface parts process unit that multi-parallel is co-melting and processing method, equipment includes bogey, series-parallel robot device, polishing integrated apparatus and co-melting control detection system in parallel, bogey in parallel includes that support base, UPU drive chain, constraint support chain and turret table, series-parallel robot device include support frame, UPS drive chain, UP constrained branched chain, moving platform and two degrees of freedom swivel head.When work, for blank clamping on turret table, polishing integrated apparatus is assemblied in two degrees of freedom swivel head end.Co-melting control detection system makes bogey and series-parallel robot device in parallel cooperate, the Active Compensation of mismachining tolerance, it is interacted with people and external environment co-melting, realizes that yeast surface parts or complex curved surface parts model, are ground to the disposable intelligent machining of polishing from blank.The present invention have the characteristics that stable structure, precision are high, rigidity is big, more equipment rooms coordinate it is co-melting.
Description
Technical field
The present invention relates to a kind of yeast surface parts process unit and processing method, especially a kind of yeast that multi-parallel is co-melting
Surface parts process unit and processing method belong to precise treatment, intelligent machining equipment technical field.
Background technique
To meet the needs of socio-economic development and national defense construction are to major technologies and equipment, China, which has formulated, believes a new generation
Breath technology is served as theme with manufacturing industry depth integration, to promote development course of the intelligence manufacture as main direction.In high-precision, intelligence
Change manufacture field, the common processing method of traditional numeric-control machine or mechanical arm of connecting, low, process and assemble that there is machining accuracies
Heavy, process flexibility difference problem has not been able to satisfy the application demand of current technology development more and more.Parallel robot has
Compact overall structure, rigidity is high, the small advantage of kinematic error, has obtained good application in much manufacture assembly fields.
But for serial manipulator, individual parallel robot due to mechanism itself limitation, in working line
It is all very restricted in journey and operating angle, when yeast surface parts or complex curved surface parts are processed, defect is especially
Obviously.
It can be with operating environment, people's natural interaction, multirobot collaborative work, autonomous adaptation therefore, it is necessary to research and develop one kind
The functionalized process unit of complex dynamic environment.
Summary of the invention
In order to overcome the above-mentioned deficiency of the prior art, the present invention provides a kind of yeast surface parts that multi-parallel is co-melting processing dress
Standby and processing method can be realized the work compound of multi-processing device, realize oneself between process unit and operating environment and people
The autonomous adaptation of right interaction and dynamic environment can effectively improve the efficiency of intelligence and the part processing of process unit, while whole
Body equipment mechanism is compact, and rigidity and machining accuracy with higher, bearing capacity is strong, and movement accumulated error is small, meanwhile, it is intelligent
Co-melting control detection system substantially increase the safety integrally equipped.
The technical solution used to solve the technical problems of the present invention is that: a kind of yeast surface parts that multi-parallel is co-melting processing dress
It is standby, including bogey in parallel, series-parallel robot device, polishing integrated apparatus and co-melting control detection system, parallel connection carrying
Device and series-parallel robot device are fixedly mounted in mounting seat；The bogey in parallel includes support base, four
UPU drive chain, turret table and about beam support chain, four UPU drive chains are uniformly distributed and are connected to turret table and support base
Between, the both ends of UPU drive chain are connect by U-shaped secondary I and U-shaped secondary II with support base and support platform respectively, and the upper end is logical
Spherical hinge is crossed to be connected with moving platform；Constraint support chain is distributed in the center of turret table and support base, and lower end is fixed
In support base, upper end is connect by hook hinge with turret table, and blank clamping is on turret table；The mixed connection
Robot device includes support frame, three UPS drive chains, moving platform, UP constrained branched chain and two degrees of freedom swivel head, three UPS
Drive chain is evenly arranged between moving platform and support frame, and the middle and lower sections of UPS drive chain are connect by U-shaped secondary III with support frame；
UP constrained branched chain is distributed in the center of moving platform and support frame, and the upper end is fixedly connected with moving platform, and lower end passes through U-shaped pair
IV connect with support frame；Two degrees of freedom swivel head is connect by turntable bearing with moving platform, and polishing integrated apparatus is mounted on two
Freedom degree rotating head end；The co-melting control detection system includes interactive display, industrial personal computer, motion control card, servo
Driver, vision processor, communication module, vision camera, temperature sensor, three-dimensional imaging scanner, grating scale, posture top
Spiral shell instrument and laser tracker, vision camera are mounted on the outside of two degrees of freedom swivel head, detect the personnel position in the course of work
Situation is set, while will test result and being transmitted on industrial personal computer by vision processor；Temperature sensor is mounted on turret table,
It is transmitted on industrial personal computer by communication module, and the real-time display on interactive display；Three-dimensional imaging scanner is mounted on grinding and polishing
The rear of light integrated apparatus, the scanning modeling of the blank before being processed；Two attitude gyroscopes are separately mounted to turntable
On platform and moving platform, the pose variation in the course of work is detected；Grating is mounted on UPU drive chain and UPS drive chain
The length of ruler, real-time detection UPU drive chain and UPS drive chain changes；Laser tracker is arranged in mounting seat, tracking and positioning
Grind the spatial position of polishing integrated device end；Grating scale, attitude gyroscope and laser tracker real-time detection enforcement division
The motion conditions of part, and be transmitted on industrial personal computer by communication module, industrial personal computer carries out these feedback signals and predefined parameter
Comparison, while generating processing compensation program and being again inputted on motion control card, it moves control card driving servo-driver and drives UPS
The movement of drive chain and UPU drive chain.
