CN112936230B - Multi-robot cooperative integrated manufacturing device and working method thereof - Google Patents
Multi-robot cooperative integrated manufacturing device and working method thereof Download PDFInfo
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000007639 printing Methods 0.000 claims description 101
- 239000000758 substrate Substances 0.000 claims description 34
- 239000000463 material Substances 0.000 claims description 33
- 238000003860 storage Methods 0.000 claims description 19
- 230000000007 visual effect Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000000779 smoke Substances 0.000 claims description 4
- 230000036544 posture Effects 0.000 claims description 3
- 238000011017 operating method Methods 0.000 claims 1
- 239000000654 additive Substances 0.000 description 7
- 230000000996 additive effect Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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Abstract
The invention relates to a multi-robot cooperative integrated manufacturing device and a working method thereof.
Description
Technical Field
The invention belongs to the technical field of aviation manufacturing, and particularly relates to a multi-robot cooperative integrated manufacturing device and a working method thereof.
Background
The aerospace industry has the characteristics of high added value, long industrial chain, wide radiation surface, large multiplier effect, strong drivability and the like, and is an important mark of national technology, economy, national defense strength and industrialization level. In recent years, with the implementation of the establishment of domestic four-generation machines, missiles, satellites and the like, the manufacturing process has the characteristics of multiple varieties, small batch and strong individuation, and extremely high technical requirements are provided for the production efficiency and the manufacturing and assembling precision. Meanwhile, the performance of the novel aerospace product is improved in a cross-generation mode compared with the performance of the original model, the structure-circuit integrated part is widely used, the structure is more complex, the requirement on precision is high, multiple actuators are required to operate in a cooperation mode, and higher requirements are provided for manufacturing and assembling technology and equipment.
Industrial robots are taken as an intelligent and flexible processing carrier, and have outstanding system flexibility, strong adaptability to environment and task targets, excellent human-machine interaction and coordination capability and remarkable cost advantage, so that the industrial robots are favored in the field of manufacturing and processing, become core equipment for realizing intelligent manufacturing, and are increasingly introduced into the aviation manufacturing industry, and integrated manufacturing equipment taking industrial robots as carriers is an optimal solution for realizing structure-circuit integrated manufacturing.
The existing material additive manufacturing system and method for the industrial robot are generally applied to the field of building and welding, and cannot realize simultaneous parallel printing of multiple materials, so that the manufacturing efficiency is low. The invention patent with publication number CN111827683A discloses a concrete building multi-head 3D printing device, which performs additive manufacturing of concrete and reinforcing steel bars by replacing an end effector, can only realize printing of single material at the same time, introduces an external measuring device, has low control precision, and cannot meet the precision requirement of aerospace manufacturing.
The invention patent with publication number CN107225314A discloses a reversed polarity plasma arc robot additive manufacturing system, which detects workpiece information and position through vision to improve the accuracy of robot additive manufacturing. The invention patent with publication number CN111230259A discloses a non-flat surface automatic identification robot additive manufacturing forming precision control device, which adopts two CMOS cameras and a projector to collect the surface characteristics of a welding workpiece and control the robot additive manufacturing precision. The invention patent with publication number CN107263858B discloses a heterogeneous multi-material additive manufacturing system, which connects a printing device and a material reducing device through two joint arms respectively, and acquires the three-dimensional profile of a part to be processed through vision, thereby obtaining the material reducing processing parameters. In the three robot material increase/decrease manufacturing patent technologies, the measuring devices are all used for tracking and measuring workpieces, real-time monitoring of the robot material increase manufacturing tail end is not achieved, full closed-loop control cannot be achieved, the printing tail end is easily affected by external disturbance, printing precision is reduced, and the requirement for aerospace integrated manufacturing precision is difficult to meet.
Disclosure of Invention
In order to meet the high-precision requirement of aerospace integrated manufacturing, the invention provides a multi-robot cooperative integrated manufacturing device and a working method thereof, and aims to solve the problems of poor precision, low efficiency and the like in the prior art.
