Multi-machine collaborative additive and subtractive machining method based on thermal perception

Abstract

The invention relates to a multi-machine collaborative additive and subtractive material processing method based on thermal perception, which belongs to the technical field of additive and subtractive material robots, and comprises the following steps: S1, preparing a plurality of robots, and moving the robots to the position of a workpiece to be processed according to a received slice advancing path; s2, the control end controls each robot to move to the position of the workpiece to be machined and then brake and pre-position the robot; s3, according to the local three-dimensional point cloud model and a workpiece design model of a workpiece corresponding position pre-input in the control end, realizing fine positioning of the robot; and S4, after fine positioning of each robot is completed, material increasing and decreasing machining is conducted according to material characteristics and machining requirements. According to the device, the influence on the machining quality when the temperature is too high can be avoided, the movable robot can meet the machining precision requirement, material reduction machining is better completed, and the material increasing mechanism and the material reduction mechanism are matched with each other so that material increasing and decreasing machining can be better completed.

Description

Technical Field

[0001] The present invention belongs to the technical field of additive and subtractive manufacturing robots, and particularly relates to a multi-robot collaborative additive and subtractive manufacturing method based on thermal perception. Background Technique

[0002] Additive manufacturing technology is a manufacturing technology based on a three-dimensional design model, which manufactures products layer by layer through layer slicing. Additive manufacturing technology breaks through the structural and performance limitations of tooling jigs and cutting tools, greatly improving the degree of freedom in design. At the same time, it abandons the specified processes of traditional manufacturing methods, saving production operation time, especially the new product development time, and is widely used in multiple fields.

[0003] Traditional additive manufacturing equipment usually adopts a single robotic arm or a fixed structure. For small workpieces, it can effectively carry out processing. However, for large-sized workpieces, the workpiece position or the robotic arm posture needs to be repeatedly adjusted during the processing, resulting in low efficiency and difficulty in adapting to complex working conditions. In addition, a single process module cannot meet the requirements of multi-material and multi-process composite manufacturing. Although there are additive-subtractive composite systems in the prior art, they mostly rely on single-machine sequential operation and lack the dynamic task allocation and interaction capabilities of multi-robot collaboration, resulting in limited processing efficiency. Moreover, when the temperature is too high during the processing, it is easy to affect the processing effect.

[0004] Therefore, it is urgently necessary to design a multi-robot collaborative additive and subtractive manufacturing method based on thermal perception to solve the above problems. Summary of the Invention

[0005] The present invention provides a multi-robot collaborative additive and subtractive manufacturing method based on thermal perception, and the technical problems to be solved are:

[0006] To solve the above technical problems, the present invention provides a multi-robot collaborative additive and subtractive manufacturing method based on thermal perception, which is characterized by including the following steps:

[0007] S1: Prepare several robots, obtain the site information and the orientation of the workpiece to be processed in the site and transmit it to the control terminal for remotely controlling each robot. The control terminal plans the traveling paths of the robots according to the site information and the orientation information, and slices the paths according to the number of robots to generate the sliced traveling paths corresponding to each robot. The robots move to the position of the workpiece to be processed according to the received sliced traveling paths.

[0008] S2: After the control terminal controls each robot to move to the position of the workpiece to be processed, it brakes and performs pre-positioning.

[0009] S3: Use the scanning mechanism installed on the robot to perform contour scanning on the workpiece to be machined, generate a local three-dimensional point cloud model of the workpiece to be machined corresponding to the working position of the robot, and transmit it to the control terminal. Generate a pose error based on the local three-dimensional point cloud model and the workpiece design model at the corresponding position of the workpiece pre-entered in the control terminal. The robot generates a driving compensation amount based on the pose error for dynamic compensation to achieve precise positioning of the robot.

[0010] S4: After the precise positioning of each robot is completed, according to the material characteristics and processing requirements, use the additive and subtractive component detachably installed on the robot to perform additive and subtractive machining on the workpiece to be machined. The additive and subtractive machining includes additive machining and subtractive machining. During the additive machining process, use the infrared monitoring mechanism installed on the robot to monitor the temperature of the workpiece, obtain temperature information, and transmit the temperature information to the control terminal. The control terminal adjusts the additive machining work of the additive and subtractive component according to the temperature information.

[0011] Further, in S1, drive wheels are provided on the chassis of the robot. The drive wheels are electrically connected to the chassis, and the chassis is wirelessly connected to the control terminal.

[0012] Further, in S2, after the control terminal controls each robot to move to the position of the workpiece to be machined, the built-in wheel brakes of the corresponding drive wheels are used for braking, and the positioning mechanism provided on the robot chassis is used for pre-positioning. A pressure sensor is provided on the drive wheel. The pressure sensor is electrically connected to the positioning mechanism, and the positioning mechanism is electrically connected to the chassis.

[0013] Further, the positioning mechanism includes a lifting cylinder installed on the chassis. The output end of the lifting cylinder is connected to a lifting push rod. A support seat is provided at the end of the lifting push rod. The lifting cylinder drives the lifting push rod and the support seat to move downward, so that the chassis of the robot rises to achieve pre-positioning of the robot. The pressure sensor is electrically connected to the lifting cylinder.

[0014] Further, S3 specifically includes the following steps:

[0015] S3.1: Use the driving part provided on the robot chassis to drive the scanning mechanism installed at the driving end of the driving part to perform contour scanning on the workpiece to be machined. The driving part is electrically connected to the chassis, and the scanning mechanism is electrically connected to the driving part.

[0016] S3.2: Generate a local three-dimensional point cloud model of the workpiece to be machined corresponding to the working position of the robot and transmit it to the control terminal.

[0017] S3.3: Extract the corresponding scanned point cloud feature points according to the local three-dimensional point cloud model, register the point cloud feature points with the workpiece design model at the corresponding position of the workpiece pre-input in the control terminal to generate an error matrix to obtain the pose error, and decompose the pose error into the driving compensation amount corresponding to the robot;

[0018] S3.4: The driving part in the robot performs dynamic compensation according to the corresponding driving compensation amount to achieve fine positioning of the robot.

[0019] Further, in S4, the additive and subtractive component includes an additive mechanism and a subtractive mechanism. The additive mechanism includes a welding torch and a line laser scanner, and the subtractive mechanism includes a milling head. The welding torch, the line laser scanner, and the milling head can all be detachably installed on the driving end of the driving part, and when installed on the driving end of the driving part, the driving part is electrically connected to the welding torch, the line laser scanner, and the milling head.

