Reconfigurable intelligent lathe-milling compound machine tool and reconfiguration method

Abstract

The application discloses a reconfigurable intelligent car-milling composite machine tool and a reconfiguration method, and relates to the technical field of machine tools, and comprises system development and function design based on function modules, a topological structure based on a modular reconfigurable numerical control machine tool, an image recognition technology based on a deep convolutional neural network and an unloading system based on a structure light system guiding a mechanical arm, and a modular mechanical system and a reconfigurable control system are designed, the reconfigurable, modular mechanical system and the control system are designed, on the basis of maximizing the use of existing resources, efficient and economical conversion of hardware and software is realized, system reconfiguration is realized, and customized production capacity and function requirements are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tools, more particularly to the technical field of a reconfigurable intelligent turning-milling combined machine tool and a reconfiguration method. BACKGROUND

[0002] Machine tools are known as the mother machine of industry, and the degree of their advancement is a symbol of the degree of development of a country's industry. For a long time, the high-end machine tool market has been monopolized by Germany, Japan, the United States and other countries, not only with high prices, but also subject to foreign export restrictions. China's machine tool industry started late, and high-end machine tools have long relied on imports. Overall, it is large but not strong. Traditional machining centers are low in efficiency and special machine tools are poor in flexibility. In order to reduce the cost of flexible manufacturing investment, speed up the reaction speed of the production line, and meet the processing needs of multi-variety and variable-batch workpieces, it is urgent to realize the localization of high-end machine tools. The existing patents disclose the following technologies:

[0003] Patent No. CN101844261B, entitled "Reconfigurable cutting machine tool in the field of mechanical processing technology", discloses the following content: a reconfigurable cutting machine tool in the field of mechanical processing technology, comprising: a base sub-module, a workpiece movement sub-module, a cutting gun movement sub-module, a task description module, a topological design module, a topological optimization module, a parameter design module and a parameter optimization module. The present application has a standard modular mechanical structure and interface; has the processing capacity of intersecting line cutting, plane cutting, etc.; under the flow operation of reconfiguration strategy and reconfiguration method, the configuration can be quickly changed to meet the demand change.

[0004] Patent No. CN102303242B, entitled "A reconfigurable special-purpose combined machine tool", discloses the following content: a reconfigurable special-purpose combined machine tool, comprising a machine frame, an input module, a loading and unloading robot, a workpiece horizontal feeding module and a hole measuring combined machining power head. The input module is located at one end of the machine frame, the loading and unloading robot is located at the upper end of the input module and the workpiece horizontal feeding module, the workpiece horizontal feeding module includes a workpiece horizontal feeding workbench, a workpiece clamping device and a clamp combination, the hole measuring combined machining power head is arranged at both ends of the workpiece horizontal feeding module, and a top hole combined machining power head is arranged at the other end of the machine frame. The top hole combined machining power head includes a drilling machining power head, a tapping machining power head, a power head main drive device, a power head vertical feeding device, a first power head fixing frame, a second power head fixing frame and a power head transverse drive device. The input shafts of the drilling machining power head and the tapping machining power head are in transmission connection with the power head main drive device. The present application has high machining efficiency, high machining precision and large machining flexibility.

[0005] The reconfigurable machine tool disclosed in the above-mentioned patent has the defects of large investment resources, long reconfiguration time, high cost and low intelligence. SUMMARY

[0006] The present application aims at solving the technical problems of large investment resources, long reconstruction time, high cost and low intelligence of existing reconfigurable machine tools.

[0007] To achieve the above-mentioned purposes, the present application specifically adopts the following technical solutions:

[0008] The present application provides a reconfigurable intelligent turning-milling composite machine tool and a reconfiguration method thereof.

