Intelligent feeding method for large thin-walled shell processing line

Abstract

The application discloses an intelligent feeding method of a large thin-wall shell processing production line, and belongs to the technical field of automatic production of thin-wall shells. The method is based on machine tool on-machine measurement technology, and uses a trigger type probe to obtain the posture and position of the current large thin-wall shell. The posture and position of the product are adjusted through a truss robot gripper, so that the axis of the large thin-wall shell is basically coincident with the axis of the machine tool workbench, and the clamping precision after feeding of the product is ensured. The application effectively solves the problems of inaccurate and incorrect automatic feeding and clamping of the current large thin-wall shell, improves the automatic clamping precision of the product, has great adaptability to the types of the product, and lays a foundation for high-precision machining of the large thin-wall shell.

Description

Technical Field

[0001] This invention belongs to the field of automated production technology of thin-walled shells, and relates to an intelligent feeding method for a large thin-walled shell processing production line. Background Technology

[0002] Large thin-walled shells, as key components of solid rocket motors, are characterized by their large size, thin walls, and low rigidity. During the initial spinning, welding, and heat treatment processes, unpredictable positional deformations can easily occur due to the coupled effects of multiple factors, including cutting forces / heat, clamping forces, and accumulated machining errors. This leads to significant changes in the clamping datum compared to the design datum. When this type of product is applied to an automated production line, automatic clamping based on a fixed taught position by a gantry robot is prone to failure due to product deformation altering the clamping datum. Furthermore, this type of product requires high machining precision, placing stringent demands on its posture during automated loading to ensure clamping accuracy. Therefore, researching an intelligent loading method for large thin-walled shell machining production lines is highly significant in addressing the issues of inaccurate or improper clamping during automated product loading.

[0003] Scholars in the field have conducted some research on automated loading and unloading. The patent "Automatic Loading and Unloading System and Method for Robots Based on Machine Vision Technology" (Application / Patent No.: CN202410590628.5) discloses an automated loading and unloading system and method for robots based on machine vision technology. This system uses visual guidance to complete loading and unloading actions and obstacle avoidance, improving the efficiency and accuracy of the loading and unloading process. The patent "A Fully Automated Unordered Loading System for Robots Based on Binocular Vision" (Application / Patent No.: CN202011276134.8) discloses a fully automated unordered loading system for robots based on binocular vision. This system uses dual-view vision to handle workpieces of different shapes and states, improving the level of industrial automation. However, none of the above solutions consider the impact of product deformation and its own posture on clamping accuracy. Furthermore, machine vision technology is highly susceptible to environmental influences, posing a significant risk to the loading and unloading of large-sized products.

[0004] None of the above studies mentioned an intelligent feeding method for large thin-walled shell processing production lines. Summary of the Invention

[0005] This invention addresses the high-precision clamping requirements of large thin-walled shell machining production lines by proposing an intelligent loading method. This method is based on in-machine measurement technology, utilizing a trigger-type probe to acquire the current posture and position of the large thin-walled shell. A gantry robot then adjusts the posture and position of the large thin-walled shell to ensure that its axis is substantially aligned with the axis of the machine tool table, thereby guaranteeing clamping accuracy after loading.

[0006] The technical solution of the present invention:

[0007] A smart feeding method for a large thin-walled shell processing production line, the specific steps of which are as follows:

[0008] S1: The gantry robot transports the large thin-walled shell to the designated position on the machine tool table. The machine tool retrieves the trigger probe from the tool magazine and moves it to the designated position to prepare for measurement.

[0009] S2: The machine tool uses a trigger-type probe to collect the coordinates of four quadrant points on one side of the flange end face of the large thin-walled shell. Using the collected coordinates, the angular deviations between the axis of the large thin-walled shell and the axis of the machine tool's worktable in the XOY plane are calculated. θ 1 and angular deviation in the XOZ plane θ 2. The rotation of the large thin-walled shell in the XOY plane is directly driven by a C-axis rotary motor, and the gantry robot adjusts the rotation according to the angular deviation. θ 1. The large thin-walled shell's attitude is adjusted in the XOY plane by rotating it at a corresponding angle using a C-axis rotary motor. Rotation of the large thin-walled shell in the XOZ plane is achieved through the extension of an electric cylinder. The gantry robot needs to adjust the angular deviation according to its own structure. θ 2. Converted to the extension length Δ of the electric cylinder l The large thin-walled shell is adjusted in the XOZ plane by an electric cylinder. XOY refers to the horizontal plane parallel to the machine tool table surface, where the Y direction is the axial direction of the large thin-walled shell.

