CN113021017A - Shape-following self-adaptive intelligent 3D detection and processing system - Google Patents

Abstract

The invention belongs to the technical field of intelligent manufacturing, particularly relates to a shape following self-adaptive intelligent 3D detection and processing system, and aims to solve the problems of low adaptability and compatibility, poor processing precision and low intelligence of a complex-shaped surface part processing device in the prior art. The shape following self-adaptive intelligent 3D detecting and processing system can realize free switching of three working modes, namely a five-axis shape following detection mode, an eight-axis shape following self-adaptive processing mode, an eight-axis shape following detection mode, a five-axis shape following self-adaptive processing mode, a multi-axis shape following detection mode and a nine-axis shape following self-adaptive processing mode. By the aid of technologies such as multi-axis linkage design, multi-mode process switching and intelligent control system development, shape-following self-adaptive intelligent 3D detection and machining of complex-shaped parts can be achieved.

Description

Shape-following self-adaptive intelligent 3D detection and processing system

Technical Field

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to a shape-following self-adaptive intelligent 3D detection and processing system.

Background

In the industrial fields of aeroengines, gas turbines and the like, a large number of parts with complex shapes, such as engine blades, blade discs, crankshafts and the like, exist, most of the parts have the characteristics of complex curved surfaces, curves and other irregular shapes, and part of the parts, such as high-end aeroengine blades and other parts, belong to a secret technology, and are difficult to obtain the technical data of real curved surfaces, curve equations, drawings and the like, so that when the parts are machined or repaired, the shape parameters of the parts cannot be accurately obtained, and the machining and repairing precision cannot reach the specified standard. The method is a technical approach for solving the problem that the complex surface parts are subjected to three-dimensional reconstruction through an accurate sensor to obtain accurate shape parameters of the complex surface parts, and the parameters are transmitted to a subsequent execution unit for processing or repairing.

At present, three-dimensional reconstruction methods for complex parts are many, and mainly include a contact type method and a non-contact type method, and for a contact type method, such as a three-coordinate measuring instrument, the method has the advantage of high precision, but the detection efficiency is often low, and the detection and the processing are difficult to be integrally operated in one unit. Although the detection accuracy of non-contact methods such as vision sensors is inferior to that of contact measurement methods, they are hot spots for research and application because of their high detection efficiency and easy integration with processing units.

For the existing detection equipment, a non-contact sensor is usually added by modifying the existing machine tool or manipulator, but the mode has great limitation, firstly, the adaptability is not high, the mode is limited by the structure of the original equipment, the modified equipment is usually special equipment, only one or one type of parts can be processed, and the adaptability and the compatibility are low; secondly, the measurement precision is not high, and the precision required by processing and manufacturing is difficult to obtain due to processing errors, assembly errors, structural limitations, calibration errors and the like; and thirdly, the intelligent degree is low, and the design of a control system is limited due to later-stage transformation, so that the intelligent degree is low.

Disclosure of Invention

In order to solve the problems in the prior art, namely to solve the problems in the prior art that the adaptability and compatibility of a complex-shaped surface part machining device are low, the machining precision is poor, and the intellectualization is low, the invention provides a shape-following self-adaptive intelligent 3D detection and machining system, which comprises a double-shaft rotary motion unit, a three-shaft coordinate motion unit, a six-shaft shape-following motion unit, a 3D detection module and a master control center, wherein the double-shaft rotary motion unit, the three-shaft coordinate motion unit, the six-shaft shape-following motion unit and the master control center are in communication connection with each other;

the double-shaft rotating motion unit comprises a pitching device and a deflecting device and is used for driving the first load to perform pitching motion and rotating motion;

the three-axis coordinate movement unit is used for driving the second load to perform linear movement along three mutually orthogonal directions;

the six-axis conformal motion unit consists of six independent servo motion axes so as to drive the third load to perform spatial six-degree-of-freedom conformal motion;

the 3D detection module is used for acquiring the spatial pose information of the workpiece;

the first load, the second load and the third load are respectively any one or combination of a workpiece, a processing actuator and the 3D detection module;

in a working state, the master control center selects a pre-constructed linkage machining mode and generates a control instruction in real time to control a machining actuator to machine a workpiece based on the workpiece information acquired by the 3D detection module.

In some preferred technical solutions, the biaxial rotation motion unit further includes a bracket, and the yaw device is fixed to the bracket by the pitch device;

the pitching device comprises first rotary tables, a pitching driving device and a moving frame, the two first rotary tables are parallelly arranged on the support at intervals, and the rotating surfaces of the first rotary tables are perpendicular to the support; the pitching driving device is arranged on one side of the first rotary table; the moving frame is transversely connected between the two first rotating tables; the pitching driving device drives the first rotating table to rotate so as to drive the moving frame to pitch;

the deflection device comprises a second rotary table and a deflection driving device, the second rotary table and the deflection driving device are both arranged on the moving frame, an output shaft of the deflection driving device is perpendicular to the support and is connected with the second rotary table, a rotating surface of the second rotary table is orthogonal to a rotating surface of the first rotary table, and the deflection driving device drives the second rotary table to rotate so as to drive a load arranged on the second rotary table to perform deflection movement.

In some preferred technical solutions, the 3D detection module includes two cameras, a projector, and a camera motion module, the two cameras are respectively mounted on two sides of the projector through the two camera motion modules, the two cameras are arranged axially symmetrically along a projection direction of the projector, and the camera motion module is configured to drive the cameras to move to detect three-dimensional image information of the workpiece.

In some preferred technical solutions, the system further includes a body structural member, the body structural member is a frame structure, a bottom surface of the body structural member is parallel to a horizontal plane, and the body structural member is used for fixing the biaxial rotation motion unit, the triaxial coordinate motion unit and the six-axis conformal motion unit;

the three-axis coordinate movement unit comprises a first horizontal driving mechanism, a second horizontal driving mechanism and a longitudinal driving mechanism which are orthogonally arranged with each other, the first horizontal driving mechanism and the second horizontal driving mechanism are arranged on a plane parallel to a horizontal plane, and the longitudinal driving mechanism can move along the extending direction of the first horizontal driving mechanism and the second horizontal driving mechanism.

In some preferred embodiments, the first load is a workpiece, and the workpiece is fixedly arranged on the second rotary table;

the second load is the 3D detection module, and the 3D detection module is fixedly arranged on the longitudinal driving mechanism of the three-axis coordinate movement unit;

the third load is a processing actuator, and the processing actuator is fixedly connected with the six-axis conformal movement unit;

the three-axis coordinate movement unit and the three-axis coordinate movement unit form a five-axis shape following detection module, and the machining actuator and the six-axis shape following movement unit form an eight-axis shape following self-adaptive machining module.