A kind of large curved surface method of processing parts that multi-parallel is co-melting will be equipped entirely complete to fill according to relative position first
To match, entire equipment is located at original state, then carry out following specific procedure of processing:
1) first by blank clamping on bogey in parallel, equipment is adjusted to by human-computer interaction mould by interactive display
Formula, into blank scanner program；At this point, the pose variation of bogey in parallel and series-parallel robot device can pass through interaction
Display carries out any adjusting, opens three-dimensional imaging scanner, adjusts the pose of bogey and series-parallel robot device in parallel,
By the threedimensional model scanning modeling of entire blank, and the results are shown on interactive display；2) according to will process finished product ginseng
Number is input to industrial personal computer, and system and can form the processing program of part, root automatically with the 3-D scanning Comparative result of blank
According to the testing result of temperature sensor, system can independently be repaired processing program progress first time according to the attribute of blank material
Just, while by revised machining sketch chart it shows on interactive display；3) equipment is adjusted to add by interactive display
Work mode opens bogey and series-parallel robot device, industrial personal computer in parallel and passes through motion control card according to the processing program of generation
It is transmitted to servo controller, bogey and series-parallel robot device contract operation in parallel starts to process blank, add
During work, mill polishing integrated device can complete the grinding and polishing program of part in the case where primary positioning；Together
When, during processing, the motion conditions of grating scale, attitude gyroscope and laser tracker real-time detection execution unit,
And be transmitted on industrial personal computer by communication module, industrial personal computer compares these feedback signals with predefined parameter, generates simultaneously
Processing compensation program is again inputted on motion control card；During processing, there is large error when there is testing result
When moving instability status, interactive display can show alarm signal, and stop bogey and series-parallel robot device in parallel
Movement, prevent accident；Meanwhile the vision camera opened in real time can personnel positions during the work time carry out it is timely
Detection, when detecting that personnel positions reach setting value, interactive display display warning or alarm signal, while device carries out
Corresponding movement；4) equipment after processing is completed, is adjusted to interactive mode again by interactive display, by three-dimensional at
As scanner detects part, when there is unqualified situation, then pass through procedure of processing 1 above) to 3) being modified；
After qualification, entire equipment restPoses.
Compared with prior art, a kind of co-melting yeast surface parts process unit of multi-parallel of the invention and processing method, this
Invention has compact-sized using multiple parallel institutions as the main body of yeast surface parts process unit, and rigidity is big, bearing capacity
By force, the small advantage of movement accumulated error；Mutually coordinated work between bogey and series-parallel robot device in parallel, has widened list
The working space of a mechanism in series or in parallel has greater flexibility in impulse stroke and operating attitude.It is set in mechanism
Many components of meter all use split type connection type, under the premise of guaranteeing precision, significantly reduce equipment
Manufacturing cost.The free switching of interactive mode and cooked mode, realize workpiece from blank scanning modeling to grinding again
To the disposable processing of polishing, processing efficiency is greatly enhanced.Grating scale, attitude gyroscope, encoder and laser
The arrangement of tracker greatly improves the processing essence of part so that entire process unit motion control forms closed loop configuration
Degree, while when dyskinesia or movement unstability occurs in process unit, it can timely stop the movement of process unit, improve
The safety of system.In addition, whole system considers the effect that people and external environment process yeast surface parts, realize people,
The interaction of machine and external environment is co-melting, realizes the Intelligent precise processing of equipment.The equipment greatly compensates for existing add
Tooling is standby and deficiency of the processing method in yeast surface parts or complex curved surface parts process, is the following intelligence manufacture
Developing direction.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram that one embodiment of the invention is integrally equipped.
Fig. 2 is the structural schematic diagram of parallel connection bogey in the embodiment of the present invention.
Fig. 3 is the structural schematic diagram of series-parallel robot device in the embodiment of the present invention.
Fig. 4 is the structural schematic diagram of support frame in the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of moving platform in the embodiment of the present invention.
Fig. 6 is the schematic diagram of co-melting control detection system structure in the embodiment of the present invention.