[0009] Step S01, based on the system development of functional modules, the topology of modular reconfigurable numerical control machine tools, image recognition based on deep convolutional neural networks, and the feeding and discharging system based on the structure light system guiding the mechanical arm, the modular mechanical system and the reconfigurable control system are designed;

[0010] Step S02, the composite function segmentation test of the modular mechanical system, the modular mechanical system passing the composite function segmentation test enters the optimization link, the modular mechanical system passing the optimization link enters the next step, and the modular mechanical system not passing the optimization link returns to the composite function segmentation test;

[0011] The test of the reconfigurable control system, the reconfigurable control system passing the test enters the optimization link, the reconfigurable control system passing the optimization link enters the next step, and the reconfigurable control system not passing the optimization link returns to the test;

[0012] Step S03, the modular mechanical system and the reconfigurable control system processed in step S02 are integrated and tested, the modular mechanical system and the reconfigurable control system passing the system integration and test enter the optimization link, the modular mechanical system and the reconfigurable control system passing the optimization link enter the next step, and the modular mechanical system and the reconfigurable control system not passing the optimization link return to the system integration and test;

[0013] Step S04, the modular mechanical system and the reconfigurable control system passing the optimization link are put into trial operation, and the product is finalized through the trial operation.

[0014] Specifically, the reconfigurable intelligent turning-milling composite machine tool developed by the present application takes the basic turning-milling composite machine tool as the research object, and through the design of the reconfigurable and modular mechanical system and control system, the hardware and software are efficiently and economically converted on the basis of maximizing the use of existing resources, the system is reconfigured, and the customized production capacity and functional requirements are met. Through the design of the machine tool bed, the main and auxiliary shaft transmission system, the workpiece clamping and tool changing, the hydraulic system, the lubrication system, the cooling system, the appearance protection system, the water tank, the chip removal system, the feeding and discharging mechanism and the control system, the reconfigurable intelligent turning-milling composite machine tool is realized.

[0015] In one embodiment, in step S01, for the topology structure based on the modular reconfigurable numerical control machine tool, the mechanical equipment is divided into three types according to the equipment type: the first type is a functional unit for completing turning and milling control functions, the second type is a motion unit for realizing the freedom control function in the motion process of the machine tool equipment, and the third type is an auxiliary unit that does not directly participate in the machining control and only realizes the auxiliary control function.

[0016] Specifically, the reconfigurable numerical control machine tool can complete the machining operation and the freedom control function on one control platform. According to the equipment type, the mechanical equipment is divided into three types: 1) functional unit: mainly completes turning, milling and other control functions; 2) motion unit: realizes the freedom control function in the motion process of the machine tool equipment; 3) auxiliary unit: does not directly participate in the machining control, and only realizes the auxiliary control function, such as clamp, counterweight control, etc. The modular design adopts a "decoupling" design method to realize "low coupling and high cohesion" of the functional modules, as shown in Figure 2 .

[0017] In one embodiment, in step S01, based on the image recognition technology of deep convolutional neural network, the product shape size, surface defect, and machining effect data features can be obtained through image acquisition and recognition after the workpiece machining is completed.

[0018] Specifically, the deep convolutional neural network (DCNN) has become the main means of image recognition, and the image recognition technology based on DCNN is the technical key of the project, as shown in Figure 3 .

[0019] In one embodiment, in step S01, a feeding and discharging system based on a structure light system guided mechanical arm is built, and the structure light system is calibrated by means of a calibration plate to obtain the camera internal parameters.

[0020] Specifically, after adopting the structure light vision, the deviation judgment of positioning caused by various factors is significantly improved in the machine tool machining practice. The structure light vision can more effectively identify the unstructured industrial production scene, realize accurate position coordinate determination, and further provide the basis for the accurate taking and placing of the collaborative robot.

[0021] In one embodiment, for the feeding and discharging system based on the structure light system guided mechanical arm, the mechanical arm guiding method of the structure light vision system includes workpiece pose estimation and mechanical arm motion trajectory planning.

