Machine tool and robot cooperative machining method for large thin-walled cylinder components

Abstract

The invention relates to a machine tool and robot cooperative machining method for large thin-walled cylinder components, which is characterized by comprising the following steps of: 1, establishing hardware configuration of a system; 2, calibrating the system; 3, on the basis of the matrix transformation relation, the relative pose # imgabs0 # in the component coordinate system {PF} and the robot coordinate system {BF} is obtained through calculation and solution by adopting a formula; and 4, after a calibration result is obtained, the component is milled. Therefore, the positioning precision of offline programming of the robot can be improved by means of the precision of the machine tool, and the machining efficiency is improved. In addition, the position relation between the robot and the component is calibrated through the machine tool, and limitation during robot calibration is avoided.

Description

Technical Field

[0001] The invention relates to the field of automated assembly and discloses a method for collaborative processing of large thin-walled tube components by a machine tool and a robot. Background Art

[0002] Large thin-walled cylindrical components are typical large thin-walled multi-segment welded composite structures. Due to the processing errors of the thin-walled cylinder segments, welding deformation and external environmental factors (such as temperature, humidity, etc.), the actual state of large thin-walled cylindrical components is inconsistent with their theoretical state. In order to ensure the quality of the final product, some processing features need to be processed before the final assembly of the components.

[0003] The existing processing mode only uses CNC machine tools as processing equipment, which has problems such as complex manufacturing process, long manufacturing cycle, poor quality consistency, etc., which is difficult to meet the requirements of large-scale, high-efficiency, and high-precision production of components under the current situation. Robots have strong spatial accessibility and operational flexibility, but their range of motion is also limited for processing large components, and they can only calibrate the local position of components, making it difficult to achieve the final processing accuracy requirements. Summary of the invention

[0004] In view of the existing processing methods for large thin-walled tubular components, the purpose of the present invention is to provide a method for collaborative processing of large thin-walled tubular components by machine tools and robots, so as to improve processing efficiency and processing accuracy.

[0005] A method for collaborative processing of large thin-walled tubular components by machine tools and robots, characterized in that a system for collaborative processing of large thin-walled tubular components by machine tools and robots is used, which includes a numerical control machine tool 3, a large thin-walled tubular component 4, an industrial robot 1 and a milling end 2; a milling actuator 2 is loaded at the end of the industrial robot 1, and the industrial robot 1 is fixed on the ground outside the end side of the large thin-walled tubular component 4; the milling actuator 2 uses an electric spindle for milling processing, and the speed is set according to demand, and at the same time, a liquid cooler is used to provide circulating coolant to the electric spindle of the milling actuator to ensure its service life;

[0006] The method for collaborative processing of large thin-walled cylindrical components by machine tools and robots includes the following steps:

[0007] Step 1: Establish the hardware configuration of the system, including CNC machine tools, large thin-walled cylindrical components, industrial robots, and milling end mounted on the robots;

[0008] Step 2: Calibrate the system. Let the machine coordinate system, component coordinate system, robot coordinate system, and tool coordinate system be {MF}, {PF}, {BF}, and {TF}, respectively. Solve the matrix transformation relationship between {MF} and {PF}, {MF} and {BF}, and {BF} and {TF}, respectively, and obtain

[0009] The tool coordinate system {TF} is calibrated by the four-point method. A sharp cone is installed on the robot spindle. The robot is operated to touch the sharp cone block stably placed near the robot in four different postures and sample. The calculation method is as follows:

[0010] The relationship between the robot coordinate system, flange coordinate system, and tool coordinate system {BF}, {FF}, {TF} is as follows: Expanding the relationship is:

[0011]

[0012] Translates to: In the formula, p T0 is fixed as the translation vector of the tool coordinate system in the robot coordinate system, is the rotation matrix of the tool coordinate system in the robot coordinate system, for The rotation matrix of the flange coordinate system in the robot coordinate system, p Fi is the translation vector of the flange coordinate system in the robot coordinate system, is the rotation matrix of the tool coordinate system in the flange coordinate system, p t is the translation vector of the tool coordinate system in the flange coordinate system. When i=4, p can be solved. t The value of .

[0013] Step 3: Based on the above matrix transformation relationship, the relative position and posture in the component coordinate system {PF} and the robot coordinate system {BF} are calculated using the formula

[0014] Step 4: After obtaining the calibration results, place the robot, milling end, and component according to the relative posture relationship in the offline programming software, use the component coordinate system {PF} as the world coordinate system, generate the tool processing trajectory, and perform milling on the component.

[0015] Among them, the industrial robot in step one can be equipped with end effectors with different functions to complete the processing of components with various features.

[0016] Among them, the matrix transformation relationship between {BF} and {TF} in step 2 can be obtained by the four-point method, and its calculation process is analytically calculated inside the robot.