In figure: 1, mounting seat, 2, bogey in parallel, 2-1, support base, 2-2, UPU drive chain, 2-2-1, U-shaped pair
I, 2-2-2, servo electric jar, 2-2-3, U-shaped secondary II, 2-3, turret table, 2-3-1, support platform, 2-3-2, rotating device,
2-3-3, fixture, 2-4, constraint support chain, 2-4-1, U-shaped secondary III, 2-4-2, support column, 3, blank, 4, series-parallel robot dress
It sets, 4-1, support frame, 4-1-1, main frame, 4-1-2, U-shaped frame I, 4-1-3, telescopic rod sleeve locking positioning set, it is 4-1-4, U-shaped
Secondary support frame, 4-1-5, U-shaped secondary inner support frame, 4-1-6, U-shaped secondary outer support frame, 4-2, UPS drive chain, 4-2-1, servo electricity
Machine, 4-2-2, motor connecting base, 4-2-3, flexible rod sleeve, 4-2-4, telescopic rod, 4-2-5, spherical hinge, 4-3, moving platform, 4-
3-1, U-shaped frame II, 4-3-2, moving platform main body set, 4-4, two degrees of freedom swivel head, 4-4-1, level-one rotary head, 4-4-2, second level turn
Head, 4-4-3, turntable bearing, 4-5, UP constrained branched chain, 4-5-1, line slide rail, 4-5-2, support rod, 4-5-3, motor support
Set, 5, mill polishing integrated device, 6, laser tracker, 7, temperature sensor, 8-1, the first attitude gyroscope, 8-2, the second appearance
State gyroscope, 9, vision camera, 10, three-dimensional imaging scanner, 11-1, first grating scale, 11-2, second grating scale.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, belongs to protection scope of the present invention.
It is clear in order to describe, it illustrates, Wen Zhong, U indicate U-shaped pair, the rotational freedom with both direction；P is indicated
Prismatic pair, certain freedom degree with a direction；S indicates ball pair, and there are three the rotational freedoms in direction for tool.
Fig. 1 to Fig. 6 shows the structural schematic diagram of a preferred embodiment of the invention, and one of figure multi-parallel is co-melting
Yeast surface parts process unit, including bogey in parallel 2, series-parallel robot device 4, mill polishing integrated device 5 and altogether
Melt control detection system, bogey 2 and series-parallel robot device 4 in parallel are fixed on jointly in mounting seat 1.Parallel connection carrying dress
Set 2 and series-parallel robot device 4 its respective athletic posture can be added with coordinated in yeast surface parts in the process of work
During work, an individual parallel connection or series-parallel robot processing unit (plant) are unable to complete entire part in its working space
Disposable processing.And the cooperative motion of multimachine structure can expand the range of work in the course of work, realize the disposable of part
Processing reduces because of resetting bring mismachining tolerance, while improving the processing efficiency of part.
As depicted in figs. 1 and 2, the bogey in parallel 2 is used to provide the pose compensation in process, it includes
Support base 2-1, four UPU drive chain 2-2, turret table 2-3 and about beam support chain 2-4.It is cut with scissors on the support base 2-1
Chain link point distribution radius is greater than turret table 2-3 upper hinge tie point distribution radius.Four UPU drive chain 2-2 knot
It is identical on structure, it is evenly arranged between turret table 2-3 and support base 2-1, for providing attitudes vibration when work,
Including U-shaped secondary I 2-2-1, servo electric jar 2-2-2 and U-shaped secondary II 2-2-3；Servo electric jar 2-2-2 can also be by by servo electricity
The servo straight line mould group that machine, ball wire bar pair form is replaced, and four servo electric jar 2-2-2 cooperate at work,
Different angular poses is in by the variation of length so as to provide turret table 2-3.The turret table 2-3 includes
Support platform 2-3-1, rotating device 2-3-2 and fixture 2-3-3, the both ends of servo electric jar 2-2-2 pass through U-shaped secondary I 2- respectively
2-1 and U-shaped secondary II 2-2-3 are fixedly connected with support base 2-1 and support platform 2-3-1, and rotating device 2-3-2 is mounted on support
On platform 2-3-1, fixture 2-3-3 is fixed on again on rotating device 2-3-2, is also equipped with the first posture in support platform 2-3-1
Gyroscope 8-1 and temperature sensor 7, clamping and fixation of the fixture 2-3-3 for blank 3, the rotating device
2-3-2 can provide different rotation speeds according to different processing requests at work；The parts to be processed is mounted on
On turret table 2-3, on the one hand turret table 2-3 can be used for fixing workpiece to be added, on the other hand can provide process
In axial rotation.The constraint support chain 2-4 is distributed in the center of turret table 2-3 and support base 2-1, including
U-shaped secondary III 2-4-1 and support column 2-4-2, the upper end support column 2-4-2 are connect by U-shaped secondary III 2-4-1 with turret table 2-3, under
End is fixed on support base 2-1.Entire parallel connection bogey 2 is bolted in mounting seat 1, and when work can be real
Independent rotational freedom in existing both direction.U-shaped secondary I 2-2-1 therein and U-shaped secondary II 2-2-3 is hook hinge, may be used also
To be replaced by spherical hinge, while in order to improve the limitation of spherical hinge corner, one inclined wedge of connection, wedge can be held on it
The angular range of block is 10 °~30 °, then is attached with turret table 2-3.
