Thermal perception based multi-machine collaborative additive and subtractive machining method

Abstract

The application relates to a kind of based on heat perception's multi-machine cooperative additive and subtractive machining method, belong to additive and subtractive robot technical field, comprising the following steps: S1: preparation several robots, robot moves to the position of workpiece to be processed according to received slice travel path;S2: the control end controls each described robot to stop after moving to the position of workpiece to be processed and carries out predetermined positioning;S3: according to the local three-dimensional point cloud model and the workpiece design model of the corresponding position of workpiece pre-input in the control end, the precise positioning of robot is realized;S4: after each described robot precise positioning is completed, according to material characteristics and processing requirement, carries out additive and subtractive machining.The application can avoid the influence on processing quality when temperature is too high, and can make movable robot meet the accuracy requirement of processing, better complete subtractive machining, additive mechanism and subtractive mechanism cooperate with each other to better complete additive and subtractive machining.

Description

Technical Field

[0001] This invention belongs to the field of additive and subtractive manufacturing robot technology, specifically relating to a multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing. Background Technology

[0002] Additive manufacturing technology is a manufacturing technology based on a three-dimensional design model. It produces products by slicing and manufacturing them layer by layer. Additive manufacturing technology breaks through the structural and performance limitations of tooling fixtures and cutting tools, greatly improving the freedom of design. At the same time, it abandons the prescribed process of traditional manufacturing methods, saving production and operation time, especially new product development time, and is widely used in many fields.

[0003] Traditional additive manufacturing equipment typically employs a single robotic arm or a fixed structure. While this is effective for small workpieces, it requires repeated adjustments to the workpiece position or robotic arm posture during processing, resulting in low efficiency and difficulty in adapting to complex working conditions. Furthermore, a single process module cannot meet the needs of multi-material and multi-process composite manufacturing. Although additive-subtractive composite systems exist in existing technologies, they mostly rely on sequential single-machine operations and lack the dynamic task allocation and interaction capabilities for multi-robot collaboration, thus limiting processing efficiency. Moreover, excessively high temperatures during processing can easily affect the processing results.

[0004] Therefore, there is an urgent need to design a multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing in order to solve the above problems. Summary of the Invention

[0005] This invention provides a multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing, and the technical problem to be solved is:

[0006] To address the above technical problems, this invention provides a multi-machine collaborative additive and subtractive material processing method based on thermal sensing, characterized by the following steps:

[0007] S1: Prepare several robots, acquire site information and the orientation information of the workpiece to be processed in the site, and transmit them to the control terminal for remote control of each robot. The control terminal plans the robot's travel path according to the site information and the orientation information, and performs path slicing according to the number of robots to generate a slice travel path corresponding to each robot. The robot moves to the position of the workpiece to be processed according to the received slice travel path.

[0008] S2: The control terminal controls each robot to move to the position of the workpiece to be processed, then stops and performs a pre-positioning;

[0009] S3: The scanning mechanism installed on the robot performs 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 terminal. Based on the local three-dimensional point cloud model and the workpiece design model corresponding to the workpiece position pre-input in the control terminal, a pose error is generated. The robot generates a drive compensation amount based on the pose error to perform dynamic compensation and realize the precise positioning of the robot.

[0010] S4: After each robot completes its precise positioning, based on the material properties and processing requirements, the workpiece to be processed is subjected to additive and subtractive processing using a detachable additive and subtractive material assembly mounted on the robot. The additive and subtractive material processing includes both additive and subtractive processing. During the additive processing, the temperature of the workpiece is monitored by an infrared monitoring mechanism mounted on the robot, and the temperature information is acquired and transmitted to the control terminal. The control terminal adjusts the additive processing operation of the additive and subtractive material assembly based on the temperature information.

[0011] Furthermore, in S1, the robot's chassis is equipped with drive wheels, which are electrically connected to the chassis, and the chassis is wirelessly connected to the control terminal.

[0012] Furthermore, in S2, the control terminal controls each robot to move to the position of the workpiece to be processed and then stops it by the built-in wheel brake of the corresponding drive wheel, and uses the positioning mechanism set on the robot chassis for pre-positioning. The drive wheel is equipped with a pressure sensor, the pressure sensor is electrically connected to the positioning mechanism, and the positioning mechanism is electrically connected to the chassis.

[0013] Furthermore, the positioning mechanism includes a lifting cylinder mounted on the chassis, with a lifting push rod connected to the output end of the lifting cylinder and a support seat at the end of the lifting push rod. The lifting cylinder drives the lifting push rod and the support seat to move downward, causing the robot's chassis to rise and achieving the robot's pre-positioning. The pressure sensor is electrically connected to the lifting cylinder.