The invention adopts the following technical scheme:
a multi-robot cooperative integrated manufacturing device comprises a base, a cooperative printing unit, a load embedding and measuring unit and a rotary table, wherein the cooperative printing unit and the rotary table are arranged on the rear side of the upper end face of the base, and the cooperative printing unit is arranged on the rotary table in a spanning mode; the load embedding and measuring unit is arranged in front of the upper end surface of the base, and the upper end surface of the base is provided with a storage platform for placing functional loads at the left side and the right side of the load embedding and measuring unit respectively;
the collaborative printing unit comprises a portal frame, a first lifting guide rail in the vertical direction is installed on a portal frame upright post, a cross beam capable of moving up and down along the first lifting guide rail is installed on the first lifting guide rail, a first transverse guide rail is installed at the bottom of the cross beam, two transverse sliding tables capable of moving independently and transversely along the first transverse guide rail are installed on the first transverse guide rail, a base printing robot and a circuit printing robot are respectively installed on the two transverse sliding tables in an inverted mode, the base printing robot is connected with a base printing terminal through a flange, and the circuit printing robot is connected with a circuit printing terminal through a flange;
the load embedding and measuring unit comprises a lifting upright post, a second lifting guide rail in the vertical direction is installed on the rear side of the lifting upright post, a lifting platform capable of moving up and down along the second lifting guide rail is installed on the second lifting guide rail, a load embedding robot is installed on the lifting platform, and the tail end of the load embedding robot is in flange connection with a load embedding tail end; visual targets are mounted on the substrate printing tail end, the circuit printing tail end and the load embedding tail end; the camera support is installed at the top of the lifting upright post, and the binocular vision measuring device is installed on the camera support.
Furthermore, a smoke exhaust hood is installed at the top of the gantry.
Furthermore, the rotary table has three rotational degrees of freedom of pitching, yawing and rolling.
Furthermore, a second transverse guide rail is mounted on the storage table, a material tray capable of transversely moving along the second transverse guide rail is mounted on the second transverse guide rail, and different types of functional loads are placed in the material tray.
A working method of a multi-robot cooperative integrated manufacturing device comprises the following steps:
a, calibrating and compensating the deformation of a first lifting guide rail on a portal frame, a first transverse guide rail on a cross beam and a second lifting guide rail on a lifting column and the installation error of the guide rails through a laser interferometer, and improving the absolute positioning accuracy of a transverse sliding table and a lifting table;
b, carrying the substrate printing tail end by the substrate printing robot to print the substrate on the rotary table along the planned track; the circuit printing robot carries the circuit printing tail end to print a conductive circuit on the printed substrate along a planned track;
c, moving the material tray on the storage table to an installation station while the step b is carried out; the load embedding robot carries a functional load to be installed in the tail end grabbing material tray of the load embedding robot; the load embedding robot installs the functional load on the printed substrate and the conductive circuit along the planned track;
d, rotating the rotary table along the planned track in three directions while performing the steps b-c;
and e, while the steps b-d are carried out, the binocular vision measuring device carries out real-time measurement on the positions and the postures of the matrix printing tail end, the circuit printing tail end and the load embedding tail end, compares the measured results with the planned track, and corrects the actual motion tracks of the matrix printing robot, the circuit printing robot and the load embedding robot.
Further, the working method of the multi-robot cooperative integrated manufacturing apparatus further includes:
and f, while the steps b-e are carried out, detecting the distances between the substrate printing tail end, the circuit printing tail end and the load embedding tail end in real time by the binocular vision measuring device, and if the distance between any two tail ends is smaller than a safe distance, stopping the substrate printing robot, the circuit printing robot and the load embedding robot to avoid collision.
Further, the step a specifically comprises: the method comprises the following steps of driving a matrix printing robot, a circuit printing robot and a load embedding robot to reach a plurality of working stations, and measuring the position of a base coordinate system of each station robot by using a laser interferometer so as to perform early-stage off-line calibration and compensation on installation errors of guide rails on a portal frame, a cross beam and a lifting column, wherein single-axis errors comprise linear positioning errors, horizontal straightness errors, vertical straightness errors, a pitch angle, a yaw angle and a rolling angle, the three guide rails count 18 error parameters, and the method further comprises parallelism errors between a first lifting guide rail and a second lifting guide rail and perpendicularity errors between the first lifting guide rail and a first transverse guide rail and 21 error parameters;
limited by the self freedom of the portal frame, the cross beam and the lifting upright post, and a robot base coordinate system F on each stationBWill be further compensated based on the results of the laser interferometer calibration.