[0017] Among them, the relative posture in the component coordinate system {PF} and the robot coordinate system {BF} in step three is achieved by aligning the component and the robot base respectively through the machine tool, avoiding inaccuracy when the robot calibrates the component.

[0018] Among them, in step 4, the reachable range and processing trajectory of the robot when different end effectors are installed are simulated and analyzed through offline programming software, ensuring the correctness and safety of actual processing.

[0019] Beneficial effects of the present invention: The present invention can calibrate the system, record the machine tool coordinate system, component coordinate system, robot coordinate system, and tool coordinate system as {MF}, {PF}, {BF}, and {TF}, respectively, and solve the matrix transformation relationship between {MF} and {PF}, {MF} and {BF}, and {BF} and {TF}, respectively, to obtain Therefore, the relative position and orientation in the component coordinate system {PF} and the robot coordinate system {BF} can be calculated by using the formula: After obtaining the calibration results, the robot, milling end and component are placed according to the relative posture relationship in the offline programming software. The component coordinate system {PF} is used as the world coordinate system to generate the tool processing trajectory and perform milling on the component.

[0020] Therefore, the present invention can process various features on large thin-walled cylindrical components, and realize accurate calibration between the robot and the component through matrix conversion by CNC machine tools. It is suitable for feature processing on large thin-walled cylindrical components. The processing method combining machine tools and robots saves the machine tool time cost. At the same time, the positioning accuracy of the robot offline programming is improved by relying on the accuracy of the machine tool, thereby improving the processing efficiency. In addition, the positional relationship between the robot and the component is calibrated by the machine tool, avoiding the limitations of robot calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 , is a schematic diagram of the system structure of the present invention.

[0022] In the figure: 1 is an industrial robot, 2 is a milling end effector, 3 is a CNC machine tool, and 4 is a large thin-walled cylindrical component. DETAILED DESCRIPTION

[0023] The method for collaborative processing of large thin-walled tube components by machine tools and robots described in the present invention comprises the following steps:

[0024] S1. Establish the hardware configuration of the system, including CNC machine tools, large thin-walled cylindrical components, industrial robots, and milling end mounted on the robots;

[0025] S2. Calibrate the system. Let the machine coordinate system, component coordinate system, robot coordinate system, and tool coordinate system be {MF}, {PF}, {BF}, and {TF}, respectively. Solve the matrix transformation relationship between {MF} and {PF}, {MF} and {BF}, and {BF} and {TF}, respectively, and obtain

[0026] S3. Based on the above matrix transformation relationship, the relative position and posture in the component coordinate system {PF} and the robot coordinate system {BF} are calculated using the formula

[0027] S4. After obtaining the calibration results, place the robot, milling end and component according to the relative posture relationship in the offline programming software, take the component coordinate system {PF} as the world coordinate system, generate the tool processing trajectory, and perform milling on the component.

[0028] Preferably, the industrial robot in step S1 can be equipped with end effectors of different functions to complete component processing with various features.

[0029] Preferably, the matrix transformation relationship between {BF} and {TF} in step S2 can be obtained by a four-point method, and the calculation process is analytically calculated inside the robot.

[0030] Preferably, the relative posture in the component coordinate system {PF} and the robot coordinate system {BF} in step S3 is achieved by aligning the component and the robot base respectively through the machine tool, thereby avoiding inaccuracy in the robot calibration of the component.

[0031] Preferably, in step S4, the reachable range and processing trajectory of the robot when different end effectors are installed are simulated and analyzed by offline programming software, thereby ensuring the correctness and safety in actual processing.

[0032] Embodiment 1:

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] Figure 1 It is a system for the collaborative processing of large thin-walled cylindrical components by machine tools and robots, and has the following characteristics and functions: the end of the industrial robot 1 is loaded with a milling actuator 2, and the milling actuator 2 uses an electric spindle for milling processing. The speed can be set according to demand, and at the same time, the electric spindle is provided with circulating coolant through a liquid cooler to ensure its service life; the industrial robot 1 processes the features on the end face and inner cavity of the large thin-walled cylindrical component 4, and the CNC machine tool 3 processes the features of other parts on the large thin-walled cylindrical component 4.

[0035] The system for collaborative processing of large thin-walled cylindrical components by machine tools and robots described in the present invention comprises the following steps:

[0036] S1. Establish the hardware configuration of the system, including CNC machine tools, large thin-walled tubular components, industrial robots, and milling end mounted on the robots; the robot mills the end faces and inner cavity features of large thin-walled tubular components, and the CNC machine tools process other parts of the large thin-walled tubular components.

[0037] S2. Calibrate the system, and record the machine coordinate system, component coordinate system, robot coordinate system, flange coordinate system, and tool coordinate system as {MF}, {PF}, {BF}, {FF}, and {TF} respectively.