[0010] S3: The machine tool uses a trigger-type probe to collect the coordinates of four quadrant points on the inner wall of one side of the flange of the large thin-walled shell, and calculates the positional deviation Δy in the Y direction and the positional deviation Δz in the Z direction between the axis of the large thin-walled shell and the axis of the machine tool's worktable. Based on the positional deviations Δy and Δz, the gantry robot drives the part to move through its own motion axes, thereby adjusting the position of the large thin-walled shell.

[0011] S4: The machine tool uses a trigger probe to obtain the axial position of the large thin-walled shell, and the self-centering chuck on the machine tool worktable moves to the corresponding clamping position to complete the self-centering clamping of the large thin-walled shell.

[0012] The specific steps of S2 are as follows:

[0013] S2.1 Measurement of the axial attitude of large thin-walled shells;

[0014] After the large thin-walled shell is in place, the coordinates of four quadrant points on one side of the flange end face of the large thin-walled shell are measured using a trigger-type probe. The four quadrant points are as follows: a 1. b 1. c 1.d 1, whose coordinates are respectively ( x 11 , y 11 , z 11 ), ( x 12 , y 12 , z 12 ), ( x 13 , y 13 , z 13 ) and ( x 14 , y 14 , z 14 ). According to the measurement result, the angle deviation of the large thin-walled shell axis and the machine tool workbench axis in the XOY plane is θ 1:

[0015] (1)

[0016] The angle deviation of the large thin-walled shell axis and the machine tool workbench axis in the XOZ plane is θ 2:

[0017] (2)

[0018] S2.2, adjustment of the large thin-walled shell axis posture;

[0019] The machine tool measurement completes the adjustment data and uploads it to the general control system. The general control system transmits the data to the PLC of the gantry robot, and the gantry robot drives the large thin-walled shell to complete the posture adjustment:

[0020] The rotation of the large thin-walled shell and the thin-walled part gripper clamping it in the XOY plane is directly driven by the C-axis rotation motor, and the gantry robot directly rotates the angle deviation θ 1 to realize the adjustment of the large thin-walled shell in the XOY plane.

[0021] The rotation of the large thin-walled shell and the thin-walled part gripper clamping it in the XOZ plane is driven by an electric cylinder, wherein the center of the top plate of the thin-walled part gripper is hinged to the middle of the end rotating mechanism, and the upper end of the end rotating mechanism is connected with the output end of the C-axis rotation motor; the side surface of the end rotating mechanism is provided with an end rotating mechanism hinge support, and one end of the top plate of the thin-walled part gripper is provided with a thin-walled gripper hinge support; the upper and lower ends of the electric cylinder are respectively hinged to the end rotating mechanism hinge support and the thin-walled gripper hinge support, and the rotation of the thin-walled part gripper is realized by the elongation of the electric cylinder.

[0022] Therefore, it is necessary to correct the angle deviation between the axis of the large thin-walled shell and the axis of the machine tool worktable in the XOZ plane θ 2 converted into the elongation length of the electric cylinder Δ l :

[0023] (3)

[0024] wherein, l 1 is the initial length of the electric cylinder, l 2 is the length of the electric cylinder after rotation, m is the distance from the rotation point of the thin-walled part clamp to the connection point of the upper end of the electric cylinder and the hinge support of the end rotation mechanism, n is the distance from the rotation point of the thin-walled part clamp to the connection point of the lower end of the electric cylinder and the hinge support of the thin-walled clamp, and the angle β is the included angle between m and n after rotation, and the angle β is:

[0025] (4)

[0026] wherein, the angle α is the included angle between m and n in the initial state.