Furthermore, in the step c, after the functional load in the material tray on a certain storage table is completely installed, the material tray moves to the outer side of the storage table along the second transverse guide rail to load the functional load, and at the moment, the load embedding robot grabs the functional load in the material tray on another storage table to continue to install.
Further, in step e, the binocular vision measuring device simultaneously tracks the plurality of visual targets mounted at the substrate printing end, the circuit printing end and the load embedding end, and when one or more visual targets are blocked, the measurement is continued through other unblocked visual targets in the visual field range.
The invention has the beneficial effects that:
1. according to the invention, the portal frame, the cross beam, the lifting upright post, the rotary table and the industrial robot are combined to perform integrated manufactured base material printing, conductive circuit printing and functional load installation, the industrial robot has high flexibility but lower positioning precision and limited working range, and the portal frame, the cross beam, the lifting upright post and the rotary table have higher precision and larger movement range but poor flexibility; the combination of the two makes up the deficiency of the working range of the industrial robot, and simultaneously ensures the high flexibility of the integrated manufacturing device; the crossbeam and the lifting stand column adopt a numerical control system to carry out accurate control, thereby a plurality of work station positions are provided for the robot according to the requirement of a processing object to expand the working space of the robot, and in the processing process, the crossbeam and the lifting stand column are not linked with the robot, so that the dynamic errors of the crossbeam and the stand column cannot accumulate the final processing error of the system. Similarly, the dynamic error of the turntable will not affect the final machining precision.
2. And compensating absolute positioning errors of the cross beam, the transverse sliding table and the lifting table in a laser interferometer calibration mode, wherein the absolute positioning accuracy of the cross beam and the transverse sliding table after calibration can reach X, Z-axis directions +/-0.01 mm, and the absolute positioning accuracy of the lifting table can reach Z-axis +/-0.01 mm. The positioning precision is one order of magnitude higher than the final machining precision of the system, and the guarantee is provided for improving the precision of the system. Because the device adopts a station-separating working mode, the station positions can be planned in advance according to products, and the repeated positioning precision of each station position is ensured by numerical control and the repeated positioning precision of the cross beam, the transverse sliding table and the lifting table. After the robot is subjected to precision compensation, the tail end of the robot is processed by a coordinate system FEThe absolute positioning error (including the positioning errors of the cross beam, the transverse sliding table and the lifting table) can be reduced to +/-0.1 mm.
3. The device adopts the binocular vision measuring device to carry out real-time pose measurement on the substrate printing terminal, the circuit printing terminal and the load embedding terminal, so that the positioning and track precision of the industrial robot is obviously improved, full closed-loop control is realized, the defect that the industrial robot cannot be used for aerospace integrated manufacturing due to low positioning precision is overcome, and the manufacturing precision of the system is improved while the high flexibility of the integrated manufacturing device is ensured. Under the control of a visual servo full closed loop, the final processing track precision of the integrated manufacturing device can reach +/-0.09 mm.
4. This device adopts many industrial robots to realize base member material respectively and prints, the installation of conducting wire printing and functional load, but three industrial robots parallel operation have realized the printing and the load installation of multiple material simultaneously to carry out real-time supervision to the relative position between the end through two mesh vision measuring device, both improved integration manufacturing efficiency, guaranteed the security of device operation process again.
Drawings
FIG. 1 is a schematic structural diagram of a multi-robot cooperative integrated manufacturing apparatus;
FIG. 2 is a rear view of the multi-robot cooperative integrated manufacturing apparatus;
FIG. 3 is a schematic view of a multi-robot cooperative integrated manufacturing apparatus for capturing functional loads;
FIG. 4 is a schematic view of the installation of functional loads in a multi-robot cooperative integrated manufacturing apparatus;
reference numerals: 1-a base; 2-a collaborative printing unit; 3-load embedding and measuring unit; 4-a turntable; 5-a storage table; 6-a portal frame; 7-a first lifting rail; 8-smoke exhaust hood; 9-a cross beam; 10-a first transverse guide; 11-a transverse slipway; 12-a substrate printing robot; 13-a circuit printing robot; 14-substrate printing tip; 15-circuit printing terminal; 16-a visual target; 17-lifting upright posts; 18-a second lifting rail; 19-a camera stand; 20-a lifting platform; 21-load embedding robot; 22-load embedding tip; 23-binocular vision measuring means; 24-a second transverse guide; 25-a material tray; 26-functional load.