In some preferred embodiments, the first load is a workpiece, and the workpiece is fixedly arranged on the second rotary table;

the second load is a processing actuator which is fixedly arranged on a longitudinal driving mechanism of the three-axis coordinate movement unit;

the third load is a 3D detection module, and the 3D detection module is fixedly connected with the six-axis conformal movement unit;

the three-dimensional (3D) detection module and the six-axis conformal motion unit form an eight-axis conformal detection module, and the machining actuator and the three-axis coordinate motion unit form a five-axis conformal self-adaptive machining module.

In some preferred embodiments, the first load is the 3D inspection module, and the second load is a workpiece or a processing actuator;

when the second load is a workpiece, the third load is a machining actuator;

when the second load is a process actuator, the third load is a workpiece.

In some preferred embodiments, the three-axis coordinate motion unit and the six-axis conformal motion unit each include a six-dimensional force position sensor assembly; the master control center comprises a calibration module, a high-precision three-dimensional reconstruction module, an off-line track planning module, a multi-axis force position coupling control module, an off-line simulation analysis module and a multi-axis combined machining control module which are in communication connection with one another;

the calibration module is used for calibrating the workpiece to generate calibration information;

the high-precision three-dimensional reconstruction module carries out three-dimensional reconstruction on the workpiece based on the calibration information to obtain a three-dimensional reconstruction model of the workpiece;

the off-line track planning module selects a processing mode based on the three-dimensional reconstruction model and generates a processing track;

the multi-axis force position coupling control module generates a machining track and a force-position coupling machining control strategy based on the machining track;

the off-line simulation analysis module carries out simulation measurement and machining simulation based on the machining mode, and carries out interference detection to obtain an analysis result;

the multi-axis combined machining control module controls the two-axis rotary motion unit, the three-axis coordinate motion unit and the six-axis conformal motion unit to machine a workpiece based on the analysis result, the machining trajectory and the machining control strategy.

In some preferred technical solutions, the calibration module includes the following calibration steps: camera internal reference calibration, camera and projector combined calibration, camera and mechanical arm hand-eye calibration, and camera and rotating shaft combined calibration.

In some preferred technical schemes, the device further comprises a mechanical arm and a load frame, wherein the load frame is used for fixing the workpiece, the processing actuator and the 3D detection module, the mechanical arm is provided with a three-dimensional image acquisition device, and the three-dimensional image acquisition device is used for acquiring three-dimensional image information of the workpiece;

in a working state, the mechanical arm selects an initial processing mode of the workpiece based on the three-dimensional image information of the workpiece acquired by the three-dimensional image acquisition equipment, and the workpiece, the processing actuator and the 3D detection module are correspondingly arranged on the fixing part of each unit one by one according to the initial processing mode.

In some preferred technical solutions, the system further comprises a mode fast switching unit and a mode automatic switching manipulator;

the double-axis rotary motion unit, the three-axis coordinate motion unit and the six-axis conformal motion unit are active units; the first load, the second load and the third load are driven units, each driving unit is provided with a male tooling head, each driven unit is provided with a female tooling head, and each driven unit is arranged on the male tooling head through the female tooling head and can move under the driving of the driving unit;

the mode fast switching unit is used for bearing each driven unit;

the automatic switching manipulator is used for clamping the driven unit on the mode quick switching unit to a tool male head of the driving unit; a visual recognition device is arranged on the automatic switching mechanical arm, and the automatic switching mechanical arm can acquire the coordinate positions of two positioning columns of a tooling male head on the active unit based on the visual recognition device;

the automatic switching manipulator can adjust the pose of the tool female head based on the coordinate positions of the two positioning columns, so that the tool male head is matched with the tool female head; or

The automatic switching manipulator is in communication connection with the active units through communication links, and the active units can adjust the pose of the tool male head based on the coordinate positions of the two positioning columns, so that the tool male head is matched with the tool female head.

The invention has the beneficial effects that:

the invention can realize the free switching of three working modes of five-axis conformal detection + eight-axis conformal self-adaptive machining mode, eight-axis conformal detection + five-axis conformal self-adaptive machining mode and 2+3 or 2+ six-axis conformal detection + nine-axis conformal self-adaptive machining mode. By the aid of technologies such as multi-axis linkage design, multi-mode process switching and intelligent control system development, shape-following self-adaptive intelligent 3D detection and machining of complex-shaped parts can be achieved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic diagram of an overall structure of a conformal adaptive intelligent 3D detection and processing system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a three-axis coordinate moving unit according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a biaxial rotation motion unit according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a six-axis conformal movement unit according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a 3D detection module according to an embodiment of the invention;

FIG. 6 is a schematic diagram of a fast mode switching unit according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an automatic mode switching manipulator according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a process actuator according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram illustrating the mating of the male and female connectors according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a five-axis conformal detection and eight-axis conformal adaptive machining mode of the system in accordance with an embodiment of the present invention;

FIG. 11 is a schematic diagram of an eight-axis conformal detection and five-axis conformal adaptive machining mode of the system in accordance with an embodiment of the present invention;

FIG. 12 is a first schematic diagram illustrating multi-axis conformal detection and nine-axis conformal adaptive machining according to an embodiment of the present invention;

FIG. 13 is a second schematic diagram of multi-axis conformal detection and nine-axis conformal adaptive machining according to an embodiment of the present invention;

list of reference numerals:

1-a three-axis coordinate motion unit; 2-a biaxial rotational motion unit; 3-six-axis conformal motion units; a 4-3D detection module; 5-a first horizontal drive mechanism; 6-a second horizontal drive mechanism; 7-longitudinal driving mechanism; 8-upper hollow rotary table; 9-a left hollow turntable; 10-right hollow turntable; 11-deflection RV self-locking worm speed reducer; 12-pitching RV self-locking worm speed reducer; 13-fixing the frame; 14-a moving gantry; 15-a turntable; 16-a camera; 17-a projector; 18-a translation module; 19-a rotation module; 20-a camera rig; 21-a workpiece; 22-a machining actuator; 23-a mode fast switching unit; 24-mode auto-switching robot; 25-quickly replacing a tool male head; 26-quickly replacing a tool female head; 27-a pneumatic clamp; 28-mode switching positions the camera.

Detailed Description

In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.

The invention discloses a self-adaptive intelligent 3D detection and processing system which comprises a double-shaft rotary motion unit, a three-shaft coordinate motion unit, a six-shaft shape following motion unit, a 3D detection module and a master control center, wherein the double-shaft rotary motion unit, the three-shaft coordinate motion unit, the six-shaft shape following motion unit, the 3D detection module and the master control center are in communication connection with each other;

the double-shaft rotating motion unit comprises a pitching device and a deflecting device and is used for driving the first load to perform pitching motion and rotating motion;

the three-axis coordinate movement unit is used for driving the second load to perform linear movement along three mutually orthogonal directions;

the six-axis conformal motion unit consists of six independent servo motion axes so as to drive the third load to perform spatial six-degree-of-freedom conformal motion;

the 3D detection module is used for acquiring the spatial pose information of the workpiece;

the first load, the second load and the third load are respectively any one or combination of a workpiece, a processing actuator and the 3D detection module;

in a working state, the master control center selects a pre-constructed linkage machining mode and generates a control instruction in real time to control a machining actuator to machine a workpiece based on the workpiece information acquired by the 3D detection module.