[0027] The specific steps of S3 are as follows:

[0028] S3.1, measuring the position of the axis of the large thin-walled shell;

[0029] The coordinates of four quadrant points on the inner wall of the large thin-walled shell are measured by a trigger probe. The four quadrant points are a 2, b 2, c 2, d 2, and their coordinates are respectively ( y 21 , z 21 ), ( y 22 , z 22 ), ( y 23 , z 23 ) and ( y 24 , z 24 ). Thus, the coordinates of the end face rotation center of the large thin-walled shell in the Y-Z plane are O 1( y 1, z1), wherein y 1 is:

[0030] (5)

[0031] z 1 is:

[0032] (6)

[0033] The center of rotation of the machine tool worktable is measured in advance and stored in the numerical control system of the machine tool itself. The coordinates of the center of rotation of the machine tool worktable in the Y-Z plane are O 0( x 0, y 0). The positional deviation of the axis of the large thin-walled shell and the axis of the worktable in the Y direction is Δ y :

[0034] (7)

[0035] The positional deviation of the axis of the large thin-walled shell and the axis of the machine tool worktable in the Z direction is Δ z :

[0036] (8)

[0037] S3.2, adjustment of the position of the axis of the large thin-walled shell;

[0038] The machine tool measures the adjustment data and uploads it to the general control system. The general control system transmits the data to the PLC of the gantry robot, and the gantry robot moves the large thin-walled shell along the Y and Z axes through its own motion axes to complete the position adjustment.

[0039] S4: In order to avoid the situation that the gantry robot directly clamps the large thin-walled shell during the process of grabbing the large thin-walled shell, causing the large thin-walled shell to deform due to over-constraint, the self-centering clamping process of the machine tool is divided into two steps after the attitude adjustment of the large thin-walled shell is completed.

[0040] First, the large thin-walled shell is pre-clamped based on mobile shaft current monitoring. The trigger probe obtains the axial position of the two ends of the large thin-walled shell, and the self-centering chucks on both sides of the machine tool move to the clamping position of the large thin-walled shell. The self-centering chuck extends into the interior of the large thin-walled shell, ensuring that the self-centering chuck can hold the large thin-walled shell when the gantry robot releases the large thin-walled shell. At the same time, based on the mobile shaft current monitoring method, the end face of the self-centering chuck is attached to the end face of the large thin-walled shell, completing the pre-clamping of the large thin-walled shell.

[0041] Subsequently, the large thin-walled shell is self-centered clamped, and after pre-clamping is completed, the truss robot releases the large thin-walled shell, and meanwhile the self-centering chuck itself opens the clamping jaw, thereby completing the self-centering clamping of the large thin-walled shell.

[0042] In the process of self-centering clamping, in order to ensure that the end face of the self-centering chuck is attached to the end face of the large thin-walled shell, a pre-clamping method based on mobile shaft current monitoring is adopted. When the self-centering chuck contacts the end face of the large thin-walled shell during movement, the current of the mobile shaft servo motor will increase. Therefore, according to this principle, the target current during the movement of the mobile shaft is set, and whether the end face of the self-centering chuck is attached to the large thin-walled shell is judged by monitoring whether the current during the movement reaches the target current. The specific process is as follows:

[0043] S4.1, the axial position of the large thin-walled shell is obtained;

[0044] A point on the end face of the adjusted large thin-walled shell is measured by a trigger probe, and the axial position of the large thin-walled shell in the machine tool is obtained, thereby providing data support for the preliminary movement of the self-centering chuck.

[0045] S4.2, the self-centering chuck moves to the preliminary position;

[0046] The self-centering chuck moves quickly to the position of the large thin-walled shell according to the obtained axial position of the large thin-walled shell, and when the movement approaches the position of the large thin-walled shell, the self-centering chuck reaches the preliminary movement position.

[0047] S4.3, the self-centering chuck moves to the accurate position;

[0048] The self-centering chuck reduces the moving speed and continues to move. Meanwhile, the current of the mobile shaft servo motor is monitored during the movement, and when the current of the mobile shaft servo motor reaches the target current, the self-centering chuck stops moving. The other self-centering chuck moves to the clamping position in the same way.