[0022] Specifically, the mechanical arm guiding method based on the structured light vision system mainly includes workpiece pose estimation and mechanical arm motion trajectory planning.The structured light vision system can obtain three-dimensional point cloud information of the material, and the absolute orientation of the material needs to be solved for actual material grabbing.Under the premise of fully considering factors such as shielding, obstacle avoidance, impact and vibration, the shortest motion time is taken as the performance index, and the joint angle is controlled to reach the target pose.

[0023] In one embodiment, in step S01, the modular mechanical system includes a machine tool bed system, a main and auxiliary shaft transmission system, a workpiece clamping and tool changing system, a hydraulic lubrication and cooling system, an appearance protection system, a water tank and chip removal system, and a feeding and discharging system.

[0024] Specifically, the traditional machining and manufacturing first selects a machine tool, and plans a machining process of the manufacturing system according to the machining characteristics of the machine tool, while the reconfigurable machine tool of the present scheme is just the opposite, which first determines the machining functions and production capacity required by the manufacturing system, and then selects and combines the required functions.The configuration design of the reconfigurable machine tool is essentially a process of selection and combination of modules.The machining information in the process family is decomposed into a series of motion functions, and then matched with the corresponding mechanical modules, and different connection sequences between the modules generate configurations that meet the process requirements.

[0025] In one embodiment, the machine tool bed system, the main and auxiliary shaft transmission system, the workpiece clamping and tool changing system, the hydraulic lubrication and cooling system, the appearance protection system, the water tank and chip removal system, and the feeding and discharging system all adopt an open system interface.

[0026] Specifically, in view of the modular structure characteristics of the reconfigurable machine tool, research is carried out on the standard functional module model and related technologies, a standard functional module model is established in combination with the main functions and control execution process of the machine tool, and a basic implementation process of the functional module is proposed.Through the adoption of the modular structure and the open system interface, the modularization, reusability, scalability and other requirements of the machine tool are effectively met.

[0027] In one embodiment, in step S01, the reconfigurable manufacturing system adopts a modular structure and an open system interface, and the reconfigurable control system includes a section design system, a software control system and an electrical control system.

[0028] Specifically, the reconfigurable manufacturing system adopts a modular structure and an open system interface, and can quickly combine, replace and integrate hardware and software functional modules required by the manufacturing system, meet the machining control requirements of different types of products, and has the characteristics of modularity, scalability, convertibility, integrability, diagnosability and customizability.

[0029] The present application also provides a reconfigurable intelligent turning-milling composite machine tool adopting the reconfiguration method of the above-mentioned reconfigurable intelligent turning-milling composite machine tool.

[0030] In one embodiment, the lathe includes a lathe body, a turning-milling composite body, a clamping part, and a cooling oil tank, the turning-milling composite body is arranged on the lathe body, the clamping part is adjustably arranged on the lathe body and cooperates with the turning-milling composite body, and the cooling oil tank is arranged on one side of the bottom of the lathe body.

[0031] The beneficial effects of the present application are as follows:

[0032] The present application designs a reconfigurable machine tool based on a basic turning-milling composite machine tool, aiming at changing process requirements, minimizing machine tool investment resources, reconfiguration time and cost, and through the design of reconfigurable and modular mechanical systems and control systems, efficiently and economically converting hardware and software on the basis of maximizing the use of existing resources, realizing system reconfiguration, and meeting customized production capacity and functional requirements. Through the research on key technologies such as system development and functional design based on functional modules, topological structure based on modular reconfigurable numerical control machine tools, mechanical arm trajectory planning based on structured light vision systems, and image recognition technology based on deep convolutional neural networks, the design of machine tool body structure, transmission system, feeding and discharging mechanism, and control system, the reconfigurable intelligent turning-milling composite machine tool is completed. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a flowchart of a reconfiguration method of the reconfigurable intelligent turning-milling composite machine tool of the present application;

[0034] Figure 2 is a schematic diagram of the coupling and cohesion type of functional modules;

[0035] Figure 3 is a convolutional neural network topology diagram;

[0036] Figure 4 is a schematic diagram of the internal structure of a reconfigurable intelligent turning-milling composite machine tool;

[0037] Figure 5 is a front view of Figure 4 ;

[0038] Figure 6 is a schematic diagram of the structure of Figure 1 plus a shell;

[0039] Reference signs: 1-lathe body, 2-clamping part, 3-turning-milling composite body, 4-cooling oil tank. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0042] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the embodiments of the present application, it should be noted that the terms "inner", "outer", "upper", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, cannot be understood as a limitation on the present application.