In order to more clearly explain the adaptive intelligent 3D detection and processing system of the present invention, a preferred embodiment of the present invention is described in detail below with reference to the accompanying drawings.

Example 1:

as a preferred embodiment of the present invention, the adaptive intelligent 3D detection and processing system of the present invention is shown in fig. 1, and includes a body structural member, the body structural member is a frame structure, a bottom surface of the body structural member is parallel to a horizontal plane, the body structural member has an accommodating space, and the accommodating space is used for fixing the two-axis rotation motion unit 2, the three-axis coordinate motion unit 1, the six-axis conformal motion unit 3, and the 3D detection module 4; the three-axis coordinate motion unit 1 and the six-axis conformal motion unit 3 are respectively arranged at two sides of the double-axis rotary motion unit 2; the position of the 3D detection module 4 is variable, and it can be installed on the fixed portion of any one of the biaxial rotation movement unit 2, the triaxial coordinate movement unit 1, and the six-axis conformal movement unit 3 according to the processing mode.

Referring to fig. 3, the dual-axis rotation movement unit 2 includes a pitching device, a deflecting device, and a first fixing portion for fixing the first load, and the dual-axis rotation movement unit 2 is configured to drive the first load to perform a pitching movement and a rotation movement. Specifically, the biaxial rotation movement unit 2 further includes a bracket, and the yaw device is fixed to the fixed bracket 13 through the pitch device; the pitching device comprises a first rotary table, a pitching driving device and a moving rack 14, wherein the two first rotary tables are parallelly arranged on a fixed support 13 at intervals, the rotating surfaces of the first rotary tables are perpendicular to the support, and referring to the attached drawings, the two first rotary tables are respectively a left hollow rotary table 9 and a right hollow rotary table 10; the pitch driving device is installed on one side of the first rotary table, and preferably, the pitch driving device is a pitch RV self-locking worm speed reducer 12 installed on one side of the right hollow rotary table 10. The moving rack 14 is transversely connected between the two first rotary tables, namely two ends of the moving rack 14 are respectively connected with the left hollow rotary table 9 and the right hollow rotary table 10; the pitching driving device drives the first rotating platform to rotate so as to drive the moving rack 14 to perform pitching motion;

the deflection device comprises a second rotary table and a deflection driving device, preferably, the second rotary table comprises a rotary table 15 and an upper hollow rotary table 8 shown in figure 3, and the deflection driving device comprises a deflection RV self-locking worm speed reducer 11 and a servo motor; go up cavity revolving stage 8, carousel 15, deflection RV auto-lock worm speed reducer 11 and servo motor all install in moving frame 14, the input of deflection RV auto-lock worm speed reducer 11 and servo motor's output shaft, the output shaft perpendicular to fixed bolster 13 of deflection RV auto-lock worm speed reducer 11 sets up and is connected with carousel 15 through last cavity revolving stage 8, the rotating surface of carousel 15 and the rotating surface quadrature of first revolving stage set up, it carries out the deflection motion to change RV auto-lock worm speed reducer 11 drive carousel 15 rotatory in order to drive the load of installing on carousel 15.

The double-shaft rotary motion unit 2 is composed of an upper hollow rotary table 8, a left hollow rotary table 9, a right hollow rotary table 10, a deflection RV self-locking worm speed reducer 11, a pitching RV self-locking worm speed reducer 12, a fixed frame 13, a motion frame 14 and a rotary table 15. Wherein the rotary table 15 is connected with the moving part of the upper hollow rotary table 8, the input hole of the upper hollow rotary table 8 is fixedly connected with the output shaft of the deflection RV self-locking worm speed reducer 11, and the input hole of the deflection RV self-locking worm speed reducer 11 is fixedly connected with the output shaft of the servo motor, so that the rotary table 15 and the moving part of the hollow rotary table 8 rotate together under the driving of the servo motor to realize deflection movement; the static part of the upper hollow rotary table 8 is fixedly connected with the moving rack 14, the moving part of the left hollow rotary table 9 and the moving part of the right hollow rotary table 10 are fixedly connected with the moving rack 14, the static part of the left hollow rotary table 9 and the static part of the right hollow rotary table 10 are fixedly connected with the fixed rack 13, the input hole of the right hollow rotary table 10 is fixedly connected with the output shaft of the pitching RV self-locking worm speed reducer 12, and the input hole of the pitching RV self-locking worm speed reducer 12 is fixedly connected with the output shaft of the servo motor, so that the moving rack 14 and the moving part of the right hollow rotary table 10 rotate together.

Further, the three-axis coordinate moving unit 1 is configured to drive the second load to perform linear motion along three mutually orthogonal directions. Referring to fig. 2, the three-axis coordinate moving unit 1 includes a first horizontal driving mechanism 5, a second horizontal driving mechanism 6, and a longitudinal driving mechanism 7 which are orthogonally disposed to each other, the first horizontal driving mechanism 5 and the second horizontal driving mechanism 6 being disposed on a plane parallel to a horizontal plane, and in a preferred embodiment of the present application, the first horizontal driving mechanism 5 and the second horizontal driving mechanism 6 are both disposed on a top of a frame structure of a body structure. The longitudinal driving mechanism 7 is movable in the extending direction of the first horizontal driving mechanism 5 and the second horizontal driving mechanism 6.

Specifically, the three-axis coordinate moving unit 1 is composed of 3 single-axis servo manipulators, wherein the second horizontal driving mechanism 6 is fixedly connected with the sliding block of the first horizontal driving mechanism 5, the longitudinal driving mechanism 7 is fixedly connected with the sliding block of the second horizontal driving mechanism 6, and the sliding block of the longitudinal driving mechanism 7 is provided with a second fixing part which can be used for fixing the 3D detection module and can also be used for processing an actuator and a workpiece.

The six-axis conformal movement unit 3 is composed of six independent servo movement axes, and is provided with a third fixing part for driving a third load to perform spatial six-degree-of-freedom conformal movement. The six servo motion axes, the three-axis coordinate motion unit 1 and the two-axis rotation motion unit 2 adopt the same bus communication protocol, such as an ethercat bus.

And then, the 3D detection module is used for acquiring the spatial pose information of the workpiece. Referring to fig. 5, the 3D detection module 4 includes two cameras 16, a projector 17 and a camera motion module, the two cameras 16 are respectively installed on two sides of the projector 17 through the two camera motion modules, the two cameras 16 are arranged in axial symmetry along the projection direction of the projector 7, and the camera motion module is used for driving the cameras 16 to move so as to detect three-dimensional image information of a workpiece.