As shown in Figures 3 to 5, the series-parallel robot device 4 in the present embodiment includes support frame 4-1, three UPS drive chains
4-2, moving platform 4-3, two degrees of freedom swivel head 4-4 and UP constrained branched chain 4-5.The support frame 4-1 uses split type connection
Structure, support frame 4-1 includes main frame 4-1-1 and U-shaped frame I, and three U-shaped framves I are evenly arranged in main frame 4-1-1 surrounding simultaneously
It is fixed in the above, main frame 4-1-1 is provided with interstitial hole.Identical, uniform cloth in three UPS drive chain 4-2 structures
It sets between moving platform 4-3 and support frame 4-1, series-parallel robot device 4 of the present invention uses horizontal arrangement, in its support
Three UPS drive chain 4-2 are arranged in the upper end frame 4-1, and a UPS drive chain 4-2 is arranged in lower end, so that robot is available
Bigger processing space；Each UPS drive chain 4-2 includes sequentially connected servo motor 4-2-1, motor connecting base 4-2-2, stretches
Contracting rod sleeve 4-2-3, telescopic rod 4-2-4 and spherical hinge 4-2-5, the scale grating of second grating scale 11-2 are mounted on telescopic rod 4-
The upper end of 2-4, grating reading head are mounted on flexible rod sleeve 4-2-3, and flexible rod sleeve 4-2-3 is mounted on U-shaped secondary III 2-4-1
Telescopic rod sleeve locking positioning set 4-1-3 in, the upper end of UPS drive chain 4-2 passes through spherical hinge 4-2-5 and moving platform 4-3 phase
Even；When work, three UPS drive chain 4-2 drive simultaneously, and the pose for providing moving platform 4-3 changes in the course of work, according to
The uncontrollable space six-freedom motion of moving platform 4-3 may be implemented in the different collapsing lengths of branch.
The moving platform 4-3 uses the structure of split type connection, and moving platform 4-3 includes U-shaped frame II and moving platform main body
4-3-2 is covered, three U-shaped framves II are evenly arranged in the moving platform main body set periphery 4-3-2 and are connected, and moving platform main body covers 4-3-2
Middle part has mounting hole.The two degrees of freedom swivel head 4-4 includes level-one rotary head 4-4-1 and second level rotary head 4-4-2, and level-one turns
Head 4-4-1 and second level rotary head 4-4-2 connects servo drive motor, and the movement of two degrees of freedom swivel head 4-4 passes through two drivings
Servo motor adds the form of accelerator to be driven, and second level rotary head 4-4-2 is hinged at the upper end opening of level-one rotary head 4-4-1,
Polishing integrated apparatus is mounted on second level rotary head 4-4-2, and level-one rotary head 4-4-1 passes through turntable bearing 4-4-3 and moving platform master
Body covers 4-3-2 connection, and vision camera 9 is mounted on the upper and lower ends of level-one rotary head 4-4-1；The servo of level-one rotary head 4-4-1 is driven
Dynamic motor is fixed on inside the motor support set 4-5-3 of the lower end moving platform 4-3, and entire two degrees of freedom is directly driven by transmission shaft
Rotation on the direction swivel head 4-4Z, the driving servo motor of second level rotary head 4-4-2 are mounted on the inside of level-one rotary head 4-4-1,
The rotation of second level rotary head 4-4-2, the also driving in level-one rotary head 4-4-1 and second level rotary head 4-4-2 are driven by toothed belt transmission
Servo motor rear end is provided with retarder, and servo drive motor output end is mounted on encoder.
The UP constrained branched chain 4-5 includes that a pair of of line slide rail 4-5-1, support rod 4-5-2 and motor support cover 4-5-
3, a pair of of line slide rail 4-5-1 is combined in a manner of postponing at 180 degree cloth, and the both ends support rod 4-5-2 are separately connected directly
Line sliding rail 4-5-1 and motor support cover 4-5-3, and the upper end of motor support set 4-5-3 is mounted on the peace of moving platform main body set 4-3-2
It fills in hole, line slide rail 4-5-1 is mounted in U-shaped secondary IV U-shaped secondary inner support frame 4-1-5；In the course of work, UP constrained branched chain
Two one-movement-freedom-degrees of moving platform 4-3 and a rotational freedom can be constrained in 4-5, so that whole parallel institution may be implemented two
One mobile inspectable space three-degree-of-freedom motion of a rotation.U-shaped secondary III 2-4-1 of UPS drive chain 4-2 middle and lower sections is Hooke's hinge
Chain or spherical hinge, telescopic rod sleeve locking positioning cover 4-1-3 and pass through a pair of of angular contact ball axis connection to U-shaped secondary support frame 4-1-
On 4, U-shaped pair support frame 4-1-4 is connected on U-shaped frame I by a pair of of angular contact ball bearing, and two diagonal contact ball bearings are in cross
Arranged crosswise；U-shaped secondary the IV of the lower end UP constrained branched chain 4-5 includes U-shaped pair inner support frame 4-1-5 and U-shaped secondary outer support frame 4-1-
6, U-shaped pair inner support frame 4-1-5 are connected on U-shaped secondary outer support frame 4-1-6 by a pair of of angular contact ball bearing, U-shaped secondary outer branch
It is connected on main frame 4-1-1 by a pair of angular contact ball bearing again on support 4-1-6, two diagonal contact ball bearings are handed in cross
Fork mode is arranged；Wherein, two diagonal contact ball bearings of right-angled intersection come can also be using universal joint by way of realizing
The rotational motion of type of attachment realization UP constrained branched chain 4-5 both direction.
The spherical hinge 4-2-5 realizes the rotational freedom in three directions by three diagonal contact ball bearings.U-shaped secondary III
2-4-1 and U-shaped secondary IV can be replaced by universal joint.Entire series-parallel robot device 4 is bolted in mounting seat 1,
And may be implemented end spaces five degree of freedom without constrained motion, that is, pass through two degrees of freedom swivel head 4-4 and freedom degree parallel connection
The movement of space five-freedom may be implemented in the series-parallel robot device that mechanism is combined, and integrally disguises so as to provide grinding and polishing
The free-position in working space is set, the flexible processing of large curved surface or complex curved surface parts is reached.
