Movable double-robot automatic milling type intelligent flexible production line and running method thereof

Abstract

The invention discloses a movable double-robot automatic milling type intelligent flexible production line and a running method thereof. The production line comprises free moving platforms, a millingprocessing robot, a binocular vision robot, a laser cutter aligning device, an industrial robot control cabinet, a main control cabinet, a moving panel and a cooling machine, wherein the binocular vision robot and the industrial robot control cabinet are arranged on a first free moving platform; the milling processing robot, the main control cabinet and the cooling machine are mounted on a secondfree moving platform; two movable robots are correspondingly used for milling and measuring online; the binocular vision robot is loaded to a preset station through the first free moving platform; a binocular vision measuring instrument at the tail end of the binocular vision robot is used for scanning and detecting a workpiece to be processed so as to obtain processing milling tolerance; and themilling processing robot is loaded to perform milling through the second free moving platform. The production line realizes highly intelligent control, and is large in working space and high in positioning accuracy; the product processing quality is high, and the stability is high; the product processing efficiency is high; and a complex milling processing task can be performed.

Description

technical field [0001] The invention belongs to the field of mechanical processing, and in particular relates to an intelligent flexible production line for automatic milling by movable double robots and an operation method thereof. Background technique [0002] With the full implementation of my country's manned spaceflight and lunar exploration projects, the amount of research and development tasks for large-scale spacecraft has doubled, and its high-precision, short-process, and high-flexibility manufacturing features pose new challenges to processing technology and equipment. For the measurement and processing of high-precision instrument and equipment mounting brackets on large spacecraft such as space stations with large dimensions and weak rigidity, the existing methods need to be completed in different workshops and workstations, after repeated hoisting, transfer and clamping to complete different tasks. This not only requires the preparation of a large-scale five-a...

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Problems solved by technology

This not only requires the preparation of a large-scale five-axis gantry machining center, but also has the risk of benchmark deviation during the station conversion process, prolongs the manufacturing cycle, and makes it difficult to achieve the rapid response requirements for model development

In order to solve the processing problems of large structural parts and improve product processing efficiency, it is urgent to develop a mobile robot intelligent flexible manufacturing unit that combines an omnidirectional intelligent mobile platform, a robot, and a high-precision end effector. However, due to a single mobile robot The efficiency of unit operation is low, and it cannot meet the complex processing task requirements in common manufacturing processes such as measurement and processing at one time. Therefore, a multi-robot collaborative operation system that can adapt to new environments and new tasks is the development trend of large-scale component processing in the future.

[0003] As far as the current domestic research status is concerned, there are few studies on the cooperation of multiple mobile robots for detection and processing. For example, in "A Mobile Automatic Addressing Drilling and Milling Robot System" (CN201611161636. Drilling and milling processing tasks, "an intelligent flexible production line for automatic assembly of robots and its operation method" (CN201510586767.1) in which a single robot moves on the ground rail to achieve multi-station work, neither of these two working methods is effective Therefore, in order to solve the processing problems of large structural parts and improve product processing efficiency, it is urgent to introduce an intelligent flexible production line with multi-robot cooperative operation

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