Further, the camera motion module includes translation module 18 and rotation module 19, and wherein two cameras 16 link firmly with two rotation modules 19 respectively to realize that two cameras can freely rotate the contained angle between adjustment and the projecting apparatus optical axis, two rotation modules 19 link firmly with two translation modules 18 respectively, thereby realize that two cameras can follow the horizontal direction and adjust the distance between the two. The projector 17 is fixed to the camera housing 20 and the two translation modules 18 are fixed to the camera housing 20.

The first load, the second load and the third load are any one or a combination of a workpiece, a processing actuator and the 3D detection module 4. Specifically, the workpiece may be connected as a first load to the first fixed portion of the biaxial rotation motion unit, may be connected as a second load to the second fixed portion of the triaxial coordinate motion unit, or may be connected as a third load to the third fixed portion of the six-axis conformal motion unit. Similarly, the processing executor and the 3D detection module may also be installed as the first load, the second load, and the third load on the fixing portion of each unit, respectively.

In a working state, the master control center of the system selects a pre-constructed linkage machining mode and generates a control instruction in real time to control a machining actuator to machine a workpiece based on input workpiece information or workpiece information acquired by the 3D detection module 4. The present application relates to a linked machining mode selected based on the weight and the outer dimensions of a workpiece.

The working modes of the device comprise a conformal detection mode and a conformal self-adaptive machining mode. Preferably, the system can realize free switching of three working modes, namely a five-axis conformal detection and eight-axis conformal adaptive machining mode, an eight-axis conformal detection and five-axis conformal adaptive machining mode, and a multi-axis conformal detection and nine-axis conformal adaptive machining mode. When the weight of a workpiece to be machined is less than 5kg and the maximum size of the appearance is less than 500mm, the system adopts a five-axis conformal detection and eight-axis adaptive conformal machining mode to machine the workpiece; when the weight of a workpiece to be machined is more than 5kg and the maximum size of the appearance is less than 500mm, machining the workpiece by the system in an eight-axis conformal detection and five-axis conformal adaptive machining mode; when the maximum size of the appearance of the workpiece to be processed is larger than 500mm, the system processes the workpiece by adopting multi-axis conformal detection and nine-axis conformal self-adaptive processing; the mapping relation between the linkage machining mode and the weight and the external dimension of the workpiece can be flexibly adjusted by a person skilled in the art.

The respective operation modes of the present application will be described in detail below.

When the first load is the workpiece 21, the second load is the 3D detection module 4, and the third load is the processing executor 22; the 3D detection module 4 and the three-axis coordinate movement unit 1 form a five-axis conformal detection module, and the processing executor 22 and the six-axis conformal movement unit 3 form an eight-axis conformal self-adaptive processing module.

Specifically, the five-axis conformal detection means that the three-axis coordinate movement unit 1, the two-axis rotation movement unit 2 and the 3D detection module 4 are combined and linked to perform conformal detection. The 3D detection module 4 is fixedly connected with the longitudinal driving mechanism 7, the three-axis coordinate movement unit 1 drives the 3D detection module 4 to move together, and the workpiece is placed on the turntable 15 of the double-axis rotation movement unit 2 to realize that the workpiece and the double-axis rotation movement unit move together. The five-axis conformal detection means that the double-axis rotary motion unit 2 drives the workpiece to deflect and pitch, and the three-axis coordinate motion unit 1 drives the 3D detection module 4 to move with the workpiece, so that the 3D detection module can focus, shoot and splice all areas of the complex-shaped workpiece at high precision, and high-precision five-axis conformal detection of the complex-shaped workpiece is realized.

The eight-axis conformal self-adaptive machining means that the six-axis conformal motion unit 3 and the two-axis rotary motion unit 2 are combined and linked to realize conformal self-adaptive machining. Wherein, the processing actuator 22 (such as an electric main shaft, a cutting tool and the like) is fixedly connected with the six-shaft conformal movement unit 3, and the workpiece is placed on the turntable 15 of the double-shaft rotation movement unit 2 to realize the movement of the workpiece and the double-shaft rotation movement unit together. The eight-axis conformal self-adaptive machining means that the double-axis rotary motion unit 2 drives a workpiece to deflect and pitch, the six-axis conformal motion unit 3 drives a machining actuator to machine the workpiece, and the eight-axis linkage motion is used for realizing high-precision conformal self-adaptive machining of the workpiece with a complex surface.

When the first load is a workpiece, the second load is a processing actuator, and the third load is the 3D detection module 4, the 3D detection module 4 is fixedly connected with the six-axis conformal movement unit 3; the 3D detection module 4 and the six-axis conformal movement unit 3 form an eight-axis conformal detection module, and the processing executor 22 and the three-axis coordinate movement unit 1 form a five-axis conformal self-adaptive processing module.

The eight-axis shape following detection means that the six-axis shape following movement unit 3, the two-axis rotation movement unit 2 and the 3D detection module 4 are combined and linked to perform shape following detection. Wherein 3D detection module 4 links firmly with six along with shape motion unit 3, is driven 3D detection module 4 by six along with shape motion unit 3 and moves together, and the work piece is placed on biax rotary motion unit 2's carousel 15, realizes that work piece and biax rotary motion unit move together. The eight-axis conformal detection means that the two-axis rotary motion unit 2 drives the workpiece to deflect and pitch, and the six-axis conformal motion unit 3 drives the 3D detection module 4 to move with the workpiece, so that the 3D detection module can focus, shoot and splice all areas of the complex-shaped surface workpiece at high precision, and high-precision five-axis conformal detection of the complex-shaped surface workpiece is realized.

The five-axis conformal self-adaptive machining is realized by combining and linking a three-axis coordinate motion unit 1 and a two-axis rotary motion unit 2. Wherein, the processing actuator (such as an electric main shaft, a cutting tool and the like) is fixedly connected with the longitudinal driving mechanism 7 in the three-axis coordinate movement unit 1, and the workpiece is placed on the turntable 15 of the two-axis rotation movement unit 2 to realize the movement of the workpiece and the two-axis rotation movement unit together. The five-axis conformal self-adaptive machining is that the double-axis rotary motion unit 2 drives a workpiece to deflect and pitch, the three-axis coordinate motion unit 1 drives a machining actuator to machine the workpiece, and the high-precision conformal self-adaptive machining of the workpiece with the complex surface is realized through linkage motion between five axes.

When the first load is the 3D detection module 4 and the second load is the workpiece 21 or the processing actuator 22; the 3D detection module 4 and the double-shaft rotary motion unit 2 form a multi-shaft conformal detection module, and the processing actuator 22 and the three-shaft coordinate motion unit 1 or the six-shaft conformal motion unit 3 form a nine-shaft conformal self-adaptive processing module.

When the second load is the workpiece 21, the third load is the processing actuator 22;

when the second load is the processing actuator 22, the third load is the workpiece 21.