Detailed Description
The multi-robot cooperative integrated manufacturing apparatus and the working method thereof according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 2, a multi-robot cooperative integrated manufacturing apparatus includes a base 1, a cooperative printing unit 2, a load embedding and measuring unit 3, and a turntable 4, wherein the cooperative printing unit 2 and the turntable 4 are both disposed on the rear side of the upper end surface of the base 1, and the cooperative printing unit 2 is disposed across the turntable 4. The load embedding and measuring unit 3 is arranged on the front side of the upper end face of the base 1, and the storage platforms 5 used for placing the functional loads 26 are respectively arranged on the left side and the right side of the load embedding and measuring unit 3 on the upper end face of the base 1.
The collaborative printing unit 2 comprises a portal frame 6, a first lifting guide rail 7 in the vertical direction is installed on a vertical column of the portal frame 6, a cross beam 9 capable of moving up and down along the first lifting guide rail 7 is installed on the first lifting guide rail 7, a first transverse guide rail 10 is installed at the bottom of the cross beam 9, two transverse sliding tables 11 capable of moving independently and transversely along the first transverse guide rail 10 are installed on the first transverse guide rail 10, a base printing robot 12 and a circuit printing robot 13 are respectively installed on the two transverse sliding tables 11 in an inverted mode, the tail end of the base printing robot 12 is connected with a base printing tail end 14 in a flange mode, and the tail end of the circuit printing robot 13 is connected with a circuit printing tail end 15 in a flange mode.
The load embedding and measuring unit 3 comprises a lifting upright post 17, a second lifting guide rail 18 in the vertical direction is installed on the rear side of the lifting upright post 17, a lifting platform 20 capable of moving up and down along the second lifting guide rail 18 is installed on the second lifting guide rail 18, a load embedding robot 21 is installed on the lifting platform 20, and the tail end of the load embedding robot 21 is in flange connection with a load embedding tail end 22. The substrate printing tip 14, the circuit printing tip 15 and the load embedding tip 22 all have a visual target 16 mounted thereon. The camera support 19 is installed on the top of the lifting upright post 17, and the binocular vision measuring device 23 is installed on the camera support 19 (the installation position of the binocular vision measuring device 23 can be adjusted by changing the position of the camera support 19 on the lifting upright post 17).
In this embodiment, the smoke exhaust hood 8 is installed on the top of the portal frame 6.
The rotary table 4 has three rotational degrees of freedom of pitching, yawing and rolling.
The storage table 5 is provided with a second transverse guide rail 24, the second transverse guide rail 24 is provided with a material tray 25 capable of transversely moving along the second transverse guide rail, and different types of functional loads 26 are placed in the material tray 25.
A high-precision servo motor is adopted to drive a lead screw to drive a cross beam 9, a transverse sliding table 11 and a lifting table 20 to run on corresponding guide rails, and the guide rails are all positioned by absolute grating rulers.
A working method of a multi-robot cooperative integrated manufacturing device comprises the following steps:
step a, calibrating and compensating the deformation of the first lifting guide rail 7 on the portal frame 6, the first transverse guide rail 10 on the cross beam 9 and the second lifting guide rail 18 on the lifting upright post 17 and the installation error of the guide rails through a laser interferometer, and improving the absolute positioning accuracy of the transverse sliding table 11 and the lifting table 20 (CN 103144109A is adopted as a method for compensating the absolute accuracy of the robot, and the method is a robot system substation type accuracy compensation method for adding an external shaft).
The step a is specifically as follows: the matrix printing robot 12, the circuit printing robot 13 and the load embedding robot 21 are driven to reach a plurality of working stations, and the positions of a base coordinate system of each station robot are measured by using a laser interferometer, so that the early-stage off-line calibration compensation is carried out on the installation errors of guide rails on the portal frame 6, the cross beam 9 and the lifting upright post 17, wherein the single-axis errors comprise linear positioning errors, horizontal straightness errors, vertical straightness errors, pitch angles, yaw angles and rolling angles, the three guide rails count 18 error parameters, and the system further comprises parallelism errors between the first lifting guide rail and the second lifting guide rail and perpendicularity errors between the first lifting guide rail and the second lifting guide rail and the first transverse guide rail 10, and count 21 error parameters.