[0049] The present application has the following advantages: The present application develops a large thin-walled shell machining production line intelligent feeding method aiming at the problem of automatic clamping difficulty caused by the deformation of large thin-walled shells due to large size. The method effectively solves the problems of inaccurate and incorrect automatic feeding and clamping of current large thin-walled shells, improves the automatic clamping precision of large thin-walled shells, and has great adaptability to the types of large thin-walled shells, thereby laying a foundation for high-precision machining of large thin-walled shells. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 The present application has the following advantages: The present application develops a large thin-walled shell machining production line intelligent feeding method aiming at the problem of automatic clamping difficulty caused by the deformation of large thin-walled shells due to large size. The method effectively solves the problems of inaccurate and incorrect automatic feeding and clamping of current large thin-walled shells, improves the automatic clamping precision of large thin-walled shells, and has great adaptability to the types of large thin-walled shells, thereby laying a foundation for high-precision machining of large thin-walled shells.

[0051] Figure 2 The present application has the following advantages: The present application develops a large thin-walled shell machining production line intelligent feeding method aiming at the problem of automatic clamping difficulty caused by the deformation of large thin-walled shells due to large size. The method effectively solves the problems of inaccurate and incorrect automatic feeding and clamping of current large thin-walled shells, improves the automatic clamping precision of large thin-walled shells, and has great adaptability to the types of large thin-walled shells, thereby laying a foundation for high-precision machining of large thin-walled shells.

[0052] Figure 3 The overall model schematic diagram of the large thin-walled shell loading process.

[0053] Figure 4 The local model schematic diagram of the loading process.

[0054] Figure 5 The posture adjustment schematic diagram of the large thin-walled shell, wherein (a) is the schematic diagram of the posture measurement point, (b) is the schematic diagram of the large thin-walled shell axis angle deviation in the XOY plane, and (c) is the schematic diagram of the large thin-walled shell axis angle deviation in the XOZ plane.

[0055] Figure 6 The position adjustment schematic diagram of the large thin-walled shell.

[0056] Figure 7 The conversion schematic diagram of the vertical plane rotation angle and the electric cylinder length, wherein (a) is the schematic diagram of the gripper model, and (b) is the simplified schematic diagram of the rotation process.

[0057] In the figure: 1, large thin-walled shell; 2, truss robot; 3, machine tool; 21, electric cylinder; 22, end rotation mechanism; 23, thin-walled part gripper; 24, C-axis rotation motor; 31, tool magazine; 32, workbench; 33, trigger type probe; 34, self-centering chuck; 221, end rotation mechanism hinge support; 231, thin-walled gripper hinge support.

[0058] a 1、 b 1、 c 1、 d 1 The four quadrant points of the flange end face of one side of the large thin-walled shell; a 2、 b 2、 c 2、 d 2 The four quadrant points of the inner wall of the large thin-walled shell; O 1 The axis point of one end of the large thin-walled shell; R Gripper rotation point; T Upper end connection point of the electric cylinder; B Lower end connection point of the electric cylinder; l Electric cylinder length; l 1 Initial electric cylinder length; l 2 Electric cylinder length after rotation; m Distance from the rotation point to the upper end connection point of the electric cylinder; n Distance from the rotation point to the lower end connection point of the electric cylinder; α For m With n The initial included angle of β For m With n The included angle after rotation; θ1 is the rotation angle of the axis of the large thin-walled shell in the XOY plane; θ 2 is the rotation angle of the axis of the large thin-walled shell in the XOZ plane. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

[0060] The production line is suitable for intelligent feeding of a large thin-walled shell with a diameter of Φ190mm-Φ500mm and a length of 5000mm, and a general schematic diagram of the feeding process is shown in Figure 3 , which mainly comprises a large thin-walled shell 1, a truss robot 2 and a machine tool 3, and a partial schematic diagram is shown in Figure 4 . According to the general flowchart of the intelligent feeding method of the large thin-walled shell processing production line, the specific implementation steps are as follows: Figure 1

[0061] S1: The truss robot 2 carries the large thin-walled shell 1 to the designated position of the machine tool workbench 32, and after the large thin-walled shell 1 is in place, the machine tool 3 retrieves the trigger probe 33 from the tool magazine 31 and moves to the designated position.