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

[0015] S3.1: The scanning mechanism mounted on the drive end of the drive unit, which is set on the robot chassis, performs contour scanning of the workpiece to be processed. The drive unit is electrically connected to the chassis, and the scanning mechanism is electrically connected to the drive unit.

[0016] S3.2: Generate a local 3D point cloud model of the workpiece to be processed corresponding to the robot's working position and transmit it to the control terminal;

[0017] S3.3: Extract corresponding scanned point cloud feature points based on 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 corresponding robot drive compensation amount.

[0018] S3.4: The drive unit in the robot performs dynamic compensation based on the corresponding drive compensation amount to achieve precise positioning of the robot.

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

[0020] Furthermore, the infrared monitoring mechanism includes an infrared camera, which is detachably mounted on the drive end of the drive unit.

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

[0022] S4.1: After each robot has completed its precise positioning, additive manufacturing begins;

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

[0024] S4.3: During the additive manufacturing process, the drive unit drives an infrared camera to monitor the temperature of the workpiece, acquires temperature information and transmits it to the control unit, and the control unit adjusts the additive manufacturing process of the welding torch according to the temperature information.

[0025] S4.4: After the additive manufacturing is completed, the subtractive manufacturing begins. The drive end of the drive unit drives the milling head to perform subtractive manufacturing according to the weld path.

[0026] Furthermore, in S1, the site is equipped with QR codes for marking the travel path. The robot determines the travel path distance based on the QR code corresponding to the slice travel path and moves to the position of the workpiece to be processed. The robot is equipped with a laser rangefinder for identifying site information and workpiece orientation information. The robot determines the travel path distance based on the laser rangefinder and moves to the position of the workpiece to be processed.

[0027] The robot used in the method is characterized in that: the robot includes a chassis 1 and a drive unit 4, the drive unit 4 is disposed on the chassis 1, the drive unit 4 includes a robotic arm, the robotic arm is disposed on the chassis 1, the end of the robotic arm is provided with an end-connecting claw, the additive and subtractive material assembly is detachably mounted on the end-connecting claw, the scanning mechanism is detachably mounted on the end-connecting claw, the infrared monitoring mechanism is detachably mounted on the end-connecting claw, when the scanning mechanism is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the scanning mechanism, when the additive and subtractive material assembly is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the additive and subtractive material assembly, and when the infrared monitoring mechanism is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the infrared monitoring mechanism.

[0028] Beneficial effects: This invention uses multiple mobile robots to perform processing together, which can adapt to the processing needs of large-sized workpieces. Through two positioning methods, it ensures that the mobile robots can be accurately positioned at the processing station after pre-positioning and fine positioning, thus meeting the processing accuracy requirements. At the same time, by setting up additive and subtractive material components, additive and subtractive processing can be performed more effectively. Furthermore, by setting up an infrared monitoring mechanism to monitor the temperature of the workpiece, the processing effect can be avoided by excessively high temperature.

[0029] The specific advantages are as follows:

[0030] 1. By setting up an infrared monitoring mechanism, the temperature of the workpiece is monitored by an infrared camera, thereby avoiding the impact of excessively high temperature on processing quality.

[0031] 2. By setting up multiple mobile robots to work together, it is possible to process large workpieces without adjusting the position and angle of the workpiece itself. The addition and subtraction of materials for large workpieces can be completed by the cooperation of multiple robots. At the same time, through two positioning methods, the mobile robots can meet the processing accuracy requirements.

[0032] 3. By setting up additive and subtractive manufacturing components, both the additive and subtractive manufacturing mechanisms can be driven by the same robotic arm. A line laser scanner is used to scan the weld path, providing support for the subsequent subtractive manufacturing process. In conjunction with the milling head, subtractive manufacturing can be completed more effectively. The additive and subtractive manufacturing mechanisms work together to better complete the additive and subtractive manufacturing process. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the steps of the present invention;

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

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

[0036] Figure 4 This is a schematic diagram of the multi-machine collaboration of the present invention.

[0037] In the diagram: 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. Head changing worktable. Detailed Implementation

[0038] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below.

[0039] Example 1:

[0040] Combined with appendix Figure 1-3 As shown, a multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing includes the following steps:

[0041] S1: Prepare several robots, acquire site information and the orientation information of the workpiece to be processed in the site, and transmit them to the control terminal for remote control of each robot. The control terminal plans the robot's travel path according to the site information and the orientation information, and performs path slicing according to the number of robots to generate a slice travel path corresponding to each robot. The robot moves to the position of the workpiece to be processed according to the received slice travel path.

[0042] Furthermore, the robot moves to the position of the workpiece to be processed according to the received slice travel path via the drive wheels 2 set on the chassis 1 of the robot. The drive wheels 2 are electrically connected to the chassis 1, and the chassis 1 is wirelessly connected to the control terminal.