Limited by the self freedom degrees of the portal frame 6, the cross beam 9 and the lifting upright post 17, the robot base coordinate system F on each stationBWill be further compensated based on the results of the laser interferometer calibration (6 dimensions).
And b, printing the substrate on the rotary table 4 along the planned track by the substrate printing robot 12 and the substrate printing tail end 14. The circuit printing robot 13 carries the circuit printing terminal 15 to print the conductive circuit on the printed substrate along the planned track.
And c, moving the material tray 25 on the storage table 5 to the mounting station while the step b is carried out. The load embedding robot 21 carries a functional load 26 to be installed in the load embedding tip 22 gripping the material tray 25. The load embedding robot 21 mounts the functional load 26 to the printed substrate and the conductive lines along a planned trajectory. See fig. 3 and 4.
In step c, after all the functional loads 26 in the material trays 25 on one storage table 5 are installed, the material trays 26 move to the outer side of the storage table 5 along the second transverse guide rail 24 to load the functional loads 26, and at this time, the load embedding robot 21 grabs the functional loads 26 in the material trays 25 on the other storage table 5 to continue installation.
And d, rotating the rotary table 4 along the planned track in three directions while the steps b-c are carried out.
And e, while the steps b-d are carried out, the binocular vision measuring device 23 measures the positions and postures of the substrate printing tail end 14, the circuit printing tail end 15 and the load embedding tail end 22 in real time, compares the measured results with the planned track, and corrects the actual motion tracks of the substrate printing robot 12, the circuit printing robot 13 and the load embedding robot 21.
In step e, the binocular vision measuring device 23 simultaneously tracks the plurality of visual targets 16 mounted on the substrate printing end 14, the circuit printing end 15 and the load embedding end 22, and when one or more of the visual targets 16 are occluded, the measurement is continued by other unobstructed visual targets 16 within the field of view.
And f, while the steps b-e are carried out, detecting the distances between the substrate printing terminal 14, the circuit printing terminal 15 and the load embedding terminal 22 in real time by the binocular vision measuring device 23, and if the distance between any two terminals is smaller than a safe distance, stopping the substrate printing robot 12, the circuit printing robot 13 and the load embedding robot 21 to avoid collision.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any alternative or alternative method that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the scope of the present invention.
Claims (9)
1. The multi-robot cooperative integrated manufacturing device is characterized by comprising a base (1), a cooperative printing unit (2), a load embedding and measuring unit (3) and a rotary table (4), wherein the cooperative printing unit (2) and the rotary table (4) are arranged on the rear side of the upper end face of the base (1), and the cooperative printing unit (2) is arranged on the rotary table (4) in a spanning mode; the load embedding and measuring unit (3) is arranged on the front side of the upper end face of the base (1), and the positions of the upper end face of the base (1) on the left side and the right side of the load embedding and measuring unit (3) are respectively provided with a storage table (5) for placing functional loads (26);
the collaborative printing unit (2) comprises a portal frame (6), a first lifting guide rail (7) in the vertical direction is installed on a vertical column of the portal frame (6), a cross beam (9) capable of moving up and down along the first lifting guide rail (7) is installed on the first lifting guide rail (7), a first transverse guide rail (10) is installed at the bottom of the cross beam (9), two transverse sliding tables (11) capable of independently and transversely moving along the first transverse guide rail (10) are installed on the first transverse guide rail (10), a matrix printing robot (12) and a circuit printing robot (13) are respectively installed on the two transverse sliding tables (11) in an inverted mode, the tail end of the matrix printing robot (12) is connected with a matrix printing tail end (14) in a flange mode, and the tail end of the circuit printing robot (13) is connected with a circuit printing tail end (15) in a flange mode;
the load embedding and measuring unit (3) comprises a lifting upright post (17), a second lifting guide rail (18) in the vertical direction is installed on the rear side of the lifting upright post (17), a lifting table (20) capable of moving up and down along the second lifting guide rail (18) is installed on the second lifting guide rail (18), a load embedding robot (21) is installed on the lifting table (20), and the tail end of the load embedding robot (21) is in flange connection with a load embedding tail end (22); visual targets (16) are arranged on the substrate printing tail end (14), the circuit printing tail end (15) and the load embedding tail end (22); a camera support (19) is installed at the top of the lifting upright post (17), and a binocular vision measuring device (23) is installed on the camera support (19).