[0020] Further, the infrared monitoring mechanism includes an infrared camera, and the infrared camera can be detachably installed on the driving end of the driving part.

[0021] Further, S4 specifically includes the following steps:

[0022] S4.1: After the fine positioning of each robot is completed, start the additive manufacturing.

[0023] S4.2: According to the material properties and processing requirements, the driving end of the driving part drives the welding torch to perform additive manufacturing. At the same time, the driving end of the driving part drives the line laser scanner to scan the weld to obtain the weld path.

[0024] S4.3: During the additive manufacturing process, the driving end of the driving part drives the infrared camera to monitor the temperature of the workpiece, obtain the temperature information and transmit it to the control terminal, and the control terminal adjusts the additive manufacturing work of the welding torch according to the temperature information.

[0025] S4.4: After the additive manufacturing is completed, start the subtractive manufacturing, and the driving end of the driving part drives the milling head to perform subtractive manufacturing according to the weld path.

[0026] Further, in S1, two-dimensional codes for marking the travel path are set in the site, and the robot determines the travel path according to the two-dimensional codes corresponding to the sliced travel path and moves to the position of the workpiece to be processed; a laser rangefinder for identifying the site information and the workpiece orientation information is set on the robot, and the robot determines the travel path through the laser rangefinder and moves to the position of the workpiece to be processed.

[0027] A robot for the method described above, characterized in that: the robot includes a chassis 1 and a driving part 4, the driving part 4 is arranged on the chassis 1, the driving part 4 includes a robotic arm, the robotic arm is arranged on the chassis 1, an end connecting claw is arranged at the end of the robotic arm, the additive and subtractive component is detachably installed on the end connecting claw, the scanning mechanism is detachably installed on the end connecting claw, the infrared monitoring mechanism is detachably installed on the end connecting claw. When the scanning mechanism is installed on the end connecting claw, the end connecting claw is electrically connected to the scanning mechanism. When the additive and subtractive component is installed on the end connecting claw, the end connecting claw is electrically connected to the additive and subtractive component. When the infrared monitoring mechanism is installed on the end connecting claw, the end connecting claw is electrically connected to the infrared monitoring mechanism.

[0028] Advantages: In the present invention, multiple movable robots are set to jointly perform processing to adapt to the processing requirements of large-sized workpieces. Through two positioning methods, it is ensured that the movable robots can be accurately located at the processing station after pre-positioning and fine positioning, meeting the processing accuracy requirements. At the same time, by setting the additive and subtractive component, additive processing and subtractive processing can be carried out more effectively. Furthermore, by setting the infrared monitoring mechanism to monitor the temperature of the workpiece, it is avoided that the processing effect is affected by too high temperature.

[0029] The specific advantages are as follows:

[0030] 1. By setting the infrared monitoring mechanism, under the action of the infrared camera, it is used to monitor the temperature of the workpiece, thereby avoiding the influence on the processing quality when the temperature is too high.

[0031] 2. By setting multiple movable robots to cooperate, when processing large-sized workpieces, there is no need to adjust the position and angle of the workpiece itself. The additive and subtractive processing of large-sized workpieces is completed by means of multi-robot cooperation. At the same time, through two positioning methods, the movable robots meet the accuracy requirements of processing.

[0032] 3. By setting the additive and subtractive component, both the additive mechanism and the subtractive mechanism can be driven by the same robotic arm, and with the help of the line laser scanner to scan the weld path, it provides support for the path of subsequent subtractive processing, and cooperates with the milling head, so as to better complete the subtractive processing. The additive mechanism and the subtractive mechanism cooperate with each other to better complete the additive and subtractive processing. Description of the Drawings

[0033] Figure 1 is the schematic diagram of the step flow of the present invention;

[0034] Figure 2 is the side view schematic diagram of a single robot of the present invention;

[0035] Figure 3 It is a front view schematic diagram of a single robot of the present invention;

[0036] Figure 4 It is a schematic diagram of multi-robot cooperation of the present invention.

[0037] In the figure: 1, chassis; 2, drive wheel; 3, positioning mechanism; 4, drive unit; 5, point cloud scanner; 6, welding torch; 7, line laser scanner; 8, milling head; 9, infrared camera; 10, water chiller; 11, electrical cabinet; 12, tool changing workbench. Specific embodiments

[0038] To make the objectives, content and advantages of the present invention clearer, the following further describes in detail the specific embodiments of the present invention.

[0039] Embodiment 1:

[0040] Combined with the attached Figures 1-3 As shown, a multi-robot cooperative additive and subtractive manufacturing method based on thermal perception includes the following steps:

[0041] S1: Prepare several robots, obtain the site information and the orientation of the workpiece to be processed in the site and transmit it to the control terminal for remotely controlling each robot. The control terminal plans the robot travel path according to the site information and the orientation information, and performs path slicing according to the number of robots to generate a sliced travel path corresponding to each robot. The robot moves to the position of the workpiece to be processed according to the received sliced travel path;

[0042] Further, the robot moves to the position of the workpiece to be processed through the drive wheel 2 provided on the chassis 1 of the robot according to the received sliced travel path. The drive wheel 2 is electrically connected to the chassis 1, and the chassis 1 is wirelessly connected to the control terminal;

[0043] Two-dimensional codes for marking the travel path are set in the site. The robot determines the travel path and moves to the position of the workpiece to be processed according to the two-dimensional code corresponding to the sliced travel path. Specifically, the robot is based on an AGV platform and uses the two-dimensional code with the help of the AGV platform to determine the travel path;

[0044] S2: After the control terminal controls each robot to move to the position of the workpiece to be processed, it brakes and performs pre-positioning;

[0045] Further, after the control end controls each of the robots to move to the position of the workpiece to be processed, the robots are braked by the built-in wheel brakes of the corresponding drive wheels 2, and pre-positioning is performed by using the positioning mechanism 3 arranged on the middle chassis 1 of the robots. A pressure sensor is arranged on the drive wheel 2, the pressure sensor is electrically connected to the positioning mechanism 3, and the positioning mechanism 3 is electrically connected to the chassis 1;