The multi-axis shape following detection means that the two-axis rotary motion unit 2 and the 3D detection module 4 are combined and linked to perform shape following detection. The 3D detection module 4 is fixedly connected with a turntable 15 of the double-shaft rotary motion unit 2, the double-shaft rotary motion unit 2 drives the 3D detection module 4 to move together, and a workpiece can be fixedly connected with a sliding block of a longitudinal driving mechanism 7 of the three-shaft coordinate motion unit 1 or a six-shaft conformal motion unit 3. Referring to the drawings, fig. 12 is a schematic diagram illustrating that a workpiece is fixedly connected with a slide block of a longitudinal driving mechanism 7 of a three-axis coordinate moving unit 1; fig. 13 shows a schematic view of the attachment of a workpiece to the six-axis form-following motion unit 3. The multi-axis conformal detection means that the double-axis rotary motion unit 2 drives the 3D detection module 4 to deflect and pitch, and the three-axis coordinate motion unit 1 or the six-axis conformal motion unit 3 drives the workpiece to move, so that the 3D detection module can focus, shoot and splice all areas of the complex-shaped surface workpiece at high precision, and high-precision double-axis conformal detection of the complex-shaped surface workpiece is realized.

The nine-axis shape following self-adaptive machining means that the three-axis coordinate movement unit 1 and the six-axis shape following movement unit 3 are combined and linked to realize shape following self-adaptive machining. Wherein, the processing actuator (such as an electric main shaft, a cutting tool and the like) and the workpiece are respectively and fixedly connected with the three-axis coordinate motion unit 1 and the six-axis conformal motion unit 3, and the positions of the two can be interchanged. The nine-axis shape following self-adaptive machining means that the three-axis coordinate moving unit 1 drives the machining actuator to perform shape following self-adaptive machining on a workpiece placed at the tail end of the six-axis shape following moving unit 3, or the six-axis shape following moving unit 3 drives the machining actuator to perform shape following self-adaptive machining on a workpiece placed on a Z-axis 7 sliding block of the three-axis coordinate moving unit 1, and through the two modes, nine-axis linkage motion can be achieved, so that high-precision shape following self-adaptive machining of a complex surface workpiece is achieved.

The five-axis conformal detection and eight-axis conformal self-adaptive machining mode is that for the high-precision machining of some complex surface parts under light load (the weight is less than 5kg, and the maximum size of the appearance is less than 500mm), the high-precision three-dimensional reconstruction of a workpiece is realized through the five-axis conformal detection, after point cloud coordinates are obtained, coordinate data are transmitted to a platform integrated control system, then the platform integrated control system performs track planning and force position control strategy generation on the eight-axis conformal self-adaptive machining system, then offline simulation is performed, the eight-axis conformal self-adaptive machining is performed after the error is confirmed, and the specific machining mode refers to the figure 10.

The eight-axis conformal detection and five-axis conformal self-adaptive machining mode refers to that for high-precision machining of heavy loads (the weight is larger than 5kg, and the maximum size of the appearance is smaller than 500mm) of parts with complex surfaces, firstly, high-precision three-dimensional reconstruction of a workpiece is achieved through the eight-axis conformal detection, after point cloud coordinates are obtained, coordinate data are transmitted to a platform integrated control system, then, the platform integrated control system carries out track planning and force position control strategy generation on the five-axis conformal self-adaptive machining system, then, off-line simulation is carried out, after the situation that no errors exist, five-axis conformal self-adaptive machining is carried out, and a specific machining mode refers to figure 11.

The multi-axis shape following detection and nine-axis shape following self-adaptive machining mode means that for workpieces (the maximum size of the appearance is larger than 500mm) with particularly complex shapes and very large sizes, and workpieces needing to be machined through large-stroke motion or more-axis linkage, high-precision three-dimensional reconstruction of the workpieces is achieved through multi-axis shape following detection, point cloud coordinates are obtained, coordinate data are transmitted to a platform integrated control system, then the platform integrated control system performs track planning and force position control strategy generation on the nine-axis shape following self-adaptive machining system, then offline simulation is performed, and nine-axis shape following self-adaptive machining is performed after the situation is confirmed to be correct (as shown in fig. 12 and 13).

The shape-following self-adaptive intelligent 3D detection and processing system is characterized in that a platform master control center serves as a unified control platform, a motion control card is communicated with servo drivers of all shafts through a bus protocol (such as an Ethercat bus), and the master control center comprises six modules, namely a system calibration module, a high-precision three-dimensional reconstruction system, an offline track planning system, a multi-shaft force position coupling control system, an offline simulation analysis system and a multi-shaft combined (five-shaft processing, eight-shaft processing and nine-shaft processing) processing motion control system which are in communication connection with one another. The calibration module is used for calibrating the workpiece to generate calibration information; the high-precision three-dimensional reconstruction module carries out three-dimensional reconstruction on the workpiece based on the calibration information to obtain a three-dimensional reconstruction model of the workpiece; the off-line track planning module selects a processing mode based on the three-dimensional reconstruction model and generates a processing track; the multi-axis force position coupling control module generates a machining track and a force-position coupling machining control strategy based on the machining track; the off-line simulation analysis module carries out simulation measurement and machining simulation based on the machining mode, and carries out interference detection to obtain an analysis result; the multi-axis combined machining control module controls the two-axis rotary motion unit, the three-axis coordinate motion unit and the six-axis conformal motion unit to machine a workpiece based on the analysis result, the machining trajectory and the machining control strategy.

The system calibration module can realize system calibration in different working modes; the calibration module comprises the following calibration steps: camera internal reference calibration, camera and projector combined calibration, camera and mechanical arm hand-eye calibration, and camera and rotating shaft combined calibration.

The high-precision three-dimensional reconstruction system realizes the high-precision three-dimensional reconstruction of multi-scale and complex curved surface parts in a multi-mode (five-axis conformal detection, eight-axis conformal detection and multi-axis conformal detection) working state; the off-line track planning system can generate 3D measuring and processing tracks in different working modes; the multi-axis force-position coupling control system can realize a force-position coupling processing control strategy under different working modes; the off-line simulation analysis system can realize analog measurement and processing simulation under different working modes and carry out interference detection; the multi-axis combined (five-axis machining, eight-axis machining and nine-axis machining) machining motion control system can generate motion control instructions according to a connecting line track planning result and a force-position coupling machining control strategy, and specific machining is achieved.

The five-axis conformal detection + eight-axis conformal adaptive machining mode in embodiment 1 of the present application is described in detail below with reference to a specific working method.