[0044] Embodiment 1

[0045] As shown in Figure 1 The present embodiment provides a reconfiguration method of a reconfigurable intelligent turning-milling hybrid machine tool, comprising the following steps:

[0046] Step S01, design a modular mechanical system and a reconfigurable control system based on a system development and functions based on functional modules, a topology structure based on a modular reconfigurable numerical control machine tool, image recognition based on a deep convolutional neural network, and an unloading system based on a structured light system guiding a mechanical arm;

[0047] Step S02, test the segmented functions of the modular mechanical system, the modular mechanical system passing the segmented function test enters an optimization link, the modular mechanical system passing the optimization link enters the next step, and the modular mechanical system not passing the optimization link returns to the segmented function test;

[0048] The reconfigurable control system is tested, the reconfigurable control system passing the test enters an optimization link, the reconfigurable control system passing the optimization link enters the next step, and the reconfigurable control system not passing the optimization link returns to the test;

[0049] In step S03, the modular mechanical system and the reconfigurable control system processed in step S02 are integrated and tested, the modular mechanical system and the reconfigurable control system passing the system integration and test enter an optimization link, the modular mechanical system and the reconfigurable control system passing the optimization link enter the next step, and the modular mechanical system and the reconfigurable control system not passing the optimization link return to the system integration and test;

[0050] In step S04, the modular mechanical system and the reconfigurable control system passing the optimization link are run, and passing the run enter a product finalization link, and passing the product finalization link can be popularized and applied.

[0051] Specifically, the reconfigurable intelligent turning-milling combined machine tool developed in the scheme takes a basic turning-milling combined machine tool as a research object, and through the design of a reconfigurable and modular mechanical system and a control system, on the basis of maximizing the use of existing resources, efficiently and economically converts hardware and software, realizes system reconfiguration, and meets customized production capacity and functional requirements. Through the design of a machine tool bed, a main and auxiliary shaft transmission system, workpiece clamping and tool changing, a hydraulic system, a lubrication system, a cooling system, an appearance protection system, a water tank, a chip removal system, a feeding and discharging mechanism, and a control system, the reconfigurable intelligent turning-milling combined machine tool is realized.

[0052] Example 2

[0053] The embodiment is further optimized on the basis of example 1, and specifically is:

[0054] In step S01, according to the topological structure of the modular reconfigurable numerical control machine tool, the mechanical equipment is divided into three types according to the device type: the first type is a functional unit for completing turning and milling control functions, the second type is a motion unit for realizing freedom control functions in the motion process of the machine tool equipment, and the third type is an auxiliary unit that does not directly participate in machining control and only realizes auxiliary control functions.

[0055] Specifically, the reconfigurable numerical control machine tool can complete machining operations and freedom control functions on one control platform. According to the device type, the mechanical equipment is divided into three types: 1) a functional unit: mainly completes turning, milling and other control functions; 2) a motion unit: realizes freedom control functions in the motion process of the machine tool equipment; and 3) an auxiliary unit: does not directly participate in machining control and only realizes auxiliary control functions, such as clamps, counterweight control and the like. The modular design adopts a "decoupling" design method to realize "low coupling and high cohesion" of functional modules, as shown in FIG. 1. Figure 2 FIG. 1 is a schematic diagram of a modular reconfigurable numerical control machine tool.

[0056] Embodiment 3

[0057] This implementation is further optimized on the basis of Embodiment 1 or 2, specifically:

[0058] In one embodiment, in step S01, based on the deep convolutional neural network image recognition technology, the product shape size, surface defect, and processing effect data features can be obtained after the image acquisition and recognition of the workpiece processing.