[0046] Further, by using the lifting cylinder arranged on the chassis 1 in the positioning mechanism 3, the lifting push rod connected to the output end of the lifting cylinder is driven, and the support seat arranged at the end of the lifting push rod is pushed to move downward, so that the chassis 1 of the robot is lifted, realizing the pre-positioning of the robot. The pressure sensor is electrically connected to the lifting cylinder, and the lifting cylinder is electrically connected to the chassis;

[0047] Through the support after the support seat moves downward, the stability of the robot is ensured. The pre-positioning makes the robot approach the workpiece, and ensures that the positioning accuracy error range required in the additive and subtractive machining process is within ±2 mm;

[0048] S3: The control end operates the robot to drive the scanning mechanism detachably installed on the robot to perform contour scanning on the workpiece to be processed, generates a local three-dimensional point cloud model of the workpiece to be processed corresponding to the working position of the robot and transmits it to the control end. According to the local three-dimensional point cloud model and the workpiece design model of the corresponding position of the workpiece pre-entered in the control end, a pose error is generated, and the robot generates a drive compensation amount according to the pose error to perform dynamic compensation to achieve the fine positioning of the robot;

[0049] Specifically;

[0050] S3.1: The control end operates the robot to drive the scanning mechanism detachably installed at the driving end of the driving part 4 by the driving part 4 arranged on the chassis 1 of the robot to perform contour scanning on the workpiece to be processed. The driving part 4 is electrically connected to the chassis 1, and the scanning mechanism is electrically connected to the driving part 4;

[0051] S3.2: Generate a local three-dimensional point cloud model of the workpiece to be processed corresponding to the working position of the robot and transmit it to the control end;

[0052] S3.3: Extract the corresponding scanned point cloud feature points according to the local three-dimensional point cloud model, register the point cloud feature points with the workpiece design model of the corresponding position of the workpiece pre-entered in the control end to generate an error matrix to obtain the pose error, and decompose the pose error into the drive compensation amount corresponding to the robot. Preferably, the error matrix includes the error amount Δx in the X-axis direction, the error amount Δy in the Y-axis direction, and the error angle Δθ. Decompose Δx, Δy, and Δθ to generate the drive compensation amount corresponding to the robot;

[0053] S3.4: The drive unit 4 in the robot performs dynamic compensation according to the corresponding drive compensation amount to achieve precise positioning of the robot. Preferably, the robot is adjusted by the drive unit 4 to complete dynamic compensation for precise positioning, so that the error range of precise positioning is reduced to ±0.1 mm. During the process of precise positioning, after obtaining the three-dimensional point cloud feature points, three-dimensional data reconstruction is performed using magics, and Boolean operations are performed using magics. The model after the operation generates a compensation path trajectory using slicing software, and the slicing software can be selected as 3D Systems Amphyon, etc.;

[0054] S4: After the precise positioning of each robot is completed, according to the material properties and processing requirements, the control terminal operates the robot to drive the additive and subtractive manufacturing component detachably installed on the robot to perform additive and subtractive manufacturing on the workpiece to be processed. The additive and subtractive manufacturing includes additive manufacturing and subtractive manufacturing. During the additive manufacturing process, the control terminal operates the robot to drive the infrared monitoring mechanism detachably installed on the robot to monitor the temperature of the workpiece, obtain temperature information and transmit the temperature information to the control terminal, and the control terminal adjusts the additive manufacturing work of the additive and subtractive manufacturing component according to the temperature information;

[0055] Further, the control terminal operates the robot to drive the additive and subtractive manufacturing component detachably installed at the driving end of the drive unit 4 to perform additive and subtractive manufacturing. The additive and subtractive manufacturing component includes an additive manufacturing mechanism and a subtractive manufacturing mechanism. The additive manufacturing mechanism includes a welding torch 6 and a line laser scanner 7, and the subtractive manufacturing mechanism includes a milling head 8. The welding torch 6, the line laser scanner 7, and the milling head 8 can all be detachably installed at the driving end of the drive unit 4, and when installed at the driving end of the drive unit 4, the drive unit 4 is electrically connected to the welding torch 6, the line laser scanner 7, and the milling head 8;

[0056] The control terminal operates the robot to drive the infrared monitoring mechanism detachably installed at the driving end of the drive unit 4 to monitor the temperature of the workpiece. The infrared monitoring mechanism includes an infrared camera 9. The infrared camera 9 can be detachably installed at the driving end of the drive unit 4, and when installed at the driving end of the drive unit 4, the drive unit 4 is electrically connected to the infrared camera 9;

[0057] Specifically:

[0058] S4.1: After the precise positioning of each machine is completed, additive manufacturing begins;

[0059] S4.2: According to the material properties and processing requirements, the driving end of the drive unit 4 drives the welding torch 6 to perform additive manufacturing. At the same time, the driving end of the drive unit 4 drives the line laser scanner 7 to scan the weld seam to obtain the weld seam path;

[0060] Preferably, during additive manufacturing, values such as the power of the welding torch 6, the powder feeding rate, and the cooling flow rate are dynamically adjusted according to the actual working conditions. The power of the welding torch 6 is maintained in the range of 500W - 2000W, the powder feeding rate is maintained in the range of 10 - 60g / min, and the cooling flow rate is maintained in the range of 3 - 15L / min, so as to ensure that the gradient temperature ≤ ±10°C and avoid thermal stress deformation;

[0061] S4.3: During the additive manufacturing process, the driving end of the driving part 4 drives the infrared camera 9 to monitor the temperature of the workpiece, obtains the temperature information and transmits it to the control end. The control end adjusts the additive manufacturing work of the welding torch 6 according to the temperature information. The temperature measuring instrument measures the temperature between each layer. When the temperature is higher than the required temperature, it will wait. When the temperature drops to the required temperature, the robotic arm continues with additive manufacturing;

[0062] Preferably, the infrared camera 9 identifies the temperature of the workpiece. When the temperature of the workpiece exceeds the threshold range, the additive manufacturing process is paused. The threshold range is 200 ± 30°C;

[0063] S4.4: After the additive manufacturing is completed, subtractive manufacturing begins. The driving end of the driving part 4 drives the milling head 8 to perform subtractive manufacturing according to the weld path.