[0043] The site is equipped with QR codes for marking the travel path. The robot determines the travel path based on the QR code corresponding to the slice travel path and moves to the position of the workpiece to be processed. Specifically, the robot is based on an AGV platform and uses the QR code to determine the travel path.

[0044] S2: The control terminal controls each robot to move to the position of the workpiece to be processed, then stops and performs a pre-positioning;

[0045] Furthermore, after the control terminal controls each robot to move to the position of the workpiece to be processed, it stops by the built-in wheel brake of the corresponding drive wheel 2, and pre-positions it using the positioning mechanism 3 set on the chassis 1 of the robot. The drive wheel 2 is equipped with a pressure sensor, which is electrically connected to the positioning mechanism 3, and the positioning mechanism 3 is electrically connected to the chassis 1.

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

[0047] The robot's stability is ensured by the support that moves downwards from the support base. Pre-positioning allows the robot to approach the workpiece and ensures that the positioning accuracy required for the additive and subtractive material processing is within ±2mm.

[0048] S3: The control terminal operates the robot drive scanning mechanism detachably mounted on the robot to perform contour scanning of 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. Based on the local three-dimensional point cloud model and the workpiece design model corresponding to the workpiece position pre-input in the control terminal, a pose error is generated. The robot generates a drive compensation amount based on the pose error to perform dynamic compensation and achieve precise positioning of the robot.

[0049] Specific;

[0050] S3.1: The control terminal operates the robot to drive the scanning mechanism, which is detachably installed on the drive end of the drive unit 4, to perform contour scanning on the workpiece to be processed through the drive unit 4 set on the chassis 1 of the robot. The drive unit 4 is electrically connected to the chassis 1, and the scanning mechanism is electrically connected to the drive unit 4.

[0051] S3.2: Generate a local 3D point cloud model of the workpiece to be processed corresponding to the robot's working position and transmit it to the control terminal;

[0052] S3.3: Extract corresponding scanned point cloud feature points based on the local 3D 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 corresponding robot drive compensation amount. Preferably, the error matrix includes the error amount Δx along the X-axis direction, the error amount Δy along the Y-axis direction, and the error angle Δθ. Decompose Δx, Δy, and Δθ to generate the corresponding robot drive compensation amount.

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

[0054] S4: After each robot completes its precise positioning, based on material properties and processing requirements, the control terminal operates the robot to drive the detachable additive and subtractive manufacturing components on the robot to perform additive and subtractive manufacturing on the workpiece. 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 detachable infrared monitoring mechanism on the robot to monitor the temperature of the workpiece, acquire temperature information, and transmit the temperature information to the control terminal. The control terminal adjusts the additive manufacturing operation of the additive and subtractive manufacturing components based on the temperature information.

[0055] Furthermore, the control terminal operates the robot to drive the additive and subtractive material assembly detachably installed on the drive end of the drive unit 4 to perform additive and subtractive material processing. The additive and subtractive material assembly 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 welding torch 6, the line laser scanner 7, and the milling head 8 can all be detachably installed on the drive end of the drive unit 4. When installed on the drive 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 that is detachably installed on the drive end of the drive unit 4 to monitor the temperature of the workpiece. The infrared monitoring mechanism includes an infrared camera 9, which is detachably installed on the drive end of the drive unit 4, and the drive unit 4 is electrically connected to the infrared camera 9 when installed on the drive end of the drive unit 4.

[0057] Specifically:

[0058] S4.1: After each machine has been precisely positioned, additive manufacturing begins;

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

[0060] Preferably, during additive manufacturing, 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 is ≤±10℃ and avoid thermal stress deformation.

[0061] S4.3: During the additive manufacturing process, the drive unit 4 drives the infrared camera 9 to monitor the temperature of the workpiece, acquire temperature information and transmit it to the control unit. The control unit adjusts the additive manufacturing process of the welding gun 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 to perform additive manufacturing.

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

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

[0064] Combined with appendix Figure 2-3 As shown, the robot includes a chassis 1 and a drive unit 4. Preferably, the chassis 1 is an AGV platform. The drive unit 4 is mounted on the chassis 1 and includes a robotic arm. The robotic arm is mounted on the chassis 1 and has an end-connecting gripper at its end. The additive and subtractive material assembly is detachably mounted on the end-connecting gripper. The scanning mechanism and the infrared monitoring mechanism are detachably mounted on the end-connecting gripper. The chassis 1 also includes an electrical cabinet 11 and a water chiller 10. The end-connecting gripper 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 terminal. Specifically, the chassis 1 is wirelessly connected to the control terminal through the machine processing terminal set in the chassis 1. The machine processing terminal and the control terminal interact with each other through wireless signals or laser signals. The robotic arm and the end-mounted 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-mounted connecting claw, the end-mounted connecting claw is electrically connected to the scanning mechanism. When the additive and subtractive material assembly is installed on the end-mounted connecting claw, the end-mounted connecting claw is electrically connected to the additive and subtractive material assembly. When the infrared monitoring mechanism is installed on the end-mounted connecting claw, the end-mounted 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-effector gripper is an industrial robot quick-change tool system, specifically such as the ATI QC series. The end-effector gripper includes:

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

[0067] Tool Side: Installed on the additive and subtractive manufacturing assembly, scanning mechanism, and infrared monitoring mechanism, it matches the main panel and includes connectors that match the access interfaces and communication contacts on the main panel;

[0068] Locking mechanism: Pneumatic or hydraulically driven chucks, mounted on the main plate, enable quick locking / releasing of the main plate and the tool plate;

[0069] Sensors: Installed on the main disk to detect the presence and connection integrity of the tool disk;

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

[0071] The drive wheel 2 is mounted on the chassis 1 and electrically connected to the chassis 1. The drive wheel 2 has a built-in wheel brake. The positioning mechanism 3 is mounted on the chassis 1. A pressure sensor is mounted on the drive wheel 2 and electrically connected to the positioning mechanism 3. The positioning mechanism 3 is also electrically connected to the chassis 1. Preferably, there are four drive wheels 2, arranged in a rectangular layout evenly at the bottom of the chassis 1. The chassis 1 has a rectangular cross-section when viewed from above. The four drive wheels 2 are respectively located at the four corners of the chassis 1 to ensure the stability of the robot during movement. The positioning mechanism 3 includes lifting cylinders. Preferably, the number and position of the lifting cylinders correspond to the drive wheels 2. Specifically, the corresponding lifting cylinder is located on the side of the corresponding drive wheel 2. The output end of the lifting cylinder is connected to a lifting push rod. The unit is connected to a support base. The lifting cylinder is electrically connected to the chassis 1 and the pressure sensor. By setting four drive wheels 2 and four lifting cylinders in corresponding positions, the lifting stability of the lifting cylinder is ensured. The pressure sensor is used to obtain the force applied to the ground by the robot. When pre-positioning is performed, the lifting cylinder drives the support base to move downward through the lifting push rod, so that the force applied to the ground by the robot through the drive wheels 2 is reduced. When the force applied to the ground by the robot through the drive wheels 2 is 1 / 3 to 2 / 3 of the robot's own weight, the support base stops moving downward. At this time, the robot is supported by its own support base and the drive wheels 2 together, thereby ensuring the stability of the subsequent processing. Preferably, when the force applied to the ground by the robot through the drive wheels 2 is 1 / 2 of the robot's own weight, the support base stops moving downward.

[0072] The additive and subtractive manufacturing assembly 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 connecting jaws, and when mounted on the end connecting jaws, the point cloud scanner 5 is electrically connected to the end connecting jaws. Preferably, the tool disk corresponding to the main disk is connected to the point cloud scanner 5. Three-dimensional point cloud scanning is performed by setting the point cloud scanner 5. Both the welding torch 6 and the line laser scanner 7 are detachably mounted on the end connecting jaws, and when mounted on the end connecting jaws, the end connecting jaws are electrically connected to the welding torch 6 and the line laser scanner 7. The optical scanner 7 is electrically connected. 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 connecting jaws, and when mounted on the end connecting jaws, the end connecting jaws are 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 connecting jaws, and when mounted on the end connecting jaws, the end connecting jaws are 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 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 set on the corresponding tool disk, the camera linear motor is driven and connected to the camera guide rail, and the camera body is set 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 can be 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 rotation motor. The torch head limiting guide rail is mounted on a corresponding tool disk. The torch head linear motor is driven and connected to the torch head limiting guide rail. The torch head rotation motor is mounted on the torch head linear motor, and its output is connected to the torch head. By using the torch head linear motor in conjunction with the torch head guide rail, the displacement of the torch head in one direction can be adjusted. By using the torch head rotation motor, the rotation angle of the torch head can be adjusted. A water chiller works with the torch head through pipes to cool the torch head. The line laser scanner 7 includes a line laser... The scanner body comprises a scanner guide rail, a scanner linear motor, and a scanner rotation motor. The scanner guide rail is mounted on a corresponding tool disk. The scanner linear motor is driven and connected to the scanner guide rail. The scanner rotation motor is mounted on the scanner linear motor. The line laser scanner body is mounted on the scanner rotation motor. By using the scanner guide rail in conjunction with the scanner linear motor, the line laser scanner can be adjusted to move in one direction. By using the scanner rotation motor, the rotation angle of the line laser scanner can be adjusted. By using 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 set on a corresponding tool disk. The milling head linear motor is driven and connected to the milling head guide rail. The milling head body is set on the milling head linear motor. By setting the milling head linear motor in conjunction with the milling head guide rail, the position of the milling head body can be adjusted.