Firstly, selecting a working mode of five-axis shape following detection and eight-axis shape following self-adaptive machining in platform master control center software. A workpiece 21 and a tool clamp are arranged on the double-shaft rotary motion unit 2 and fixedly connected, the 3D detection module 4 is fixedly connected with the three-shaft coordinate motion unit 1, and the machining actuator 22 is fixedly connected with a tail end shaft of the six-shaft conformal motion unit. And then carrying out system calibration in the platform master control center according to the processing mode. After calibration is completed, the three-axis coordinate motion unit 1 drives the 3D detection module 4 to perform three-dimensional reconstruction on a workpiece, the three-dimensional reconstruction process comprises three steps, the three-axis coordinate motion unit 1 drives the 3D detection module 4 to perform integral photographing on the workpiece, the off-line track planning system in platform centralized control software intelligently generates a 3D detection motion track and performs off-line simulation and interference detection, and the multi-axis combined machining motion control system in the platform centralized control software generates a motion instruction to control the three-axis coordinate motion unit 1 and the two-axis rotary motion unit 2 to perform linkage motion, so that high-precision three-dimensional reconstruction of the workpiece is realized.

After reconstruction is completed, the three-axis coordinate movement unit 1 drives the 3D detection module 4 to retreat to a safe position, and eight-axis conformal self-adaptive machining is ready to be performed. The machining process is also divided into three steps, the generated point cloud coordinates of the workpiece are transmitted to a master control center in the first step, a machining track is intelligently generated by an offline track planning system of the master control center, offline simulation and interference detection are carried out, a force-position coupling control strategy is generated by a multi-shaft force-position coupling control system according to the current working mode (eight-shaft conformal self-adaptive machining mode) in the second step, a motion instruction is generated by a multi-shaft combined machining motion control system in the third step, and the six-shaft conformal motion unit 3 and the double-shaft rotary motion unit 2 are controlled to carry out linkage motion, so that high-precision conformal self-adaptive machining of the workpiece is realized. After the machining is finished, the six-axis conformal motion unit 3 drives the machining actuator 22 to retreat to a safe position, the three-axis coordinate motion unit 1 drives the 3D detection module 4 to repeat the three-dimensional reconstruction process again, and the machined workpiece is subjected to three-dimensional reconstruction, so that the machined workpiece high-precision three-dimensional point cloud is obtained and is used for subsequent machining evaluation or detection evaluation.

The five-axis conformal detection + eight-axis conformal adaptive machining mode of the present invention is described in detail above by way of example, and other machining modes are similar to the above process. However, the description is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Example 2:

compared with the embodiment 1, the embodiment 2 is characterized by further comprising a mechanical arm and a load frame, wherein the load frame is used for fixing the workpiece 21, the processing actuator 22 and the 3D detection module 4, the mechanical arm is provided with a three-dimensional image acquisition device, and the three-dimensional image acquisition device is used for acquiring three-dimensional image information of the workpiece 21;

in a working state, the mechanical arm selects an initial processing mode of the workpiece based on three-dimensional image information of the workpiece acquired by the three-dimensional image acquisition equipment, and the workpiece, the processing actuator and the 3D detection module are arranged on the fixing parts of the units in a one-to-one correspondence mode according to the initial processing mode. It can be understood that embodiment 2 also has all the advantages of embodiment 1, and can achieve all the technical effects that embodiment 1 can achieve, and the details are not described herein again.

Example 3:

this example 3 differs from the above example 1 in that:

the automatic switching device further comprises a mode fast switching unit 23 and a mode automatic switching manipulator 24;

the double-shaft rotary motion unit, the three-shaft coordinate motion unit and the six-shaft conformal motion unit are active units; the first load, the second load and the third load are driven units, each driving unit is provided with a tool male head, each driven unit is provided with a tool female head, and each driven unit is arranged on the tool male head through the tool female head and can move under the driving of the driving unit; the mode fast switching unit is used for bearing each driven unit; the automatic mode switching robot 24 is configured to clamp the driven unit on the fast mode switching unit 23 to the tooling male of the driving unit so that the driven unit is mounted on the driving unit. A vision recognition device, namely, a mode switching positioning camera 28 is arranged on the mode automatic switching manipulator 24, and the mode automatic switching manipulator 24 can acquire the coordinate positions of two positioning columns of a tooling male head on the active unit based on the mode switching positioning camera 28; the automatic switching manipulator can adjust the pose of the tool female head so that the tool male head is matched with the tool female head; or the automatic switching manipulator is in communication connection with the active units through communication links respectively, and each active unit can acquire the coordinate positions of two positioning columns of the tool male head on the active unit based on the visual recognition device and adjust the pose of the tool male head so that the tool male head is matched with the tool female head.

Further, the biax rotary motion unit of this application, triaxial coordinate motion unit, all be provided with the public head 25 of quick replacement frock on the six-axis conformal motion unit, first load, the second load, the third load all is provided with quick replacement frock female head 26, can realize that each unit of this application assembles fast with the load through the assembly of the public head 25 of quick replacement frock and quick replacement frock female head 26, further, refer to fig. 9, the public head 25 of quick replacement frock and quick replacement frock female head 26 all include electromagnetic locking switch, after two locating holes of the public head 25 of quick replacement frock and quick replacement frock female head 26 are aimed at and insert and target in place, can trigger electromagnetic locking switch automatically and open, thereby guarantee that quick replacement frock public head 25 and quick replacement frock female head 26 are firmly connected.

Specifically, referring to fig. 2, in this embodiment, the three-axis coordinate moving unit includes a first horizontal driving mechanism, a second horizontal driving mechanism, a longitudinal driving mechanism, and a quick-change tooling male head 25, which are disposed orthogonally to each other, wherein the quick-change tooling male head 25 is fixedly connected to a slide block of the longitudinal driving mechanism, and the three-axis coordinate moving unit 1 can be fixedly connected to the 3D detection module 4 and the machining actuator 22 through the quick-change tooling male head 25.

Referring to fig. 3, in the embodiment, the quick-change tool male head 25 is installed on the turntable 15 of the dual-axis rotary motion unit 2, and similarly, the dual-axis rotary motion unit 2 can be fixedly connected to the 3D detection module 4 or the processing actuator 22 through the quick-change tool male head 25.

As shown in fig. 4, in this embodiment, the six-axis conformal movement unit 3 is fixedly connected to the quick-change tool male head 25, and the six-axis conformal movement unit 3 may be fixedly connected to the 3D detection module 4 or the processing actuator 22 through the quick-change tool male head 25.

Further, in this embodiment, the 3D detection module 4 is provided with two quick-change tool female heads 26, referring to fig. 5, and the quick connection between the 3D detection module 4 and the six-axis conformal movement unit 3 or the two-axis rotational movement unit 2 or the three-axis coordinate movement unit 1 can be realized by the cooperation between the quick-change tool female head 26 and the quick-change tool male head 25. Referring to fig. 8, a quick change tool nut 26 is also mounted on the machine effector 22.

The mode fast switching unit 23 is used for placing the 3D detection module 4 and the processing actuator 22, and referring to fig. 6 specifically, the mode fast switching unit 23 mainly functions to provide an accommodation space for the 3D detection module 4 and the processing actuator 22 when the mode fast switching is performed.