[0062] S2: Measurement and adjustment of the axis posture of the large thin-walled shell;

[0063] S2.1: Measurement of the axis posture of the large thin-walled shell;

[0064] The machine tool 3 measures the coordinates of the four quadrant points on the end face of the large thin-walled shell 1 through the trigger probe 33. The four quadrant points are a 1, b 1, c 1, d 1, and their coordinates are respectively ( x 11 , y 11 , z 11 ), ( x 12 , y 12 , z 12 ), ( x 13 , y 13 , z 13 ) and ( x 14 , y 14 , z 14 ), and a position diagram is shown in​Figure 5 (a). According to Figure 5 (b), the angle deviation of the axis of the large thin-walled shell 1 in the XOY plane is θ 1:

[0065] (1)

[0066] According to Figure 5 (b), the angle deviation of the axis of the large thin-walled shell 1 in the XOZ plane is θ 2:

[0067] (2)

[0068] The XOZ plane angle adjustment of the large thin-walled shell 1 needs to be driven by the electric cylinder 21. According to Figure 7 (a), the thin-walled part clamping jaw 23 is hinged to the end rotating mechanism 22, and the upper and lower ends of the electric cylinder 21 are respectively hinged to the end rotating mechanism hinged support 221 and the thin-walled clamping jaw hinged support 231. The rotation of the thin-walled part clamping jaw 23 can be realized by the extension of the electric cylinder 21. The in-plane rotation angle θ 2 needs to be converted into the extension length Δ l of the electric cylinder 21. The mechanism can be simplified as a swing guide rod mechanism, and the simplified schematic diagram is shown in Figure 7 (b), and the extension length Δ l of the electric cylinder 21 is

[0069] (3)

[0070] Wherein, l 1 is the initial length of the electric cylinder 21, l 2 is the length of the electric cylinder 21 after rotation, m is the distance from the rotation point R to the upper end connection point T of the electric cylinder 21, n is the distance from the rotation point R to the lower end connection point B of the electric cylinder 21, and the angle β is the included angle between m and n after rotation. The angle β is

[0071] (4)

[0072] Wherein, the angle α is the included angle between m and n in the initial state.

[0073] S2.2, large thin-walled shell axis attitude adjustment;

[0074] After the numerical control system of the machine tool 3 measures and calculates the attitude adjustment data of the truss robot 2, the data is uploaded to the general control system of the production line. The general control system transmits the data to the PLC of the truss robot 2, and the truss robot 2 completes the angle adjustment of the large thin-walled shell 1 in the XOY plane by driving the C-axis rotating motor 24, and simultaneously the electric cylinder 21 extends and retracts to complete the adjustment of the large thin-walled shell 1 in the XOZ plane.

[0075] S3: large thin-walled shell axis position measurement and adjustment;

[0076] S3.1, large thin-walled shell axis position measurement;

[0077] After the attitude adjustment of the large thin-walled shell 1 is completed, the machine tool 3 measures the coordinates of the four quadrant points on the inner wall of the end flange of the large thin-walled shell 1 by the trigger probe 33, and the measurement position is shown in Figure 6 . The four quadrant points are a 2、 b 2、 c 2、 d 2, and the coordinates are respectively ( y 21 , z 21 ), ( y 22 , z 22 ), ( y 23 , z 23 ) and ( y 24 , z 24 ). Thus, the coordinates of the end surface rotation center of the large thin-walled shell 1 in the Y-Z plane are O 1( y 1, z 1), wherein y 1 is:

[0078] (5)

[0079] z 1 is:

[0080] (6)

[0081] The coordinates of the rotation center of the workbench 32 of the machine tool 3 measured in advance in the Y-Z plane are O ( x 0, y0) stored in the numerical control system of the machine tool 3 itself. The measured axial position of the large thin-walled shell 1 is compared with the rotary center coordinates O 1 y 1 z 1) and the position deviation of the large thin-walled shell 1 in the Y-axis direction is Δ O x 0 y 0 y

