Automatic machining equipment and method for large-size workpiece
A technology for automatic processing of large workpieces, applied in the direction of manufacturing tools, manipulators, program-controlled manipulators, etc., which can solve the problems of long time, affect processing efficiency, and cumbersome operation, and achieve the effect of reducing errors and high flexibility
Inactive Publication Date: 2019-06-07
ISVISION (TIANJIN) TECH CO LTD
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Problems solved by technology
This method is cumbersome to operate on site and takes a long time. It takes about half an hour to measure a single processing position, which seriously affects the processing efficiency.
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[0032] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0033] An automatic processing equipment for large workpieces. The large workpiece 6 is installed on a tooling bracket 8. The automatic processing equipment includes a controller 3, an AGV trolley 4, a robot 2 installed on the AGV trolley 4, and a robot fixed near the tooling bracket 8. Calibration target 5; Robot 2 is a hybrid processing robot, an industrial processing robot or a parallel processing robot, preferably a hybrid processing robot;
[0034] The AGV trolley 4 moves along the preset track, and carries the robot 2 to the predetermined measurement position;
[0035] The end of the robot 2 is provided with a processing manipulator 9 and a visual inspection device 1 with a fixed relative position; the processing manipulator 9 can perform welding, riveting, drilling, gluing, grinding or spraying; within the d...
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The invention discloses automatic machining equipment and method for a large-size workpiece. The large-size workpiece is mounted on a tool bracket; the equipment comprises a controller, an AGV (Automated Guided Vehicle), a robot mounted on the AGV and a calibration target which is fixedly arranged nearby the tool bracket, wherein the AGV moves along a pre-set rail; a machining mechanical arm and visual inspection equipment, which have fixed relative positions, are arranged at the tail end of the robot; the calibration target and the robot are relatively fixed at a certain position; the visualinspection equipment is used for acquiring a calibration target image; the controller is used for resolving image data and solving a transformation relation between the tail end of the robot and the visual inspection equipment; the AGV moves to a pre-set measurement position, keeps stationary and is used for acquiring images containing position marks on the workpiece and resolving an offset of theworkpiece relative to a demonstration position; and positions and postures are adjusted through the robot and the mechanical arm can accurately reach a position to be machined. By adopting the equipment and the method, the positions and postures can be resolved at each machining position within only few seconds and the machining efficiency is extremely improved.
Description
technical field [0001] The invention relates to the field of intelligent manufacturing, in particular to an automatic processing equipment and method for large workpieces. Background technique [0002] For the on-site processing of large components, the traditional method is to use tool positioning or robot repetitive trajectory processing, but this method cannot meet the needs of on-site flexible processing. The key to solving this problem is how to obtain the relative pose of the robot and the workpiece to be processed. The existing method is to use external measuring equipment such as a laser tracker to measure the coordinate systems of the robot and the workpiece respectively after the robot is in place, so as to determine the pose relationship between the two, and feed back to the robot for trajectory adjustment. This method is cumbersome to operate on site and takes a long time. It takes about half an hour to measure a single processing position, which seriously affec...
Claims
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Login to View More IPC IPC(8): B25J5/00B25J9/16B25J11/00
Inventor 邹剑张楠楠郭磊
Owner ISVISION (TIANJIN) TECH CO LTD