As shown in figure 3, the mill polishing integrated device 5 includes the knife being made of the bistrique and rubbing head of different model
Have library, cutter loading system, the tool magazine is used for the grinding and surface polishing of different parts, the cutter load
System is used to provide the loading force in process.The polishing integrated apparatus 5 is mounted on second level rotary head 4-4-2,
Processing pose realizes can have with the transformation of any position in working space by the pose variation of series-parallel robot device 4
It is compact-sized, the high advantage of flexibility.During processing, polishing integrated apparatus 5, can automatic cutter conversion, it is real
The grinding and polishing program of existing part.Also, during processing, the dynamical system of the series-parallel robot device 4 is
It is independent, can flexibly it be changed according to process requirements.
As shown in Figures 1 to 6, the co-melting control detection system includes interactive display, industrial personal computer, motion control
Card, servo-driver, vision processor, communication module, vision camera 9, temperature sensor 7, three-dimensional imaging scanner 10, light
Grid ruler, attitude gyroscope 8 and laser tracker 6.The three-dimensional imaging scanner 10 is mounted on the end second level rotary head 4-4-2,
And arranged with mill polishing integrated device 5 at opposite direction, and be connected by communication module with industrial personal computer, before processing
The scanning modeling of blank 3.The attitude gyroscope, which is mounted on support platform 2-3-1 and moving platform 4-3, (is mounted on support
It is called the first attitude gyroscope 8-1 on platform 2-3-1, is mounted on moving platform 4-3 and is then called the second attitude gyroscope 8-
2, the two is referred to as attitude gyroscope), for detecting the variation of the pose in the course of work, and it will test result Real-time Feedback to industry control
On machine, at the same result can on interactive display real-time display.The temperature sensor 7 is mounted on support platform 2-3-1,
It is connected by communication module with industrial personal computer, is transmitted to for detecting ambient temperature when work, and by communication module
On industrial personal computer, and the real-time display on interactive display；Temperature sensor 7 can with the variation of real-time detection operating ambient temperature,
In order to enable Same Part obtains identical size when different ambient temperatures are processed, entire robot system can will not
It records with the mismachining tolerance under environment temperature work, and constantly learns during post-production in real time, independently according to environment temperature
The variation of degree compensates the mismachining tolerance of part.Grating scale is mounted on UPU drive chain 2-2 and UPS drive chain 4-2
(be mounted on UPU drive chain is referred to as first grating scale 11-1, is known as second grating scale 11-2 on UPS drive chain, is referred to as grating
Ruler), it can be selected as linear grating scale, the length for real-time detection UPU drive chain 2-2 and UPS drive chain 4-2 becomes
Change, the second grating scale 11-2 being mounted on UPS drive chain 4-2 in fact, scale grating is mounted on the upper of telescopic rod 4-2-4
End, grating reading head are mounted on flexible rod sleeve 4-2-3.The laser tracker 6 is arranged in mounting seat 1, is used for
The spatial position of tracking and positioning mill 5 end of polishing integrated device.The industrial personal computer is connected with interactive display can be real-time
Show part machine process, each sensor and device signal information, industrial personal computer drives servo-driver band by motion control card
The movement of dynamic servo motor 4-2-1.Grating scale, attitude gyroscope, encoder and laser tracker 6 can will test information reality
When be transferred on industrial personal computer, and the real-time display on interactive display, industrial personal computer passes through movement control according to the detection signal of feedback
Fabrication controls the movement of servo motor 4-2-1, and further, IMAC movement sequence control card can be used in motion control card, and controls
The type of fabrication should be at least ten axis；On the one hand it may be implemented to equip real-time detection in process, and according to detection
As a result kinematic error is compensated, so that whole system realizes closed-loop control, greatly enhances mirror finish essence
Degree；On the other hand, when dyskinesia or instability status occurs in process unit, the dynamic of entire process unit can be stopped in time
Make, improves the safety of system.The vision camera 9 is mounted on the upper and lower ends of level-one rotary head 4-4-1, for detecting work
Personnel positions situation during work, while will test result and being transmitted on industrial personal computer by vision processor；Vision camera 9
Can the position of testing staff in all directions during the work time, and its signal is transmitted to industrial personal computer by vision processor
On.Its operating mode have two ways, one is during part is processed when testing staff position enters robot pole
At 2.5 times of working range of limit, interactive display shows that caution signal, another kind detect that personnel positions enter 2 times of limit to work as
When working range, entire change system starts to do retarded motion, and interactive display shows alarm signal, when detecting personnel positions
When into 1.5 times of maximal work ranges, entire change system is shut down, the continuously display alarm signal of interactive display, entire to equip
The personnel of considering be strayed into the case of early warning, improve the safety of equipment, prevent the feelings for occurring casualties in process
Condition.When carrying out blank 3 by the progress model generation of three-dimensional imaging scanner 10, need to assist between people and entire assembly
With work, people can constantly adjust the position appearance of bogey 2 and series-parallel robot device 4 in parallel by interactive display
Display when fructufy to complete the scanning of entire blank 3, and is known the end of scan in interactive display by state.Work as progress
When processing operation, when detecting that personnel positions enter 2.5 times of robot maximal work range, interactive display shows warning letter
Number；When detecting that personnel positions enter 2 times of maximal work ranges, entire change system starts to do retarded motion, interaction display
Device shows alarm signal, and when detecting that personnel positions enter 1.5 times of maximal work ranges, entire change system is shut down, interaction
The continuously display alarm signal of display.