[0082] (7)

[0083] The position deviation of the large thin-walled shell 1 in the Z-axis direction is Δ z

[0084] (8)

[0085] S3.2, adjustment of the axial position of the large thin-walled shell;

[0086] After the numerical control system of the machine tool 3 measures and calculates the position adjustment data of the truss robot 2, the data is uploaded to the production line general control system. The general control system transmits the data to the PLC of the truss robot 2, and the truss robot 2 moves the Y-axis and the Z-axis by driving the moving shafts to complete the position adjustment of the large thin-walled shell 1.

[0087] S4: self-centering clamping;

[0088] In order to avoid the truss robot 2 clamping the large thin-walled shell 1 directly through the self-centering chucks 34 at both ends of the machine tool 3 during the process of grabbing the large thin-walled shell 1, causing the large thin-walled shell 1 to deform due to over-constraint. After the posture adjustment of the large thin-walled shell 1 is completed, the self-centering clamping process of the machine tool 3 is divided into two steps.

[0089] First, the large thin-walled shell 1 is pre-clamped based on the moving shaft current monitoring method. The trigger probe 33 obtains the axial position of the large thin-walled shell 1 at both ends, and the self-centering chucks 34 at both sides of the machine tool 3 are moved to the clamping position of the large thin-walled shell 1. The self-centering chuck 34 extends its clamping jaw into the interior of the large thin-walled shell 1, ensuring that when the truss robot 2 releases the large thin-walled shell 1, the self-centering chuck 34 can hold the large thin-walled shell 1. At the same time, based on the moving shaft current monitoring method, the end face of the self-centering chuck 34 is attached to the end face of the large thin-walled shell 1, completing the pre-clamping of the large thin-walled shell 1.

[0090] Subsequently, the large thin-walled shell 1 is self-centered and clamped. After pre-clamping is completed, the truss robot 2 releases the large thin-walled shell 1, and at the same time the self-centering chuck 34 opens its own clamping jaw, completing the self-centering clamping of the large thin-walled shell 1.

[0091] ​​​In order to meet the clamping accuracy of the large thin-walled shell 1 in the self-centering clamping process, it is necessary to ensure that the end face of the self-centering chuck 34 is in close contact with the end face of the large thin-walled shell 1. For this purpose, a large thin-walled shell 1 clamping method based on mobile shaft current monitoring is adopted. Figure 2 The clamping process flowchart described above has the following specific implementation steps:

[0092] S4.1: Obtain the axial position of the large thin-walled shell;

[0093] The machine tool 3 measures a point on the end face of the adjusted large thin-walled shell 1 through the trigger probe 33, obtains the axial relative position of the current large thin-walled shell 1 on the machine tool 3, and provides data support for the preliminary movement of the self-centering chuck 34.

[0094] S4.2: Preliminary position movement of the self-centering chuck;

[0095] The self-centering chuck 34 moves quickly towards the large thin-walled shell 1 according to the obtained axial position information of the large thin-walled shell 1, and stops moving when it reaches a position close to the end face of the large thin-walled shell 1 by a certain distance. At this time, the self-centering chuck 34 reaches the preliminary movement position.

[0096] S4.3: Precise position movement of the self-centering chuck;

[0097] After reaching the preliminary movement position, the self-centering chuck 34 starts to move to the precise position. At this time, the self-centering chuck 34 reduces the moving speed and continuously moves towards the large thin-walled shell 1. At the same time, the real-time current of the moving shaft servo motor is monitored during the movement. When the current of the servo motor does not reach the target current, the self-centering chuck 34 continues to move. When the target current is reached, the self-centering chuck 34 stops moving. The other side self-centering chuck uses the same way to complete the pre-clamping of the large thin-walled shell.