[0076] The chassis 1 is also equipped with a head-changing worktable 12, on which other tool heads with corresponding work discs to the main disk are placed. Specifically, these include laser heads, spraying heads, and chemical plating heads. The end-connecting chuck, through the main disk and the corresponding tool disc, in conjunction with the locking mechanism and sensors, completes the replacement of the tool heads. By setting several tool heads for different processes, different head bodies can be replaced according to the actual process requirements to perform the corresponding processes, thereby increasing the working range that the robot can adapt to.

[0077] Example 2:

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

[0079] S1: Prepare several robots, acquire site information and the orientation information of the workpiece to be processed in the site, and transmit them to the control terminal for remote control of each robot. The control terminal plans the robot's travel path according to the site information and the orientation information, and performs path slicing according to the number of robots to generate a slice travel path corresponding to each robot. The robot moves to the position of the workpiece to be processed according to the received slice travel path.

[0080] Furthermore, the robot moves to the position of the workpiece to be processed according to the received slice travel path via the drive wheels 2 set on the chassis 1 of the robot. The drive wheels 2 are electrically connected to the chassis 1, and the chassis 1 is wirelessly connected to the control terminal.

[0081] The robot is equipped with a laser rangefinder for identifying site information and workpiece orientation information. The robot uses the laser rangefinder to determine the travel path and move to the position of the workpiece to be processed. Specifically, the robot is based on an AGV platform and uses the laser rangefinder to determine the travel path with the help of the AGV platform.

[0082] S2: The control terminal controls each robot to move to the position of the workpiece to be processed, then stops and performs a pre-positioning;

[0083] Furthermore, after the control terminal controls each robot to move to the position of the workpiece to be processed, it stops by the built-in wheel brake of the corresponding drive wheel 2, and pre-positions it using the positioning mechanism 3 set on the chassis 1 of the robot. The drive wheel 2 is equipped with a pressure sensor, which is electrically connected to the positioning mechanism 3, and the positioning mechanism 3 is electrically connected to the chassis 1.

[0084] Furthermore, by using the lifting cylinder set on the chassis 1 in the positioning mechanism 3, the lifting push rod connected to the output end of the lifting cylinder is driven to push the support seat set at the end of the lifting push rod to move downward, so that the chassis 1 of the robot is raised, and the robot is pre-positioned. The pressure sensor is electrically connected to the lifting cylinder, and the lifting cylinder is electrically connected to the chassis.

[0085] The robot's stability is ensured by the support that moves downwards from the support base. Pre-positioning allows the robot to approach the workpiece and ensures that the positioning accuracy required for the additive and subtractive material processing is within ±2mm.

[0086] S3: The control terminal operates the robot drive scanning mechanism detachably mounted on the robot to perform contour scanning of 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. Based on the local three-dimensional point cloud model and the workpiece design model corresponding to the workpiece position pre-input in the control terminal, a pose error is generated. The robot generates a drive compensation amount based on the pose error to perform dynamic compensation and achieve precise positioning of the robot.

[0087] Specific;

[0088] S3.1: The control terminal operates the robot to drive the scanning mechanism, which is detachably installed on the drive end of the drive unit 4, to perform contour scanning on the workpiece to be processed through the drive unit 4 set on the chassis 1 of the robot. The drive unit 4 is electrically connected to the chassis 1, and the scanning mechanism is electrically connected to the drive unit 4.

[0089] S3.2: Generate a local 3D point cloud model of the workpiece to be processed corresponding to the robot's working position and transmit it to the control terminal;

[0090] S3.3: Extract corresponding scanned point cloud feature points based on the local 3D 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 corresponding robot drive compensation amount. Preferably, the error matrix includes the error amount Δx along the X-axis direction, the error amount Δy along the Y-axis direction, and the error angle Δθ. Decompose Δx, Δy, and Δθ to generate the corresponding robot drive compensation amount.

[0091] S3.4: The drive unit 4 in the robot performs dynamic compensation according to the corresponding drive compensation amount to achieve the precise positioning of the robot. Preferably, the robot is adjusted by the drive unit 4 to complete the dynamic compensation so as to perform precise positioning and reduce the error range of precise positioning to ±0.1mm. During the precise positioning process, after the three-dimensional point cloud feature points are acquired, three-dimensional data reconstruction is performed using magics and Boolean operations are performed using magics. The calculated model is used to generate a compensation path trajectory using slicing software. Slicing software such as 3D Systems Amphyon can be selected.