[0064] Combined with the attached Figures 2-3 As shown, the robot includes a chassis 1 and a driving part 4. Preferably, the chassis 1 adopts an AGV platform. The driving part 4 is arranged on the chassis 1. The driving part 4 includes a robotic arm. The robotic arm is arranged on the chassis 1. An end connecting claw is arranged at the end of the robotic arm. The additive and subtractive manufacturing component is detachably installed on the end connecting claw. The scanning mechanism is detachably installed on the end connecting claw. The infrared monitoring mechanism is detachably installed on the end connecting claw. An electrical cabinet 11 and a water chiller 10 are also arranged on the chassis 1. The end connecting claw is electrically connected to the robotic arm. The robotic arm, the water chiller 10, and the electrical cabinet 11 are all electrically connected to the chassis 1. The chassis 1 is wirelessly connected to the control end. Specifically, it is wirelessly connected to the control end through the body processing end arranged in the chassis 1. The body processing end and the control end interact through wireless signals and can also interact through laser signals. The robotic arm and the end connecting claw are electrically connected to the electrical cabinet 11. The robotic arm is electrically connected to the electrical cabinet 11 through a cable. When the scanning mechanism is installed on the end connecting claw, the end connecting claw is electrically connected to the scanning mechanism. When the additive and subtractive manufacturing component is installed on the end connecting claw, the end connecting claw is electrically connected to the additive and subtractive manufacturing component. When the infrared monitoring mechanism is installed on the end connecting claw, the end connecting claw is electrically connected to the infrared monitoring mechanism;

[0065] Preferably, the robotic arm is a six-axis serial robotic arm, and the end connection jaw is an industrial robot quick-change tool system, specifically the ATI QC series. The end connection jaw includes:

[0066] Master Side: Fixedly connected to the end of the robotic arm, with built-in electrical / pneumatic / hydraulic passage interfaces and communication contacts, such as multi-pin aviation plugs;

[0067] Tool Side: Installed on the additive / subtractive component, scanning mechanism, and infrared monitoring mechanism, matching the Master Side, and including connectors that match the passage interfaces and communication contacts on the Master Side;

[0068] Locking mechanism: A pneumatic or hydraulic-driven jaw, set on the Master Side, to achieve quick locking / releasing of the Master Side and the Tool Side;

[0069] Sensor: Set on the Master Side to detect the in-place state and connection integrity of the Tool Side;

[0070] Specifically, the locking mechanism and the sensor are connected to the electrical cabinet through cables;

[0071] The driving wheel 2 is set on the chassis 1. The driving wheel 2 is electrically connected to the chassis 1. The driving wheel 2 is built with a wheel brake. The positioning mechanism 3 is set on the chassis 1. A pressure sensor is set on the driving wheel 2. The pressure sensor is electrically connected to the positioning mechanism 3. The positioning mechanism 3 is electrically connected to the chassis 1. Preferably, the number of the driving wheels 2 is four. The four driving wheels 2 are evenly arranged in a rectangular layout at the bottom of the chassis 1. The top view cross-section of the chassis 1 is a rectangular structure. The four driving wheels 2 are respectively set at the four corners of the chassis 1 to ensure the stability of the robot during travel. The positioning mechanism 3 includes a lifting cylinder. Preferably, the number and position of the lifting cylinders correspond to those of the driving wheels 2. Specifically, the corresponding lifting cylinder is set on the side of the corresponding driving wheel 2. The output end of the lifting cylinder is connected with a lifting push rod. The end of the lifting push rod is connected with a support seat. The lifting cylinder is electrically connected to the chassis 1 and the pressure sensor. By setting the position layout where the four driving wheels 2 correspond to the four lifting cylinders, the lifting stability of the lifting cylinder is ensured. By setting the pressure sensor to obtain the force exerted by the robot on the ground, when pre-positioning, the lifting cylinder drives the support seat to move downward through the lifting push rod, so that the force exerted by the robot on the ground through the driving wheel 2 is reduced. When the force exerted by the robot on the ground through the driving wheel 2 is 1 / 3 - 2 / 3 of the robot's own weight, the support seat stops moving downward. At this time, the robot is supported by its own support seat and the driving wheel 2 together to ensure the stability of the subsequent processing. Preferably, when the force exerted by the robot on the ground through the driving wheel 2 is 1 / 2 of the robot's own weight, the support seat stops moving downward;

[0072] The additive and subtractive component includes an additive mechanism and a subtractive mechanism. The additive mechanism includes a welding torch 6 and a line laser scanner 7. The subtractive mechanism includes a milling head 8. The scanning mechanism includes a point cloud scanner 5. The infrared monitoring mechanism includes an infrared camera 9. The point cloud scanner 5 is detachably installed on the end connection claw, and when installed on the end connection claw, the point cloud scanner 5 is electrically connected to the end connection claw. Preferably, the tool disk corresponding to the main disk is connected to the point cloud scanner 5. By setting the point cloud scanner 5 for three-dimensional point cloud scanning, both the welding torch 6 and the line laser scanner 7 can be detachably installed on the end connection claw, and when installed on the end connection claw, the end connection claw is electrically connected to the welding torch 6 and the line laser scanner 7. Preferably, the tool disk corresponding to the main disk is connected to the welding torch 6 and the line laser scanner 7. The milling head 8 is detachably installed on the end connection claw, and when installed on the end connection claw, the end connection claw is electrically connected to the milling head 8. Preferably, the tool disk corresponding to the main disk is connected to the milling head 8. The infrared camera 9 is detachably installed on the end connection claw, and when installed on the end connection claw, the end connection claw is electrically connected to the infrared camera 9. Preferably, the tool disk corresponding to the main disk is connected to the infrared camera 9. The electrical cabinet 11 controls the power of the welding torch 6, the line laser scanner 7, the milling head 8, and the infrared camera 9. The water chiller 10 is used to cool down the welding torch 6;

[0073] Specifically, the infrared camera 9 includes a camera body, a camera guide rail, and a camera linear motor. The camera guide rail is arranged on the corresponding tool disk, the camera linear motor is drivingly connected to the camera guide rail, and the camera body is arranged on the camera linear motor. By setting the camera guide rail and the camera linear motor, the position of the camera body can be adjusted. By setting the camera body, it is used to monitor the temperature of the workpiece;