After the assembly is completed according to position shown in FIG. 1, entire assembly is located at original state to entire equipment.When progress large curved surface
When part or complex curved surface parts are processed, procedure of processing and processing method are as described below:
1, first by 3 clamping of blank on bogey 2 in parallel, equipment is adjusted to by human-computer interaction by interactive display
Mode, into 3 scanner program of blank.At this point, the pose variation of bogey 2 in parallel and series-parallel robot device 4 can lead to
It crosses interactive display and carries out any adjusting, open three-dimensional imaging scanner 10, adjust bogey 2 and series-parallel robot dress in parallel
The pose for setting 4, by the threedimensional model scanning modeling of entire blank 3, and the results are shown on interactive display.
2, be input to industrial personal computer according to product parameters will be processed, system can automatically with the 3-D scanning result of blank 3
Comparison, and the processing program of part is formed, according to the testing result of temperature sensor 7, system can be independently according to 3 material of blank
Attribute the amendment of first time is carried out to processing program, while revised machining sketch chart being shown on interactive display.
3, opening bogey 2 and series-parallel robot device 4, industrial personal computer in parallel can pass through according to the processing program of generation
Motion control card is transmitted to servo controller, and stream oriented device contract operation starts to process blank 3, during processing,
The grinding and polishing program of part can be completed in the case where primary positioning by grinding polishing integrated device 5.Meanwhile in processing
In the process, grating scale, attitude gyroscope and laser tracker 6 can be with the motion conditions of real-time detection execution unit, and pass through
Communication module is transmitted on industrial personal computer, and industrial personal computer can compare these feedback signals with predefined parameter, while being generated and being added
Work compensation program is again inputted on motion control card.Closed-loop control in this way is sequentially completed the grinding and polishing of part
Program.During processing, when testing result occur and large error occur and move instability status, interactive display can be shown
Show alarm signal, and stop the movement of bogey 2 and series-parallel robot device 4 in parallel, prevents accident.Meanwhile in real time
The vision camera 9 of unlatching can personnel positions during the work time detected in time, set when detecting that personnel positions reach
When definite value, interactive display display warning or alarm signal, while device is acted accordingly.
4, equipment after processing is completed, is adjusted to interactive mode again by interactive display, passes through three-dimensional imaging
Scanner 10 detects part, when there is unqualified situation, is modified by procedure of processing 1 to 3 above.It closes
After lattice, entire equipment restPoses.
When work, for 3 clamping of blank on turret table 2-3, polishing integrated apparatus is assemblied in two degrees of freedom swivel head
The end 4-4, co-melting control detection system make bogey 2 and series-parallel robot device 4 in parallel cooperate, mismachining tolerance
Active Compensation, and can be interacted with people and external environment it is co-melting, so as to realize yeast surface parts or complex curved surface parts from
Blank modeling, the disposable intelligent machining for being ground to polishing.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit of the invention, any simple modification and same variation are made to above embodiments, each fall within guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of yeast surface parts process unit that multi-parallel is co-melting, it is characterized in that: including parallel connection bogey (2), mixed connection machine
Device people device (4), polishing integrated apparatus and co-melting control detection system, bogey (2) in parallel and series-parallel robot device
(4) it is fixedly mounted on mounting seat (1)；
The bogey in parallel (2) include support base (2-1), four UPU drive chains (2-2), turret table (2-3) and
It constrains support chain (2-4), four UPU drive chains (2-2), which are uniformly distributed, is connected to turret table (2-3) and support base (2-1)
Between, the both ends of UPU drive chain (2-2) pass through U-shaped secondary I (2-2-1) and U-shaped secondary II (2-2-3) and support base (2-1) respectively
It is connected with support platform (2-3-1), the upper end is connected by spherical hinge (4-2-5) with moving platform (4-3)；Constrain support chain (2-
4) it is distributed in the center of turret table (2-3) and support base (2-1), lower end is fixed on support base (2-1), on
End is connect by hook hinge with turret table (2-3), and blank (3) clamping is on turret table (2-3)；
The series-parallel robot device (4) includes support frame (4-1), three UPS drive chains (4-2), moving platform (4-3), UP
Constrained branched chain (4-5) and two degrees of freedom swivel head, three UPS drive chains (4-2) are evenly arranged in moving platform (4-3) and support frame
Between (4-1), the middle and lower sections of UPS drive chain (4-2) are connect by U-shaped secondary III (2-4-1) with support frame (4-1)；UP about bundle branch
Chain (4-5) is distributed in the center of moving platform (4-3) and support frame (4-1), and the upper end is fixedly connected with moving platform (4-3),
Lower end is connect by U-shaped secondary IV with support frame (4-1)；Two degrees of freedom swivel head (4-4) passes through turntable bearing (4-4-3) and dynamic flat
Platform (4-3) connection, polishing integrated apparatus are mounted on two degrees of freedom rotary head (4-4)；
The co-melting control detection system include interactive display, industrial personal computer, motion control card, servo-driver, at vision
Manage device, communication module, vision camera (9), temperature sensor (7), three-dimensional imaging scanner (10), grating scale, attitude gyro
Instrument and laser tracker (6), vision camera (9) are mounted on the outside of two degrees of freedom swivel head (4-4), detect in the course of work