As shown in fig. 7, the automatic mode switching robot 24 is composed of a six-axis robot, a pneumatic gripper 27, and a mode switching positioning camera 28. The pneumatic clamp 27 can automatically clamp the 3D detection module 4 and the quick-change tooling nut head 26 of the machining actuator 22. The mode switching positioning camera 28 is used as a positioning camera for the male quick-change tooling head 25 and the female quick-change tooling head 26 during mode switching.

The processing mode switching of this application self-adaptation intelligence 3D detection and processing system is accomplished through mode fast switch unit 23 and mode automatic switch manipulator 24, and mode automatic switch manipulator 24 package 6 manipulators.

In the working state, when the system needs to switch the processing mode, the pneumatic clamp 27 automatically clamps the 3D detection module 4 or the quick-change tooling female head 26 of the processing actuator 22, then the mode automatic switching mechanical arm 24 moves to the designated position according to the switched mode, firstly the mode switching positioning camera 28 takes a picture of the quick replacement tooling male head 25 of the load unit to be assembled, the coordinate positions of two positioning columns on the quick replacement tooling male head 25 are calculated by a visual identification algorithm, then, the quick-change tool male head 25 is adjusted to a predefined position (a position which can be aligned with two positioning holes on the female head) through the rotation of the double-shaft rotating motion unit 2 or the rotation of the six-shaft shape-following motion unit 3, and finally, the mode automatic switching manipulator 24 drives the quick-change tool female head 26 to move, so that the quick-change tool male head 25 is butted and locked (locked through an electromagnetic switch). It is understood that the angle of the quick-change tool female head 26 can be adjusted by automatically switching the relative pose of the manipulator 24 in the rotating mode, so as to realize the butt joint and locking of the quick-change tool male head 25.

The following describes in detail the five-axis profile following detection + eight-axis profile following adaptive machining mode shown in fig. 10 according to this embodiment with reference to a specific working method.

Firstly, selecting a working mode of five-axis shape following detection and eight-axis shape following self-adaptive machining in platform master control center software. The female head 26 position of the quick replacement frock of 3D detection module 4 is held automatically by pneumatic fixture 27, then drive 3D detection module 4 to the preceding preset position of the male head 25 of quick replacement frock of triaxial coordinate movement unit 1 by mode automatic switch manipulator 24, shoot the male head 25 of quick replacement frock by mode switch location camera 28, calculate two reference column coordinate positions on the male head 25 of quick replacement frock by visual identification algorithm, confirm that the male head 25 of quick replacement frock is located the predefined position (can with the position of two locating holes on the female head alignings), drive 3D detection module 4 motion by mode automatic switch manipulator 24 at last, realize female head and male head butt joint and locking (locking through electromagnetic switch), thereby link firmly 3D detection module 4 and 3 axle coordinate movement unit 1.

Then, the pneumatic clamp 27 automatically clamps the position of the quick-change tooling female head 26 of the machining actuator 22, the mode automatic switching manipulator 24 drives the machining actuator 22 to a preset position in front of the quick-change tooling male head 25 of the six-axis conformal movement unit 3, the mode switching positioning camera 28 photographs the quick-change tooling male head 25, the coordinate positions of two positioning columns on the quick-change tooling male head 25 are calculated by a visual recognition algorithm, the end shaft of the six-axis conformal movement unit 3 rotates to adjust the quick-change tooling male head 25 to a predefined position (a position which can be aligned with two positioning holes on the female head), and finally the mode automatic switching manipulator 24 drives the machining actuator 22 to move, so that the female head and the male head are butted and locked (locked by an electromagnetic switch), thereby the machining actuator 22 is fixedly connected with the six-axis conformal movement unit 3, and placing the workpiece 21 and the tool clamp on the double-shaft rotary motion unit 2 and fixedly connecting the workpiece and the tool clamp.

And then the three-axis coordinate motion unit 1 drives the 3D detection module 4 to perform three-dimensional reconstruction of the workpiece, the three-dimensional reconstruction process comprises three steps, the three-axis coordinate motion unit 1 drives the 3D detection module 4 to perform integral photographing on the workpiece, the off-line trajectory planning system in the platform centralized control software intelligently generates a 3D detection motion trajectory and performs off-line simulation and interference detection, and the multi-axis combined machining motion control system in the platform centralized control software generates a motion instruction to control the three-axis coordinate motion unit 1 and the two-axis rotary motion unit 2 to perform linkage motion, so that the high-precision three-dimensional reconstruction of the workpiece is realized.

After reconstruction is completed, the three-axis coordinate movement unit 1 drives the 3D detection module 4 to retreat to a safe position, and eight-axis conformal self-adaptive machining is ready to be performed. The machining process is also divided into three steps, the generated point cloud coordinates of the workpiece are transmitted to a master control center in the first step, a machining track is intelligently generated by an offline track planning system of the master control center, offline simulation and interference detection are carried out, a force-position coupling control strategy is generated by a multi-shaft force-position coupling control system according to the current working mode (eight-shaft conformal self-adaptive machining mode) in the second step, a motion instruction is generated by a multi-shaft combined machining motion control system in the third step, and the six-shaft conformal motion unit 3 and the double-shaft rotary motion unit 2 are controlled to carry out linkage motion, so that high-precision conformal self-adaptive machining of the workpiece is realized. After the machining is finished, the six-axis conformal motion unit 3 drives the machining actuator 22 to retreat to a safe position, the three-axis coordinate motion unit 1 drives the 3D detection module 4 to repeat the three-dimensional reconstruction process again, and the machined workpiece is subjected to three-dimensional reconstruction, so that the machined workpiece high-precision three-dimensional point cloud is obtained and is used for subsequent machining evaluation or detection evaluation.

In the technical solution in the embodiment of the present application, at least the following technical effects and advantages are provided:

the invention can realize the free switching of three working modes of five-axis conformal detection + eight-axis conformal self-adaptive machining mode, eight-axis conformal detection + five-axis conformal self-adaptive machining mode and 2+3 or 2+ six-axis conformal detection + nine-axis conformal self-adaptive machining mode. By the aid of technologies such as multi-axis linkage design, multi-mode process switching and intelligent control system development, shape-following self-adaptive intelligent 3D detection and machining of complex-shaped parts can be achieved.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (10)

1. A self-adaptive intelligent 3D detection and processing system is characterized by comprising a double-shaft rotary motion unit, a three-shaft coordinate motion unit, a six-shaft conformal motion unit, a 3D detection module and a master control center which are in communication connection with each other, wherein the three-shaft coordinate motion unit and the six-shaft conformal motion unit are respectively arranged on two sides of the double-shaft rotary motion unit;

the double-shaft rotating motion unit comprises a pitching device and a deflecting device and is used for driving the first load to perform pitching motion and rotating motion;

the three-axis coordinate movement unit is used for driving the second load to perform linear movement along three mutually orthogonal directions;

the six-axis conformal motion unit consists of six independent servo motion axes so as to drive the third load to perform spatial six-degree-of-freedom conformal motion;

the 3D detection module is used for acquiring the spatial pose information of the workpiece;

the first load, the second load and the third load are respectively any one or combination of a workpiece, a processing actuator and the 3D detection module;

in a working state, the master control center selects a pre-constructed linkage machining mode and generates a control instruction in real time to control a machining actuator to machine a workpiece based on the workpiece information acquired by the 3D detection module.