[0074] The welding torch 6 includes a torch head, a torch head limiting guide rail, a torch head linear motor, and a torch head rotating motor. The torch head limiting guide rail is arranged on the corresponding tool disk. The torch head linear motor is drivingly connected to the torch head limiting guide rail. The torch head rotating motor is arranged on the torch head linear motor. The output end of the torch head rotating motor is connected to the torch head. By arranging the torch head linear motor in cooperation with the torch head guide rail, the displacement of the torch head in one direction can be adjusted. By arranging the torch head rotating motor, the rotation angle of the torch head can be adjusted. The water chiller is cooperated with the torch head through a pipeline, so as to cool the torch head. The line laser scanner 7 includes a line laser scanner body, a scanner guide rail, a scanner linear motor, and a scanner rotating motor. The scanner guide rail is arranged on the corresponding tool disk. The scanner linear motor is drivingly connected to the scanner guide rail. The scanner rotating motor is arranged on the scanner linear motor. The line laser scanner body is arranged on the scanner rotating motor. By arranging the scanner guide rail in cooperation with the scanner linear motor, the displacement of the line laser scanner in one direction can be adjusted. By arranging the scanner rotating motor, the rotation angle of the line laser scanner can be adjusted. By arranging the line laser scanner, the weld seam is scanned to obtain the weld seam path;

[0075] The milling head 8 includes a milling head body, a milling head guide rail, and a milling head linear motor. The milling head guide rail is arranged on the corresponding tool disk. The milling head linear motor is drivingly connected to the milling head guide rail. The milling head body is arranged on the milling head linear motor. By arranging the milling head linear motor in cooperation with the milling head guide rail, the position of the milling head body can be adjusted;

[0076] The chassis 1 is further provided with a tool head changing workbench 12. Other tool heads with work disks corresponding to the main disk are placed on the tool head changing workbench 12. Specifically, it includes a laser head, a spraying head, a chemical plating treatment head, etc. The end connecting chuck passes through the main disk and the corresponding tool disk, and cooperates with the locking mechanism and the sensor to complete the replacement of the tool head. By arranging a plurality of tool heads for different processes, different head bodies can be replaced according to the actual process requirements to perform corresponding processes, thereby increasing the working range adaptable to this robot.

[0077] Embodiment 2:

[0078] Combined with the attached Figures 1-3 As shown, a multi-machine collaborative additive and subtractive manufacturing method based on thermal perception includes the following steps:

[0079] S1: Prepare several robots, obtain the site information and the orientation of the workpiece to be processed in the site, and transmit them to the control terminal for remotely controlling each robot. The control terminal plans the traveling paths of the robots according to the site information and the orientation information, and slices the paths according to the number of the robots to generate the sliced traveling paths corresponding to each robot. The robots move to the positions of the workpieces to be processed according to the received sliced traveling paths.

[0080] Further, the robots move to the positions of the workpieces to be processed according to the received sliced traveling paths through the drive wheels 2 arranged on the chassis 1 of the robots. The drive wheels 2 are electrically connected to the chassis 1, and the chassis 1 is wirelessly connected to the control terminal.

[0081] A laser rangefinder for identifying the site information and the workpiece orientation information is arranged on the robot. The robot moves to the position of the workpiece to be processed by determining the travel of the traveling path through the laser rangefinder. Specifically, the robot is based on an AGV platform and uses the laser rangefinder on the AGV platform to determine the travel of the path.

[0082] S2: After the control terminal controls each robot to move to the position of the workpiece to be processed, it brakes and pre-positions.

[0083] Further, after the control terminal controls each robot to move to the position of the workpiece to be processed, it brakes through the built-in wheel brakes of the corresponding drive wheels 2, and uses the positioning mechanism 3 arranged on the chassis 1 of the robot for pre-positioning. A pressure sensor is arranged on the drive wheel 2. The pressure sensor is electrically connected to the positioning mechanism 3, and the positioning mechanism 3 is electrically connected to the chassis 1.

[0084] Further, use the lifting cylinder arranged on the chassis 1 in the positioning mechanism 3 to drive the lifting push rod connected to the output end of the lifting cylinder, and push the support seat arranged at the end of the lifting push rod to move downward, so that the chassis 1 of the robot is lifted to realize the pre-positioning of the robot. The pressure sensor is electrically connected to the lifting cylinder, and the lifting cylinder is electrically connected to the chassis.

[0085] Through the support after the support seat moves downward, the stability of the robot is ensured. The pre-positioning makes the robot close to the workpiece, and ensures that the positioning accuracy error range required in the additive and subtractive machining process is within ±2 mm.

[0086] S3: The control terminal operates the robot to drive the scanning mechanism detachably mounted on the robot to perform contour scanning on the workpiece to be machined, generate a local three-dimensional point cloud model of the workpiece to be machined corresponding to the working position of the robot, and transmit it to the control terminal. Pose errors are generated based on the local three-dimensional point cloud model and the workpiece design model of the corresponding position of the workpiece pre-entered in the control terminal. The robot generates a drive compensation amount according to the pose errors for dynamic compensation to achieve fine positioning of the robot;

[0087] Specifically;

[0088] S3.1: The control terminal operates the robot to drive the scanning mechanism detachably mounted on the driving end of the driving part 4 through the driving part 4 arranged on the chassis 1 in the robot to perform contour scanning on the workpiece to be machined. The driving part 4 is electrically connected to the chassis 1, and the scanning mechanism is electrically connected to the driving part 4;

[0089] S3.2: Generate a local three-dimensional point cloud model of the workpiece to be machined corresponding to the working position of the robot and transmit it to the control terminal;

[0090] S3.3: Extract the corresponding scanned point cloud feature points according to the local three-dimensional point cloud model, register the point cloud feature points with the workpiece design model of the corresponding position of the workpiece pre-entered in the control terminal to generate an error matrix to obtain the pose error, and decompose the pose error into the drive compensation amount corresponding to the robot. Preferably, the error matrix includes the error amount Δx in the X-axis direction, the error amount Δy in the Y-axis direction, and the error angle Δθ. Decompose Δx, Δy, and Δθ to generate the drive compensation amount corresponding to the robot;