[0092] S4: After each robot completes its precise positioning, based on material properties and processing requirements, the control terminal operates the robot to drive the detachable additive and subtractive manufacturing components on the robot to perform additive and subtractive manufacturing on the workpiece. 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 detachable infrared monitoring mechanism on the robot to monitor the temperature of the workpiece, acquire temperature information, and transmit the temperature information to the control terminal. The control terminal adjusts the additive manufacturing operation of the additive and subtractive manufacturing components based on the temperature information.

[0093] Furthermore, the control terminal operates the robot to drive the additive and subtractive material assembly detachably installed on the drive end of the drive unit 4 to perform additive and subtractive material processing. The additive and subtractive material assembly 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 welding torch 6, the line laser scanner 7, and the milling head 8 can all be detachably installed on the drive end of the drive unit 4. When installed on the drive 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.

[0094] The control terminal operates the robot to drive the infrared monitoring mechanism that is detachably installed on the drive end of the drive unit 4 to monitor the temperature of the workpiece. The infrared monitoring mechanism includes an infrared camera 9, which is detachably installed on the drive end of the drive unit 4, and the drive unit 4 is electrically connected to the infrared camera 9 when installed on the drive end of the drive unit 4.

[0095] Specifically:

[0096] S4.1: After each machine has been precisely positioned, additive manufacturing begins;

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

[0098] Preferably, during additive manufacturing, 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 is ≤±10℃ and avoid thermal stress deformation.

[0099] S4.3: During the additive manufacturing process, the drive unit 4 drives the infrared camera 9 to monitor the temperature of the workpiece, acquire temperature information and transmit it to the control terminal. The control terminal adjusts the additive manufacturing process of the welding torch 6 according to the temperature information.

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

[0101] S4.4: After the additive processing is completed, the subtractive processing begins. The driving end of the driving unit 4 drives the milling head 8 to perform subtractive processing according to the weld path.

[0102] Combined with appendix Figure 2-3 As shown, the robot includes a chassis 1 and a drive unit 4. Preferably, the chassis 1 is an AGV platform. The drive unit 4 is mounted on the chassis 1 and includes a robotic arm. The robotic arm is mounted on the chassis 1 and has an end-connecting gripper at its end. The additive and subtractive material assembly is detachably mounted on the end-connecting gripper. The scanning mechanism and the infrared monitoring mechanism are detachably mounted on the end-connecting gripper. The chassis 1 also includes an electrical cabinet 11 and a water chiller 10. The end-connecting gripper 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 terminal. Specifically, the chassis 1 is wirelessly connected to the control terminal through the machine processing terminal set in the chassis 1. The machine processing terminal and the control terminal interact with each other through wireless signals or laser signals. The robotic arm and the end-mounted 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-mounted connecting claw, the end-mounted connecting claw is electrically connected to the scanning mechanism. When the additive and subtractive material assembly is installed on the end-mounted connecting claw, the end-mounted connecting claw is electrically connected to the additive and subtractive material assembly. When the infrared monitoring mechanism is installed on the end-mounted connecting claw, the end-mounted connecting claw is electrically connected to the infrared monitoring mechanism.

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

[0104] Master Side: Fixedly connected to the end of the robotic arm, with built-in electrical / pneumatic / hydraulic interfaces and communication contacts, such as multi-pin aviation connectors;

[0105] Tool Side: Installed on the additive and subtractive manufacturing assembly, scanning mechanism, and infrared monitoring mechanism, it matches the main panel and includes connectors that match the access interfaces and communication contacts on the main panel;

[0106] Locking mechanism: Pneumatic or hydraulically driven chucks, mounted on the main plate, enable quick locking / releasing of the main plate and the tool plate;

[0107] Sensors: Installed on the main disk to detect the presence and connection integrity of the tool disk;

[0108] Specifically, the locking mechanism and the sensor are connected to the electrical cabinet via cables;

[0109] The drive wheel 2 is mounted on the chassis 1 and electrically connected to the chassis 1. The drive wheel 2 has a built-in wheel brake. The positioning mechanism 3 is mounted on the chassis 1. A pressure sensor is mounted on the drive wheel 2 and electrically connected to the positioning mechanism 3. The positioning mechanism 3 is also electrically connected to the chassis 1. Preferably, there are four drive wheels 2, arranged in a rectangular layout evenly at the bottom of the chassis 1. The chassis 1 has a rectangular cross-section when viewed from above. The four drive wheels 2 are respectively located at the four corners of the chassis 1 to ensure the stability of the robot during movement. The positioning mechanism 3 includes lifting cylinders. Preferably, the number and position of the lifting cylinders correspond to the drive wheels 2. Specifically, the corresponding lifting cylinder is located on the side of the corresponding drive wheel 2. The output end of the lifting cylinder is connected to a lifting push rod. The unit is connected to a support base. The lifting cylinder is electrically connected to the chassis 1 and the pressure sensor. By setting four drive wheels 2 and four lifting cylinders in corresponding positions, the lifting stability of the lifting cylinder is ensured. The pressure sensor is used to obtain the force applied to the ground by the robot. When pre-positioning is performed, the lifting cylinder drives the support base to move downward through the lifting push rod, so that the force applied to the ground by the robot through the drive wheels 2 is reduced. When the force applied to the ground by the robot through the drive wheels 2 is 1 / 3 to 2 / 3 of the robot's own weight, the support base stops moving downward. At this time, the robot is supported by its own support base and the drive wheels 2 together, thereby ensuring the stability of the subsequent processing. Preferably, when the force applied to the ground by the robot through the drive wheels 2 is 1 / 2 of the robot's own weight, the support base stops moving downward.