2. The multi-robot cooperative integrated manufacturing device according to claim 1, wherein a smoke exhaust hood (8) is installed on the top of the portal frame (6).
3. Multi-robot cooperative integrated manufacturing apparatus according to claim 1, wherein the turret (4) has three rotational degrees of freedom pitch, yaw and roll.
4. Multi-robot cooperative integrated manufacturing apparatus according to claim 1, characterized in that a second cross rail (24) is mounted on the storage table (5), a material tray (25) is mounted on the second cross rail (24) and can move transversely along it, and different types of functional loads (26) are placed in the material tray (25).
5. A method for operating the multi-robot cooperative integrated manufacturing apparatus as set forth in claim 1, comprising the steps of:
a, carrying out calibration compensation on deformation of a first lifting guide rail (7) on a portal frame (6), a first transverse guide rail (10) on a cross beam (9) and a second lifting guide rail (18) on a lifting upright post (17) and installation errors of the guide rails through a laser interferometer, and improving absolute positioning accuracy of a transverse sliding table (11) and a lifting table (20);
b, carrying a substrate printing tail end (14) by a substrate printing robot (12) to print a substrate on the rotary table (4) along a planned track; the circuit printing robot (13) carries the circuit printing tail end (15) to print a conductive circuit on the printed substrate along the planned track;
step c, moving the material tray (25) on the storage table (5) to an installation station while the step b is carried out; the load embedding robot (21) carries a functional load (26) to be installed in a material grabbing tray (25) of the load embedding tail end (22); a load embedding robot (21) installs a functional load (26) on the printed substrate and the conductive circuit along a planned track;
d, rotating the rotary table (4) in three directions along the planned track while performing the steps b-c;
and e, while the steps b-d are carried out, the binocular vision measuring device (23) carries out real-time measurement on the positions and the postures of the substrate printing tail end (14), the circuit printing tail end (15) and the load embedding tail end (22), compares the measured results with the planned track, and corrects the actual motion tracks of the substrate printing robot (12), the circuit printing robot (13) and the load embedding robot (21).
6. The method for operating a multi-robot cooperative integrated manufacturing apparatus according to claim 5, further comprising: and f, while the steps b-e are carried out, detecting the distances between the substrate printing tail end (14), the circuit printing tail end (15) and the load embedding tail end (22) in real time by the binocular vision measuring device (23), and if the distance between any two tail ends is smaller than a safe distance, stopping the substrate printing robot (12), the circuit printing robot (13) and the load embedding robot (21) to avoid collision.
7. The operating method of the multi-robot cooperative integrated manufacturing apparatus according to claim 5 or 6, wherein the step a is specifically: the method comprises the following steps of driving a matrix printing robot (12), a circuit printing robot (13) and a load embedding robot (21) to reach a plurality of working stations, and measuring the positions of a base coordinate system of each station robot by using a laser interferometer, so as to perform early off-line calibration and compensation on installation errors of guide rails on a portal frame (6), a cross beam (9) and a lifting column (17), wherein the single-axis errors comprise linear positioning errors, horizontal straightness errors, vertical straightness errors, pitch angles, yaw angles and rolling angles, the three guide rails count 18 error parameters, and the method further comprises parallelism errors between a first lifting guide rail and a second lifting guide rail and perpendicularity errors between the first lifting guide rail and the second lifting guide rail and a first transverse guide rail (10), and 21 error parameters;
limited by the self freedom of the portal frame (6), the cross beam (9) and the lifting upright post (17), and a robot base coordinate system F on each stationBWill be further compensated based on the results of the laser interferometer calibration.
8. The working method of the multi-robot cooperative integrated manufacturing device according to claim 5 or 6, wherein in the step c, after all the functional loads (26) in the material trays (25) on one storage table (5) are installed, the material trays (25) move to the outer side of the storage table (5) along the second transverse guide rail (24) to load the functional loads (26), and the load embedding robot (21) grabs the functional loads (26) in the material trays (25) on the other storage table (5) to continue to install.
9. The method of claim 5 or 6, wherein in step e, the binocular vision measuring device (23) simultaneously tracks the plurality of visual targets (16) mounted on the substrate printing end (14), the circuit printing end (15) and the load embedding end (22), and when one or more of the visual targets (16) is occluded, the measurement is continued by other non-occluded visual targets (16) in the field of view.
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