[0091] S3.4: The driving part 4 in the robot performs dynamic compensation according to the corresponding drive compensation amount to achieve fine positioning of the robot. Preferably, the robot is adjusted through the driving part 4 to complete dynamic compensation for fine positioning, so that the error range of fine positioning is reduced to ±0.1 mm. During the fine positioning process, after the three-dimensional point cloud feature points are obtained, three-dimensional data reconstruction is performed using magics, and Boolean operations are performed using magics. The model after the operation is used to generate a compensation path trajectory using slicing software. The slicing software can be selected as 3D Systems Amphyon, etc.;

[0092] S4: After the fine positioning of each robot is completed, according to the material properties and processing requirements, the control terminal operates the robot to drive the additive and subtractive manufacturing component detachably installed on the robot to perform additive and subtractive manufacturing on the workpiece to be processed. The additive and subtractive manufacturing includes additive manufacturing and subtractive manufacturing. During the additive manufacturing process, the control terminal operates the robot to drive the infrared monitoring mechanism detachably installed on the robot to monitor the temperature of the workpiece, obtain temperature information and transmit the temperature information to the control terminal, and the control terminal adjusts the additive manufacturing work of the additive and subtractive manufacturing component according to the temperature information;

[0093] Further, the control terminal operates the robot to drive the additive and subtractive manufacturing component detachably installed at the driving end of the driving part 4 to perform additive and subtractive manufacturing. The additive and subtractive manufacturing component includes an additive manufacturing mechanism and a subtractive manufacturing mechanism. The additive manufacturing mechanism includes a welding torch 6 and a line laser scanner 7, and the subtractive manufacturing mechanism includes a milling head 8. The welding torch 6, the line laser scanner 7, and the milling head 8 can all be detachably installed at the driving end of the driving part 4, and when installed at the driving end of the driving part 4, the driving part 4 is electrically connected to the welding torch 6, the line laser scanner 7, and the milling head 8;

[0094] The control terminal operates the robot to drive the infrared monitoring mechanism detachably installed at the driving end of the driving part 4 to monitor the temperature of the workpiece. The infrared monitoring mechanism includes an infrared camera 9. The infrared camera 9 can be detachably installed at the driving end of the driving part 4, and when installed at the driving end of the driving part 4, the driving part 4 is electrically connected to the infrared camera 9;

[0095] Specifically:

[0096] S4.1: After the fine positioning of each machine is completed, additive manufacturing is started;

[0097] S4.2: According to the material properties and processing requirements, the driving end of the driving part 4 drives the welding torch 6 to perform additive manufacturing. At the same time, the driving end of the driving part 4 drives the line laser scanner 7 to scan the weld seam to obtain the weld seam path;

[0098] Preferably, during additive manufacturing, values such as the power of the welding torch 6, the powder feeding rate, and the cooling flow rate are dynamically adjusted according to the actual working conditions. Among them, the power of the welding torch 6 is maintained in the range of 500W - 2000W, the powder feeding rate is maintained in the range of 10 - 60g / min, and the cooling flow rate is maintained in the range of 3 - 15L / min, so as to ensure that the gradient temperature ≤ ±10°C and avoid thermal stress deformation;

[0099] S4.3: During the additive manufacturing process, the driving end of the driving part 4 drives the infrared camera 9 to monitor the temperature of the workpiece, obtain temperature information and transmit it to the control terminal, and the control terminal adjusts the processing work of the welding torch 6 for additive manufacturing according to the temperature information;

[0100] Preferably, the infrared camera 9 identifies the temperature of the workpiece. When the temperature of the workpiece exceeds the threshold range, the additive manufacturing process is paused. The threshold range is 200±30°C.

[0101] S4.4: After the additive manufacturing is completed, subtractive machining is started. The driving end of the driving part 4 drives the milling head 8 to perform subtractive machining according to the weld path.

[0102] Combined with the attached Figures 2-3 As shown, the robot includes a chassis 1 and a driving part 4. Preferably, the chassis 1 adopts an AGV platform. The driving part 4 is arranged on the chassis 1. The driving part 4 includes a robotic arm. The robotic arm is arranged on the chassis 1. An end connection claw is arranged at the end of the robotic arm. The additive / subtractive component is detachably installed on the end connection claw. The scanning mechanism is detachably installed on the end connection claw. The infrared monitoring mechanism is detachably installed on the end connection claw. An electrical cabinet 11 and a water chiller 10 are also arranged on the chassis 1. The end connection claw is electrically connected to the robotic arm. The robotic arm, the water chiller 10, and the electrical cabinet 11 are all electrically connected to the chassis 1. The chassis 1 is wirelessly connected to the control end. Specifically, it is wirelessly connected to the control end through the body processing end arranged in the chassis 1. The body processing end and the control end interact through wireless signals, or can also perform signal interaction through laser. The robotic arm and the end connection claw are electrically connected to the electrical cabinet 11. The robotic arm is electrically connected to the electrical cabinet 11 through a cable. When the scanning mechanism is installed on the end connection claw, the end connection claw is electrically connected to the scanning mechanism. When the additive / subtractive component is installed on the end connection claw, the end connection claw is electrically connected to the additive / subtractive component. When the infrared monitoring mechanism is installed on the end connection claw, the end connection claw is electrically connected to the infrared monitoring mechanism;

[0103] Preferably, the robotic arm is a six-axis serial robotic arm, and the end connection claw is an industrial robot quick-change tool system, specifically such as the ATI QC series. The end connection claw includes:

[0104] Master Side: Fixedly connected to the end of the robotic arm, with built-in electrical / air / liquid passage interfaces and communication contacts, such as a multi-pin aviation plug;

[0105] Tool Side: Installed on the additive / subtractive component, the scanning mechanism, and the infrared monitoring mechanism, matching the Master Side, and including connectors that match the passage interfaces and communication contacts on the Master Side;

[0106] Locking mechanism: A pneumatic or hydraulic drive claw, arranged on the Master Side, to achieve quick locking / release of the Master Side and the Tool Side;

[0107] Sensor: Set on the main disk to detect the in-position status and connection integrity of the tool disk;

[0108] Specifically, the locking mechanism and the sensor are connected to the electrical cabinet through a cable;