[0110] The additive and subtractive manufacturing assembly 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 connecting jaws, and when mounted on the end connecting jaws, the point cloud scanner 5 is electrically connected to the end connecting jaws. Preferably, the tool disk corresponding to the main disk is connected to the point cloud scanner 5. Three-dimensional point cloud scanning is performed by setting the point cloud scanner 5. Both the welding torch 6 and the line laser scanner 7 are detachably mounted on the end connecting jaws, and when mounted on the end connecting jaws, the end connecting jaws are electrically connected to the welding torch 6 and the line laser scanner 7. The optical scanner 7 is electrically connected. 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 connecting jaws, and when mounted on the end connecting jaws, the end connecting jaws are 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 connecting jaws, and when mounted on the end connecting jaws, the end connecting jaws are 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 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 set on the corresponding tool disk, the camera linear motor is driven and connected to the camera guide rail, and the camera body is set 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 can be used to monitor the temperature of the workpiece.

[0112] The welding torch 6 includes a torch head, a torch head limiting guide rail, a torch head linear motor, and a torch head rotation motor. The torch head limiting guide rail is mounted on a corresponding tool disk. The torch head linear motor is driven and connected to the torch head limiting guide rail. The torch head rotation motor is mounted on the torch head linear motor, and its output is connected to the torch head. By using the torch head linear motor in conjunction with the torch head guide rail, the displacement of the torch head in one direction can be adjusted. By using the torch head rotation motor, the rotation angle of the torch head can be adjusted. A water chiller works with the torch head through pipes to cool the torch head. The line laser scanner 7 includes a line laser... The scanner body comprises a scanner guide rail, a scanner linear motor, and a scanner rotation motor. The scanner guide rail is mounted on a corresponding tool disk. The scanner linear motor is driven and connected to the scanner guide rail. The scanner rotation motor is mounted on the scanner linear motor. The line laser scanner body is mounted on the scanner rotation motor. By using the scanner guide rail in conjunction with the scanner linear motor, the line laser scanner can be adjusted to move in one direction. By using the scanner rotation motor, the rotation angle of the line laser scanner can be adjusted. By using 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 set on a corresponding tool disk. The milling head linear motor is driven and connected to the milling head guide rail. The milling head body is set on the milling head linear motor. By setting the milling head linear motor in conjunction with the milling head guide rail, the position of the milling head body can be adjusted.