[0059] Specifically, the deep convolutional neural network (DCNN) has become the main means of image recognition, and the image recognition technology based on DCNN is the technical key of this project, as shown in Figure 3 .

[0060] Embodiment 4

[0061] This implementation is further optimized on the basis of any one of Embodiments 1-3, specifically:

[0062] In step S01, a feeding and discharging system based on a structured light system guided robot is built, and a calibration plate is used to calibrate the structured light system to obtain the camera internal parameters.

[0063] Specifically, after using structured light vision, the deviation judgment of positioning caused by various factors in machine tool processing practice is significantly improved. Structured light vision can more effectively identify unstructured industrial production scenes, achieve accurate position coordinate determination, and further provide the basis for accurate picking and placing of collaborative robots.

[0064] For the feeding and discharging system based on the structured light system guided robot, the structured light vision system robot guiding method includes workpiece pose estimation and robot motion trajectory planning.

[0065] Specifically, the structured light vision system robot guiding method mainly includes workpiece pose estimation and robot motion trajectory planning. The structured light vision system can obtain three-dimensional point cloud information of the material, and complete the material grabbing by actually solving the absolute orientation problem of the material. Under the premise of fully considering factors such as occlusion, obstacle avoidance, impact, and vibration, the shortest motion time is taken as the performance index, and the joint angle is controlled to reach the target pose.

[0066] Embodiment 5

[0067] This implementation is further optimized on the basis of Embodiment 1, specifically:

[0068] In step S01, the modular mechanical system includes a machine tool bed system, a main and auxiliary shaft transmission system, a workpiece clamping and tool changing system, a hydraulic lubrication and cooling system, an appearance protection system, a water tank and chip removal system, and a feeding and discharging system.

[0069] Specifically, the traditional manufacturing first selects a machine tool, and plans a machining process of the manufacturing system according to machining characteristics of the machine tool, while the reconfigurable machine tool is just the opposite, which first determines machining functions and production capacity required by the manufacturing system, and then selects and combines the required functions. The configuration design of the reconfigurable machine tool is essentially a process of selection and combination of modules. The machining information in the process family is decomposed into a series of motion functions, and then matched with corresponding mechanical modules, so as to generate a configuration meeting the process requirements by different connection sequences between the modules.

[0070] Embodiment 6

[0071] This embodiment is further optimized on the basis of embodiment 5, specifically:

[0072] The machine tool bed system, the main and auxiliary shaft transmission system, the workpiece clamping and tool changing system, the hydraulic lubrication and cooling system, the appearance protection system, the water tank and chip removal system, and the feeding and discharging system all adopt an open system interface.

[0073] Specifically, in view of the modular structure characteristics of the reconfigurable machine tool, research work is carried out on the standard functional module model and related technologies, a standard functional module model is established combined with main functions and control execution process of the machine tool, and a basic implementation process of the functional module is proposed. By adopting the modular structure and the open system interface, the modularization, reusability, scalability and other requirements of the machine tool are effectively met.

[0074] Embodiment 7

[0075] This embodiment is further optimized on the basis of any one of embodiments 1-6, specifically:

[0076] In step S01, the reconfigurable manufacturing system adopts a modular structure and an open system interface, and the reconfigurable control system includes a section design system, a software control system and an electrical control system.

[0077] Specifically, the reconfigurable manufacturing system adopts a modular structure and an open system interface, and can quickly combine, replace and integrate hardware and software functional modules required by the manufacturing system, meet machining control requirements of different types of products, and has the characteristics of modularity, scalability, convertibility, integrability, diagnosability and customizability.