[0109] The driving wheel 2 is set on the chassis 1. The driving wheel 2 is electrically connected to the chassis 1. The driving wheel 2 is internally provided with a wheel brake. The positioning mechanism 3 is set on the chassis 1. A pressure sensor is set on the driving wheel 2. The pressure sensor is electrically connected to the positioning mechanism 3. The positioning mechanism 3 is electrically connected to the chassis 1. Preferably, the number of the driving wheels 2 is four. The four driving wheels 2 are evenly arranged in a rectangular layout at the bottom of the chassis 1. The top view cross-section of the chassis 1 is a rectangular structure. The four driving wheels 2 are respectively set at the four corners of the chassis 1 to ensure the stability of the robot during movement. The positioning mechanism 3 includes a lifting cylinder. Preferably, the number and position of the lifting cylinders correspond to those of the driving wheels 2. Specifically, the corresponding lifting cylinder is set on the side of the corresponding driving wheel 2. The output end of the lifting cylinder is connected with a lifting push rod. The end of the lifting push rod is connected with a support seat. The lifting cylinder is electrically connected to the chassis 1 and the pressure sensor. By setting the position layout of the four driving wheels 2 corresponding to the four lifting cylinders, the lifting stability of the lifting cylinder is ensured. A pressure sensor is set to obtain the force exerted by the robot on the ground. When pre-positioning is performed, the lifting cylinder drives the support seat to move downward through the lifting push rod, so that the force exerted by the robot on the ground through the driving wheel 2 is reduced. When the force exerted by the robot on the ground through the driving wheel 2 is 1 / 3 - 2 / 3 of the robot's own weight, the support seat stops moving downward. At this time, the robot is supported by its own support seat and the driving wheel 2 together to ensure the stability of the subsequent processing process. Preferably, when the force exerted by the robot on the ground through the driving wheel 2 is 1 / 2 of the robot's own weight, the support seat stops moving downward;

[0110] The additive and subtractive component includes an additive mechanism and a subtractive mechanism. The additive mechanism includes a welding torch 6 and a line laser scanner 7. The subtractive mechanism includes a milling head 8. The scanning mechanism includes a point cloud scanner 5. The infrared monitoring mechanism includes an infrared camera 9. The point cloud scanner 5 is detachably mounted on the end connection claw, and when mounted on the end connection claw, the point cloud scanner 5 is electrically connected to the end connection claw. Preferably, the tool disk corresponding to the main disk is connected to the point cloud scanner 5. By setting the point cloud scanner 5, three-dimensional point cloud scanning is performed. The welding torch 6 and the line laser scanner 7 are both detachably mounted on the end connection claw, and when mounted on the end connection claw, the end connection claw is electrically connected to the welding torch 6 and the line laser scanner 7. Preferably, the tool disk corresponding to the main disk is connected to the welding torch 6 and the line laser scanner 7. The milling head 8 is detachably mounted on the end connection claw, and when mounted on the end connection claw, the end connection claw is electrically connected to the milling head 8. Preferably, the tool disk corresponding to the main disk is connected to the milling head 8. The infrared camera 9 is detachably mounted on the end connection claw, and when mounted on the end connection claw, the end connection claw is electrically connected to the infrared camera 9. Preferably, the tool disk corresponding to the main disk is connected to the infrared camera 9. The electrical cabinet 11 controls the power of the welding torch 6, the line laser scanner 7, the milling head 8, and the infrared camera 9. The water chiller 10 is used to cool down the welding torch 6;

[0111] Specifically, the infrared camera 9 includes a camera body, a camera guide rail, and a camera linear motor. The camera guide rail is arranged on the corresponding tool disk. The camera linear motor is drivingly connected to the camera guide rail. The camera body is arranged on the camera linear motor. By setting the camera guide rail and the camera linear motor, the position of the camera body can be adjusted. By setting the camera body, the temperature of the workpiece can be monitored;

[0112] The welding torch 6 includes a torch tip, a torch tip limiting guide rail, a torch tip linear motor, and a torch tip rotating motor. The torch tip limiting guide rail is arranged on the corresponding tool disc. The torch tip linear motor is drivingly connected to the torch tip limiting guide rail. The torch tip rotating motor is arranged on the torch tip linear motor, and the output end of the torch tip rotating motor is connected to the torch tip. By arranging the torch tip linear motor in cooperation with the torch tip guide rail, the displacement of the torch tip in one direction can be adjusted. By arranging the torch tip rotating motor, the rotation angle of the torch tip can be adjusted. The water chiller cooperates with the torch tip through a pipeline to cool the torch tip. The line laser scanner 7 includes a line laser scanner body, a scanner guide rail, a scanner linear motor, and a scanner rotating motor. The scanner guide rail is arranged on the corresponding tool disc. The scanner linear motor is drivingly connected to the scanner guide rail. The scanner rotating motor is arranged on the scanner linear motor, and the line laser scanner body is arranged on the scanner rotating motor. By arranging the scanner guide rail in cooperation with the scanner linear motor, the displacement of the line laser scanner in one direction can be adjusted. By arranging the scanner rotating motor, the rotation angle of the line laser scanner can be adjusted. By arranging the line laser scanner, the weld seam is scanned to obtain the weld seam path;

[0113] The milling head 8 includes a milling head body, a milling head guide rail, and a milling head linear motor. The milling head guide rail is arranged on the corresponding tool disc. The milling head linear motor is drivingly connected to the milling head guide rail. The milling head body is arranged on the milling head linear motor. By arranging the milling head linear motor in cooperation with the milling head guide rail, the position of the milling head body can be adjusted;

[0114] A tool head changing workbench 12 is further arranged on the chassis 1. Other tool heads with work discs corresponding to the main disc are placed on the tool head changing workbench 12. Specifically, it includes a laser head, a spraying head, a chemical plating treatment head, etc. The end connection chuck, through the main disc and the corresponding tool disc, cooperates with the locking mechanism and the sensor to complete the replacement of the tool head. By arranging a number of tool heads for different processes, different head bodies can be replaced according to the actual process requirements to perform corresponding processes, increasing the working range that the robot can adapt to.