[0114] The chassis 1 is also equipped with a head-changing worktable 12, on which other tool heads with corresponding work discs to the main disk are placed. Specifically, these include laser heads, spraying heads, and chemical plating heads. The end-connecting chuck, through the main disk and the corresponding tool disc, in conjunction with the locking mechanism and sensors, completes the replacement of the tool heads. By setting several tool heads for different processes, different head bodies can be replaced according to the actual process requirements to perform the corresponding processes, thereby 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 to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing, characterized in that: Includes the following steps: S1: Prepare several robots, acquire site information and the orientation information of the workpiece to be processed in the site, and transmit them to the control terminal for remote control of each robot. The control terminal plans the robot's travel path according to the site information and the orientation information, and performs path slicing according to the number of robots to generate a slice travel path corresponding to each robot. The robot moves to the position of the workpiece to be processed according to the received slice travel path. The robot includes a chassis (1) and a drive unit (4). The drive unit (4) is mounted on the chassis (1). The drive unit (4) includes a robotic arm. The robotic arm is mounted on the chassis (1). The end of the robotic arm is provided with an end-connecting claw. An additive or subtractive material assembly is detachably mounted on the end-connecting claw. A scanning mechanism is detachably mounted on the end-connecting claw. An infrared monitoring mechanism is detachably mounted on the end-connecting claw. When the scanning mechanism is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the scanning mechanism. When the additive or subtractive material assembly is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the additive or subtractive material assembly. When the infrared monitoring mechanism is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the infrared monitoring mechanism. The robot's chassis is equipped with drive wheels, which are electrically connected to the chassis, and the chassis is wirelessly connected to the control terminal. S2: The control terminal controls each robot to move to the position of the workpiece to be processed, then stops and performs a pre-positioning; The control terminal controls each robot to move to the position of the workpiece to be processed and then stops it by the built-in wheel brake of the corresponding drive wheel. The robot is pre-positioned by the positioning mechanism set on the robot chassis. The drive wheel is equipped with a pressure sensor, which is electrically connected to the positioning mechanism and the positioning mechanism is electrically connected to the chassis. The positioning mechanism includes a lifting cylinder mounted on the chassis. The output end of the lifting cylinder is connected to a lifting push rod, and the end of the lifting push rod is provided with a support seat. The lifting cylinder drives the lifting push rod and the support seat to move downward, so that the chassis of the robot is raised, thereby achieving the pre-positioning of the robot. The pressure sensor is electrically connected to the lifting cylinder. S3: The scanning mechanism installed on the robot performs 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 terminal. Based on the local three-dimensional point cloud model and the workpiece design model corresponding to the workpiece position pre-input in the control terminal, a pose error is generated. The robot generates a drive compensation amount based on the pose error to perform dynamic compensation and realize the precise positioning of the robot. S4: After each robot completes its precise positioning, based on the material properties and processing requirements, the workpiece to be processed is subjected to additive and subtractive processing using a detachable additive and subtractive material assembly mounted on the robot. The additive and subtractive material processing includes both additive and subtractive processing. During the additive processing, the temperature of the workpiece is monitored by an infrared monitoring mechanism mounted on the robot, and the temperature information is acquired and transmitted to the control terminal. The control terminal adjusts the additive processing operation of the additive and subtractive material assembly based on the temperature information.

2. The multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing according to claim 1, characterized in that: S3 specifically includes the following steps: S3.1: The scanning mechanism mounted on the drive end of the drive unit, which is set on the robot chassis, performs contour scanning of the workpiece to be processed. The drive unit is electrically connected to the chassis, and the scanning mechanism is electrically connected to the drive unit. S3.2: Generate a local 3D point cloud model of the workpiece to be processed corresponding to the robot's working position and transmit it to the control terminal; S3.3: Extract corresponding scanned point cloud feature points based on 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 corresponding robot drive compensation amount. S3.4: The drive unit in the robot performs dynamic compensation based on the corresponding drive compensation amount to achieve precise positioning of the robot.

3. The multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing according to claim 1, characterized in that: In S1, the site is equipped with QR codes for marking the travel path. The robot determines the travel path based on the QR code corresponding to the slice travel path and moves to the position of the workpiece to be processed. The robot is equipped with a laser rangefinder for identifying site information and workpiece orientation information. The robot determines the travel path based on the laser rangefinder and moves to the position of the workpiece to be processed.

4. The multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing according to claim 1, characterized in that: In S4, the additive and subtractive material assembly 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 drive end of the drive unit. When installed on the drive end of the drive unit, the drive unit is electrically connected to the welding torch, the line laser scanner, and the milling head.

5. The multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing according to claim 4, characterized in that: The infrared monitoring mechanism includes an infrared camera, which is detachably mounted on the drive end of the drive unit.

6. The multi-machine collaborative additive and subtractive manufacturing method based on thermal sensing according to claim 5, characterized in that: S4 specifically includes the following steps: S4.1: After each robot has completed its precise positioning, additive manufacturing begins; S4.2: According to the material properties and processing requirements, the driving end of the driving unit drives the welding gun to perform additive processing. At the same time, the driving end of the driving unit drives the line laser scanner to scan the weld seam and obtain the weld seam path. S4.3: During the additive manufacturing process, the drive unit drives an infrared camera to monitor the temperature of the workpiece, acquires temperature information and transmits it to the control unit. The control unit adjusts the additive manufacturing process of the welding gun 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 to perform additive manufacturing. S4.4: After the additive manufacturing process is completed, the subtractive manufacturing process begins. The drive end of the drive unit drives the milling head to perform subtractive manufacturing according to the weld path.

7. A robot used in the method according to any one of claims 1-6, characterized in that: The robot includes a chassis (1) and a drive unit (4). The drive unit (4) is mounted on the chassis (1) and includes a robotic arm. The robotic arm is mounted on the chassis (1) and has an end-connecting claw at its end. An additive or subtractive material assembly is detachably mounted on the end-connecting claw. A scanning mechanism is detachably mounted on the end-connecting claw. An infrared monitoring mechanism is detachably mounted on the end-connecting claw. When the scanning mechanism is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the scanning mechanism. When the additive or subtractive material assembly is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the additive or subtractive material assembly. When the infrared monitoring mechanism is mounted on the end-connecting claw, the end-connecting claw is electrically connected to the infrared monitoring mechanism.

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