Personnel positions situation, while will test result and being transmitted on industrial personal computer by vision processor；Temperature sensor (7) is mounted on
On turret table (2-3), temperature information is transmitted on industrial personal computer by communication module, and is shown in real time on interactive display
Show；Three-dimensional imaging scanner (10) is mounted on the rear of mill polishing integrated device (5), the blank (3) before being processed
Scanning modeling；Two attitude gyroscopes are separately mounted on turret table (2-3) and moving platform (4-3), are detected in the course of work
Pose variation；Grating scale, real-time detection UPU drive chain are mounted on UPU drive chain (2-2) and UPS drive chain (4-2)
The variation of the length of (2-2) and UPS drive chain (4-2)；Laser tracker (6) is arranged on mounting seat (1), tracking and positioning grinding and polishing
The spatial position of light integrated apparatus (5) end；Grating scale, attitude gyroscope and laser tracker (6) real-time detection execute
Motion conditions of component, and being transmitted on industrial personal computer by communication module, industrial personal computer by these feedback signals and predefined parameter into
Row comparison, while generating processing compensation program and being again inputted on motion control card, motion control card drives servo-driver band
The movement of dynamic UPS drive chain (4-2) and UPU drive chain (2-2).
2. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 1, it is characterized in that: described
UPU drive chain (2-2) includes U-shaped secondary I (2-2-1), servo electric jar (2-2-2) and U-shaped secondary II (2-2-3), the turntable
Platform (2-3) includes support platform (2-3-1), rotating device (2-3-2) and fixture (2-3-3), servo electric jar (2-2-2)
Both ends are fixed by U-shaped secondary I (2-2-1) and U-shaped secondary II (2-2-3) and support base (2-1) and support platform (2-3-1) respectively
Connection, rotating device (2-3-2) are mounted on support platform (2-3-1), and fixture (2-3-3) is fixed on rotating device (2-3- again
2) on, blank (3) is equipped with the first attitude gyroscope by fixture (2-3-3) clamping and fixation, in support platform (2-3-1)
(8-1) and temperature sensor (7)；The constraint support chain (2-4) includes U-shaped secondary III (2-4-1) and support column (2-4-2),
The lower end support column (2-4-2) is fixed on support base (2-1), and the upper end is connected to support platform by U-shaped secondary III (2-4-1)
The lower part (2-3-1).
3. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 2, it is characterized in that: described watches
Electric cylinder (2-2-2) is taken to be replaced by ball screw assembly,.
4. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 2, it is characterized in that: the U
Type pair I (2-2-1) and U-shaped secondary II (2-2-3) are hook hinge or spherical hinge.
5. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 2, it is characterized in that: the support
The distribution radius of hinge tie point of the distribution radius of hinge tie point on pedestal (2-1) slightly larger than turret table (2-3).
6. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 1 or 2, it is characterized in that: described
Support frame (4-1) include main frame (4-1-1) and U-shaped frame I, three U-shaped framves I are evenly arranged in main frame (4-1-1) surrounding
And be fixed in the above, main frame (4-1-1) is provided with interstitial hole；U-shaped secondary III (2-4-1) of UPS drive chain (4-2) middle and lower sections is tiger
Gram hinge or spherical hinge type of attachment；Telescopic rod sleeve locking positioning set (4-1-3) passes through a pair of of angular contact ball axis connection to U
On type pair support frame (4-1-4), U-shaped pair support frame (4-1-4) is connected on U-shaped frame I by a pair of of angular contact ball bearing, and two pairs
Angular contact ball bearing is arranged in right-angled intersection；U-shaped secondary the IV of the lower end UP constrained branched chain (4-5) includes U-shaped secondary inner support frame (4-1-
5) and U-shaped secondary outer support frame (4-1-6), U-shaped pair inner support frame (4-1-5) are connected to U-shaped pair by a pair of of angular contact ball bearing
On outer support frame (4-1-6), main frame (4- is connected to by a pair of angular contact ball bearing again on U-shaped pair outer support frame (4-1-6)
On 1-1), two diagonal contact ball bearings are arranged in right-angled intersection mode；The UPS drive chain (4-2) includes sequentially connected
Servo motor (4-2-1), motor connecting base (4-2-2), flexible rod sleeve (4-2-3), telescopic rod (4-2-4) and spherical hinge (4-
2-5), the scale grating of second grating scale (11-2) is mounted on the upper end of telescopic rod (4-2-4), and grating reading head is mounted on flexible
On rod sleeve (4-2-3), flexible rod sleeve (4-2-3) is mounted on the telescopic rod sleeve locking positioning set of U-shaped secondary III (2-4-1)
In (4-1-3)；The moving platform (4-3) includes U-shaped frame II and moving platform main body set (4-3-2), three uniform cloth of U-shaped frame II
It sets and covers periphery in moving platform main body and be connected, there is mounting hole in the middle part of moving platform main body set (4-3-2)；The two degrees of freedom
Swivel head (4-4) includes level-one rotary head (4-4-1) and second level rotary head (4-4-2), level-one rotary head (4-4-1) and second level rotary head (4-
Servo drive motor 4-2) is all connected, second level rotary head (4-4-2) is hinged at the upper end opening of level-one rotary head (4-4-1), polishing
Integrated apparatus is mounted on second level rotary head (4-4-2), and level-one rotary head (4-4-1) passes through turntable bearing (4-4-3) and moving platform
Main body set (4-3-2) connection, vision camera (9) are mounted on the upper and lower ends of level-one rotary head (4-4-1)；The UP about bundle branch
Chain (4-5) includes a pair of of line slide rail (4-5-1), support rod (4-5-2) and motor support set (4-5-3), a pair of of line slide rail
(4-5-1) is combined in a manner of postponing at 180 degree cloth, and the both ends support rod (4-5-2) are separately connected line slide rail (4-5-
1) with motor support set (4-5-3), the upper end of motor support set (4-5-3) is mounted on the installation of moving platform main body set (4-3-2)
In hole, line slide rail (4-5-1) is mounted in U-shaped secondary IV U-shaped secondary inner support frame (4-1-5).
7. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 6, it is characterized in that: the ball
Hinge (4-2-5) realizes the rotational freedom in three directions by three diagonal contact ball bearings.
8. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 6, it is characterized in that: described is in ten
Two diagonal contact ball bearings of word interleaved mode arrangement are replaced by the type of attachment of universal joint.
9. the co-melting yeast surface parts process unit of a kind of multi-parallel according to claim 6, it is characterized in that: level-one rotary head
The motor support set (4-5-3) that the servo drive motor of (4-4-1) is fixed on the lower end moving platform (4-3) is internal, second level rotary head (4-
Driving servo motor 4-2) is mounted on the inside of level-one rotary head (4-4-1), and drives second level rotary head (4- by toothed belt transmission
Rotary motion 4-2) is also provided in the driving servo motor rear end of level-one rotary head (4-4-1) and second level rotary head (4-4-2) and subtracts
The output end of fast device, servo drive motor is mounted on encoder.
10. a kind of processing side of the yeast surface parts process unit co-melting based on any one of claim 1 to 9 multi-parallel
Method will be equipped entirely complete to assemble according to relative position first, and entire equipment is located at original state, it is characterized in that: then carrying out
Specific procedure of processing it is as follows:
1) first by blank (3) clamping on bogey in parallel (2), equipment is adjusted to by human-computer interaction by interactive display
Mode, into blank (3) scanner program；At this point, the pose variation of bogey (2) in parallel and series-parallel robot device (4)
Any adjusting can be carried out by interactive display, is opened three-dimensional imaging scanner (10), and bogey (2) in parallel is adjusted and mixed
The pose for joining robot device (4), by the threedimensional model scanning modeling of entire blank (3), and the results are shown in interactions to show
Show on device；
2) industrial personal computer, the 3-D scanning result pair that system can automatically with blank (3) are input to according to product parameters will be processed
Than, and the processing program of part is formed, according to the testing result of temperature sensor (7), system can be independently according to blank (3) material
The attribute of material carries out the amendment of first time to processing program, while revised machining sketch chart being shown in interactive display
On；
3) equipment is adjusted to by cooked mode by interactive display, opens bogey (2) in parallel and series-parallel robot device
(4), industrial personal computer is transmitted to servo controller by motion control card according to the processing program of generation, bogey (2) in parallel and
Series-parallel robot device (4) work compound starts to process blank (3), during processing, mill polishing integral dress
The grinding and polishing program of part can be completed in the case where primary positioning by setting (5)；Meanwhile during processing, grating
The motion conditions of ruler, attitude gyroscope and laser tracker (6) real-time detection execution unit, and be transmitted to by communication module
On industrial personal computer, industrial personal computer compares these feedback signals with predefined parameter, while generating processing compensation program and inputting again
Onto motion control card；During processing, when testing result occur and large error occur and move instability status, interaction
Display can show alarm signal, and stop the movement of bogey in parallel (2) and series-parallel robot device (4), prevent
It is unexpected；Meanwhile the vision camera (9) opened in real time can personnel positions during the work time detected in time, work as detection
When reaching setting value to personnel positions, interactive display display warning or alarm signal, while device is acted accordingly；
4) equipment after processing is completed, is adjusted to interactive mode again by interactive display, is scanned by three-dimensional imaging
Instrument (10) detects part, when there is unqualified situation, then passes through procedure of processing 1 above) to 3) carrying out local position
Set amendment；After qualification, entire equipment restPoses.
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| PCT/CN2019/078606 WO2020077945A1 (en) | 2018-10-16 | 2019-03-19 | Multi-parallel tri-co processing apparatus and processing method for parts having large-curved surface |
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| Publication number | Publication date |
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| WO2020077945A1 (en) | 2020-04-23 |
| CN109333547B (en) | 2021-02-12 |
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