[0115] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and do not limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A multi-machine collaborative additive and subtractive manufacturing method based on thermal perception, characterized in that: It includes the following steps: S1: Prepare several robots, obtain the site information and the orientation of the workpiece to be processed in the site and transmit them to the control terminal for remotely controlling each robot. The control terminal plans the travel path of the robots according to the site information and the orientation information, and slices the path according to the number of the robots to generate the sliced travel path corresponding to each robot. The robots move to the position of the workpiece to be processed according to the received sliced travel path; S2: After the control terminal controls each robot to move to the position of the workpiece to be processed, it brakes and performs pre-positioning; S3: Use the scanning mechanism installed on the robot to perform contour scanning on the workpiece to be processed, generate a local three-dimensional point cloud model of the workpiece to be processed corresponding to the working position of the robot and transmit it to the control terminal. Generate a pose error according to the local three-dimensional point cloud model and the workpiece design model at the corresponding position of the workpiece pre-input in the control terminal. The robot generates a drive compensation amount according to the pose error to perform dynamic compensation to achieve the precise positioning of the robot; S4: After the precise positioning of each robot is completed, according to the material characteristics and processing requirements, use the additive and subtractive component detachably installed on the robot to perform additive and subtractive processing on the workpiece to be processed. The additive and subtractive processing includes additive processing and subtractive processing. During the additive processing, use the infrared monitoring mechanism installed on the robot to monitor the temperature of the workpiece, obtain the temperature information and transmit the temperature information to the control terminal. The control terminal adjusts the additive processing work of the additive and subtractive component according to the temperature information.

2. The multi-machine collaborative additive and subtractive manufacturing method based on thermal perception according to claim 1, wherein: In S1, drive wheels are arranged on the chassis of the robot. The drive wheels are electrically connected to the chassis, and the chassis is wirelessly connected to the control terminal.

3. The multi-machine collaborative additive and subtractive manufacturing method based on thermal perception according to claim 2, wherein: In S2, after the control terminal controls each robot to move to the position of the workpiece to be processed, it brakes through the built-in wheel brakes of the corresponding drive wheels and uses the positioning mechanism arranged on the robot chassis to perform pre-positioning. A pressure sensor is arranged on the drive wheel. The pressure sensor is electrically connected to the positioning mechanism, and the positioning mechanism is electrically connected to the chassis.

4. A multi-machine collaborative additive and subtractive manufacturing method based on thermal perception according to claim 3, characterized in that: The positioning mechanism includes a lifting cylinder installed on the chassis. The output end of the lifting cylinder is connected with a lifting push rod. A support seat is arranged at the end of the lifting push rod. The lifting cylinder drives the lifting push rod and the support seat to move downward, so that the chassis of the robot rises to achieve the pre-positioning of the robot. The pressure sensor is electrically connected to the lifting cylinder.

5. A multi-machine collaborative additive and subtractive manufacturing method based on thermal perception according to claim 2, characterized in that: S3 specifically includes the following steps: S3.1: Drive the scanning mechanism installed at the driving end of the driving part by the driving part arranged on the robot chassis to perform contour scanning on the workpiece to be processed. The driving part is electrically connected to the chassis, and the scanning mechanism is electrically connected to the driving part; S3.2: Generate a local three-dimensional point cloud model of the workpiece to be processed corresponding to the working position of the robot and transmit it to the control terminal; S3.3: Extract the corresponding scanned point cloud feature points according to the local three-dimensional point cloud model, register the point cloud feature points with the workpiece design model at the corresponding position of the workpiece pre-input in the control terminal to generate an error matrix to obtain the pose error, and decompose the pose error into the drive compensation amount corresponding to the robot; S3.4: The drive part in the robot performs dynamic compensation according to the corresponding drive compensation amount to achieve the precise positioning of the robot.

6. The multi-machine collaborative additive and subtractive manufacturing method based on thermal perception according to claim 5, wherein: In S4, the additive and subtractive component includes an additive mechanism and a subtractive mechanism. The additive mechanism includes a welding torch and a line laser scanner, and the subtractive mechanism includes a milling head. The welding torch, the line laser scanner, and the milling head are all detachably installed on the drive end of the drive part, and when installed on the drive end of the drive part, the drive part is electrically connected to the welding torch, the line laser scanner, and the milling head.

7. A method for multi-machine collaborative additive and subtractive manufacturing based on thermal perception according to claim 6, characterized in that: The infrared monitoring mechanism includes an infrared camera, and the infrared camera is detachably installed on the drive end of the drive part.

8. A method for multi-machine collaborative additive and subtractive manufacturing based on thermal perception according to claim 7, characterized in that: S4 specifically includes the following steps: S4.1: After the precise positioning of each robot is completed, start the additive manufacturing. S4.2: According to the material characteristics and processing requirements, the drive end of the drive part drives the welding torch to perform additive manufacturing. At the same time, the drive end of the drive part drives the line laser scanner to scan the weld seam to obtain the weld seam path. S4.3: During the additive manufacturing process, the drive end of the drive part drives the infrared camera to monitor the temperature of the workpiece, obtains the temperature information and transmits it to the control terminal. The control terminal adjusts the additive manufacturing work of the welding torch according to the temperature information. The thermometer measures the temperature between each layer. When the temperature is higher than the required temperature, it will wait. When the temperature drops to the required temperature, the robotic arm continues with the additive manufacturing. S4.4: After the additive manufacturing is completed, start the subtractive manufacturing. The drive end of the drive part drives the milling head to perform subtractive manufacturing according to the weld seam path.

9. A multi-machine collaborative additive and subtractive manufacturing method based on thermal perception according to claim 1, characterized in that: In S1, two-dimensional codes for marking the travel path are set in the site, and the robot determines the travel path according to the two-dimensional codes corresponding to the sliced travel path and moves to the position of the workpiece to be processed; a laser rangefinder for identifying the site information and the workpiece orientation information is set on the robot, and the robot determines the travel path according to the laser rangefinder and moves to the position of the workpiece to be processed.

10. A robot for the method according to any one of claims 1-9, characterized in that: The robot includes a chassis 1 and a drive part 4. The drive part 4 is arranged on the chassis 1. The drive part 4 includes a robotic arm. The robotic arm is arranged on the chassis 1. An end connection claw is arranged at the end of the robotic arm. The additive and subtractive component is detachably installed on the end connection claw, the scanning mechanism is detachably installed on the end connection claw, and the infrared monitoring mechanism is detachably installed on the end connection claw. When the scanning mechanism is installed on the end connection claw, the end connection claw is electrically connected to the scanning mechanism. When the additive and subtractive component is installed on the end connection claw, the end connection claw is electrically connected to the additive and subtractive component. When the infrared monitoring mechanism is installed on the end connection claw, the end connection claw is electrically connected to the infrared monitoring mechanism.

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