[0078] Embodiment 8

[0079] As Figures 4-6As shown, the application also provides a reconfigurable intelligent turning-milling composite machine tool, which adopts the reconfiguration method of the above reconfigurable intelligent turning-milling composite machine tool. The reconfigurable intelligent turning-milling composite machine tool comprises a bed body 1, a turning-milling composite body 3, a clamping part 2 and a cooling oil tank 4. The turning-milling composite body 3 is arranged on the bed body 1. The clamping part 2 is adjustably arranged on the bed body 1 and cooperates with the turning-milling composite body 3. The cooling oil tank 4 is arranged on one side of the bottom of the bed body 1.

Claims

1. A reconfiguration method of a reconfigurable intelligent turning-milling hybrid machine tool, characterized in that, Comprising the following steps: Step S01, based on the functional module system development and functional design, based on the modular reconfigurable CNC machine tool topology, based on the deep convolutional neural network image recognition technology, and based on the structure light system guided mechanical arm feeding and discharging system, design the modular mechanical system and the reconfigurable control system; For the topology of the modular reconfigurable CNC machine tool, according to the different types of equipment, the mechanical equipment is divided into three types: the first type is a functional unit for completing the turning and milling control function, the second type is a motion unit for realizing the degree of freedom control function in the motion process of the machine tool equipment, and the third type is an auxiliary unit which does not directly participate in the machining control and only realizes the auxiliary control function; Based on the deep convolutional neural network image recognition technology, image acquisition and recognition after workpiece machining can obtain product shape size, surface defect, and machining effect data characteristics; A feeding and discharging system based on a structure light system guided mechanical arm is built, and a calibration board is used to calibrate the structure light system to obtain the camera internal parameters. For the feeding and discharging system based on the structure light system guided mechanical arm, the mechanical arm guiding method of the structure light vision system includes workpiece pose estimation and mechanical arm motion trajectory planning; The modular mechanical system includes the machine tool bed system, the main and auxiliary shaft transmission system, the workpiece clamping and tool changing system, the hydraulic lubrication and cooling system, the appearance protection system, the water tank and chip removal system, and the feeding and discharging system; Step S02, composite function segmentation test of the modular mechanical system, the modular mechanical system that passes the composite function segmentation test enters the optimization link, the modular mechanical system that passes the optimization link enters the next step, and the modular mechanical system that does not pass the optimization link returns to the composite function segmentation test; The test of the reconfigurable control system, the reconfigurable control system that passes the test enters the optimization link, the reconfigurable control system that passes the optimization link enters the next step, and the reconfigurable control system that does not pass the optimization link returns to the test; Step S03, system integration and test of the modular mechanical system and the reconfigurable control system processed by step S02, the modular mechanical system and the reconfigurable control system that pass the system integration and test enter the optimization link, the modular mechanical system and the reconfigurable control system that pass the optimization link enter the next step, and the modular mechanical system and the reconfigurable control system that do not pass the optimization link return to the system integration and test; Step S04, trial operation of the modular mechanical system and the reconfigurable control system after system integration, which enters the product finalization link after passing the trial operation, and can be widely applied after passing the product finalization link.

2. The reconfigurable method of claim 1, wherein, The machine tool bed system, the main and auxiliary shaft transmission system, the workpiece clamping and tool changing system, the hydraulic lubrication and cooling system, the appearance protection system, the water tank and chip removal system, and the feeding and discharging system all adopt open system interface.

3. The reconfigurable method of claim 1, wherein, In step S01, the reconfigurable manufacturing system adopts modular structure and open system interface, and the reconfigurable control system includes cross-section design system, software control system and electrical control system.

4. A reconfigurable intelligent lathe-milling hybrid machine tool, characterized by, A reconfiguration method of a reconfigurable intelligent turning and milling composite machine tool according to any one of claims 1-3.

5. The reconfigurable intelligent turn-mill-complex machine tool according to claim 4, wherein, Including the bed body (1), the turning and milling combined body (3), the clamping part (2) and the cooling oil tank (4), the turning and milling combined body (3) is arranged on the bed body (1), the clamping part (2) is adjustably arranged on the bed body (1) and cooperates with the turning and milling combined body (3), and the cooling oil tank (4) is arranged on one side of the bottom of the bed body (1).

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