2. The adaptive intelligent 3D detection and processing system of claim 1, wherein the two-axis rotary motion unit further comprises a support to which the yaw apparatus is fixed by the pitch apparatus;

the pitching device comprises first rotary tables, a pitching driving device and a moving frame, the two first rotary tables are parallelly arranged on the support at intervals, and the rotating surfaces of the first rotary tables are perpendicular to the support; the pitching driving device is arranged on one side of the first rotary table; the moving frame is transversely connected between the two first rotating tables; the pitching driving device drives the first rotating table to rotate so as to drive the moving frame to pitch;

the deflection device comprises a second rotary table and a deflection driving device, the second rotary table and the deflection driving device are both arranged on the moving frame, an output shaft of the deflection driving device is perpendicular to the support and is connected with the second rotary table, a rotating surface of the second rotary table is orthogonal to a rotating surface of the first rotary table, and the deflection driving device drives the second rotary table to rotate so as to drive a load arranged on the second rotary table to perform deflection movement.

3. The adaptive intelligent 3D detecting and processing system according to claim 1, wherein the 3D detecting module comprises two cameras, a projector and a camera motion module, the two cameras are respectively mounted on two sides of the projector through the two camera motion modules, the two cameras are arranged in an axisymmetric manner along a projection direction of the projector, and the camera motion module is used for driving the cameras to move so as to detect three-dimensional image information of a workpiece.

4. The adaptive intelligent 3D detection and processing system according to claim 2, further comprising a body structure, wherein the body structure is a frame structure, a bottom surface of the body structure is parallel to a horizontal plane, and the body structure is used for fixing the two-axis rotation motion unit, the three-axis coordinate motion unit and the six-axis conformal motion unit;

the three-axis coordinate movement unit comprises a first horizontal driving mechanism, a second horizontal driving mechanism and a longitudinal driving mechanism which are orthogonally arranged with each other, the first horizontal driving mechanism and the second horizontal driving mechanism are arranged on a plane parallel to a horizontal plane, and the longitudinal driving mechanism can move along the extending direction of the first horizontal driving mechanism and the second horizontal driving mechanism.

5. The adaptive intelligent 3D detection and processing system of claim 4, wherein the first load is a workpiece secured to the second turntable;

the second load is the 3D detection module, and the 3D detection module is fixedly arranged on the longitudinal driving mechanism of the three-axis coordinate movement unit;

the third load is a processing actuator, and the processing actuator is fixedly connected with the six-axis conformal movement unit;

the three-axis coordinate movement unit and the three-axis coordinate movement unit form a five-axis shape following detection module, and the machining actuator and the six-axis shape following movement unit form an eight-axis shape following self-adaptive machining module.

6. The adaptive intelligent 3D detection and processing system of claim 4, wherein the first load is a workpiece secured to the second turntable;

the second load is a processing actuator which is fixedly arranged on a longitudinal driving mechanism of the three-axis coordinate movement unit;

the third load is a 3D detection module, and the 3D detection module is fixedly connected with the six-axis conformal movement unit;

the three-dimensional (3D) detection module and the six-axis conformal motion unit form an eight-axis conformal detection module, and the machining actuator and the three-axis coordinate motion unit form a five-axis conformal self-adaptive machining module.

7. The adaptive intelligent 3D detection and processing system of claim 4, wherein the first load is the 3D detection module and the second load is a workpiece or a processing actuator;

when the second load is a workpiece, the third load is a machining actuator;

when the second load is a process actuator, the third load is a workpiece.

8. The adaptive intelligent 3D detection and processing system of claim 1, wherein the three-axis coordinate motion unit and the six-axis conformal motion unit each comprise a six-dimensional force position sensor assembly; the master control center comprises a calibration module, a high-precision three-dimensional reconstruction module, an off-line track planning module, a multi-axis force position coupling control module, an off-line simulation analysis module and a multi-axis combined machining control module which are in communication connection with one another;

the calibration module is used for calibrating the workpiece to generate calibration information;

the high-precision three-dimensional reconstruction module carries out three-dimensional reconstruction on the workpiece based on the calibration information to obtain a three-dimensional reconstruction model of the workpiece;

the off-line track planning module selects a processing mode based on the three-dimensional reconstruction model and generates a processing track;

the multi-axis force position coupling control module generates a force-position coupling machining control strategy based on the machining track;

the off-line simulation analysis module carries out simulation measurement and machining simulation based on the machining mode, and carries out interference detection to obtain an analysis result;

the multi-axis combined machining control module controls the two-axis rotary motion unit, the three-axis coordinate motion unit and the six-axis conformal motion unit to machine a workpiece based on the analysis result, the machining trajectory and the machining control strategy.

9. The adaptive intelligent 3D detection and processing system according to claim 1, further comprising a mechanical arm and a load frame, wherein the load frame is used for fixing a workpiece, a processing actuator and the 3D detection module, the mechanical arm is provided with a three-dimensional image acquisition device, and the three-dimensional image acquisition device is used for acquiring three-dimensional image information of the workpiece;

in a working state, the mechanical arm selects an initial processing mode of the workpiece based on the three-dimensional image information of the workpiece acquired by the three-dimensional image acquisition equipment, and the workpiece, the processing actuator and the 3D detection module are correspondingly arranged on the fixing part of each unit one by one according to the initial processing mode.

10. The adaptive intelligent 3D detection and processing system of claim 1, further comprising a mode fast switching unit and a mode auto-switching robot;

the double-axis rotary motion unit, the three-axis coordinate motion unit and the six-axis conformal motion unit are active units; the first load, the second load and the third load are driven units, each driving unit is provided with a male tooling head, each driven unit is provided with a female tooling head, and each driven unit is arranged on the male tooling head through the female tooling head and can move under the driving of the driving unit;

the mode fast switching unit is used for bearing each driven unit;

the automatic switching manipulator is used for clamping the driven unit on the mode quick switching unit to a tool male head of the driving unit; a visual recognition device is arranged on the automatic switching mechanical arm, and the automatic switching mechanical arm can acquire the coordinate positions of two positioning columns of a tooling male head on the active unit based on the visual recognition device;

the automatic switching manipulator can adjust the pose of the tool female head based on the coordinate positions of the two positioning columns, so that the tool male head is matched with the tool female head; or

The automatic switching manipulator is in communication connection with the active units through communication links, and the active units can adjust the pose of the tool male head based on the coordinate positions of the two positioning columns, so that the tool male head is matched with the tool female head.

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