[0038] The tool coordinate system {TF} is calibrated by the four-point method. A sharp cone is installed on the robot spindle. The robot is operated to touch the sharp cone block stably placed near the robot in four different postures and sample. The calculation method is as follows:

[0039] The relationship between the robot coordinate system, flange coordinate system, and tool coordinate system {BF}, {FF}, {TF} is as follows: Expanding the relationship is:

[0040]

[0041] Translates to: In the formula, p T0 Fixed, It can be obtained by establishing a coordinate system after sampling. When i = 4, p can be solved t The value of .

[0042] S3. Use the machine tool reference alignment method to calibrate the component coordinate system {PF} and the robot coordinate system {BF}. First, align the component roughly according to the XYZ direction of the NC programming. Then, use a table to ensure that the XYZ of the component is parallel to the XYZ of the machine tool. Finally, install a probe on the machine tool to finally mark the position of the component through the measuring point. The relative position and posture between the component coordinate system {PF} and the robot coordinate system {BF} are calculated by using the formula

[0043] Based on the above matrix transformation relationship, the formula is used Solve and calculate the relative position of the component coordinate system {PF} and the robot coordinate system {BF}

[0044] S4. After obtaining the calibration results, place the robot, milling end and component according to the relative posture relationship in the offline programming software, take the component coordinate system {PF} as the world coordinate system, generate the tool processing trajectory, and perform milling on the component.

Claims

1. A method for collaborative processing of large thin-walled cylindrical components by machine tools and robots, characterized in that: A system for collaborative processing of large thin-walled tubular components by machine tools and robots is used, comprising a numerical control machine tool (3), a large thin-walled tubular component (4), an industrial robot (1) and a milling end (2); a milling actuator (2) is loaded on the end of the industrial robot (1), and the industrial robot (1) is fixed on the ground outside the end side of the large thin-walled tubular component (4); the milling actuator (2) uses an electric spindle to perform milling processing, and the speed is set according to demand, and at the same time, a liquid cooler is used to provide circulating coolant to the electric spindle of the milling actuator to ensure its service life; The method for collaborative processing of large thin-walled cylindrical components by machine tools and robots includes the following steps: Step 1: Establish the hardware configuration of the system, including CNC machine tools, large thin-walled cylindrical components, industrial robots, and milling end mounted on the robots; Step 2: Calibrate the system. Let the machine coordinate system, component coordinate system, robot coordinate system, and tool coordinate system be {MF}, {PF}, {BF}, and {TF}, respectively. Solve the matrix transformation relationship between {MF} and {PF}, {MF} and {BF}, and {BF} and {TF}, respectively, and obtain The tool coordinate system {TF} is calibrated by the four-point method. A sharp cone is installed on the robot spindle. The robot is operated to touch the sharp cone block stably placed near the robot in four different postures and sample. The calculation method is as follows: The relationship between the robot coordinate system, flange coordinate system, and tool coordinate system {BF}, {FF}, {TF} is as follows: Expanding the relationship is: Translates to: In the formula, p T0 is fixed as the translation vector of the tool coordinate system in the robot coordinate system, is the rotation matrix of the tool coordinate system in the robot coordinate system, for The rotation matrix of the flange coordinate system in the robot coordinate system, p Fi is the translation vector of the flange coordinate system in the robot coordinate system, is the rotation matrix of the tool coordinate system in the flange coordinate system, p t is the translation vector of the tool coordinate system in the flange coordinate system. When i=4, p can be solved. t The value of Step 3: Based on the above matrix transformation relationship, the relative position and posture in the component coordinate system {PF} and the robot coordinate system {BF} are calculated using the formula Step 4: After obtaining the calibration results, place the robot, milling end, and component according to the relative posture relationship in the offline programming software, use the component coordinate system {PF} as the world coordinate system, generate the tool processing trajectory, and perform milling on the component.

2. The method for collaborative processing of large thin-walled cylindrical components by machine tools and robots according to claim 1, characterized in that: The industrial robot in step one can be equipped with end effectors with different functions to complete component processing with various features.

3. The method for collaborative processing of large thin-walled cylindrical components by machine tools and robots according to claim 1, characterized in that: The matrix transformation relationship between {BF} and {TF} in step 2 can be obtained by the four-point method, and its calculation process is analytically calculated inside the robot.

4. The method for collaborative processing of large thin-walled cylindrical components by machine tools and robots according to claim 1, characterized in that: The relative posture in the component coordinate system {PF} and the robot coordinate system {BF} in step three is achieved by aligning the component and the robot base respectively through the machine tool, avoiding inaccuracy when the robot calibrates the component.

5. The method for collaborative processing of large thin-walled cylindrical components by machine tools and robots according to claim 1, characterized in that: In step 4, offline programming software is used to simulate and analyze the reach and processing trajectory of the robot when different end effectors are installed, ensuring the correctness and safety of actual processing.

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