[0098] The above specific implementation cases further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific implementation case of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent feeding method for a large thin-walled shell processing line, characterized in that, The specific steps are as follows: S1: The truss robot (2) carries the large thin-walled shell (1) to the designated position of the machine tool workbench (32), the machine tool (3) calls the trigger probe (33) from the tool magazine (31), and moves to the designated position to prepare for measurement; S2: The machine tool (3) collects the coordinates of four quadrant points of the flange end face of one side of the large thin-walled shell (1) by using the trigger probe (33); the angle deviation of the axis of the large thin-walled shell (1) and the axis of the machine tool workbench (32) in the XOY plane is calculated respectively by using the collected coordinates θ 1 and the angle deviation in the XOZ plane θ 2; the rotation of the large thin-walled shell (1) in the XOY plane is directly driven by the C-axis rotating motor (24), the truss robot (2) rotates the corresponding angle by the C-axis rotating motor (24) to complete the posture adjustment of the large thin-walled shell (1) in the XOY plane according to the angle deviation θ 1; the rotation of the large thin-walled shell (1) in the XOZ plane is realized by the elongation of the electric cylinder (21), the truss robot (2) needs to convert the angle deviation θ 2 into the elongation length Δ l of the electric cylinder (21) according to its own structure, and drives the electric cylinder (21) to realize the posture adjustment of the large thin-walled shell (1) in the XOZ plane; XOY refers to the horizontal plane parallel to the table surface of the machine tool workbench (32), wherein the Y direction is the axis direction of the large thin-walled shell (1). S2.1, measurement of the axis posture of the large thin-walled shell; After the large thin-walled shell (1) is in place, the coordinates of four quadrant points of the flange end face on one side of the large thin-walled shell (1) are measured by the trigger probe (33); the four quadrant points are a 1、 b 1、 c 1、 d 1, and the coordinates thereof are respectively ( x 11 , y 11 , z 11 ), ( x 12 , y 12 , z 12 ), ( x 13 , y 13 , z 13 ) and ( x 14 , y 14 , z 14 ); according to the measurement results, the angle deviation of the axis of the large thin-walled shell (1) and the axis of the machine tool worktable (32) in the XOY plane is θ 1: (1) ； The angle deviation of the axis of the large thin-walled shell (1) and the axis of the machine tool worktable (32) in the XOZ plane is θ 2: (2) ； S2.2, adjustment of the axis posture of the large thin-walled shell; The machine tool (3) measures the adjustment data and uploads it to the general control system; the general control system transmits the data to the PLC of the truss robot (2), and the truss robot (2) drives the large thin-walled shell (1) to complete the posture adjustment: The rotation of the large thin-walled shell (1) and the thin-walled part clamping jaw (23) clamping it in the XOY plane is directly driven by a C-axis rotating motor (24), and the truss robot (2) directly rotates the angle deviation The rotation of the large thin-walled shell (1) and the thin-walled part gripper (23) clamping it in the XOZ plane is driven by the electric cylinder (21), wherein the center of the top plate of the thin-walled part gripper (23) is hinged to the middle of the end rotating mechanism (22), and the upper end of the end rotating mechanism (22) is connected with the output end of the C-axis rotating motor (24); the side surface of the end rotating mechanism (22) is provided with an end rotating mechanism hinge support (221), and one end of the top plate of the thin-walled part gripper (23) is provided with a thin-walled gripper hinge support (231); the upper and lower ends of the electric cylinder (21) are respectively hinged to the end rotating mechanism hinge support (221) and the thin-walled gripper hinge support (231), and the rotation of the thin-walled part gripper (23) is realized by the elongation of the electric cylinder (21); 1to achieve the adjustment of the large thin-walled shell in the XOY plane; θ Therefore, it is necessary to correct the angle deviation of the axis of the large thin-walled shell (1) and the axis of the machine tool worktable (32) in the XOZ plane S3: The machine tool (3) uses the trigger probe (33) to collect the coordinates of the four quadrant points of the inner wall of the flange on one side of the large thin-walled shell (1), and calculates the position deviation Δy in the Y direction and the position deviation Δz in the Z direction between the axis of the large thin-walled shell (1) and the axis of the machine tool workbench (32); the truss robot (2) drives the part to move through the movement axes of the truss robot (2) according to the position deviation Δy and the position deviation Δz, to realize the adjustment of the position of the large thin-walled shell (1); 2 converted into the extension length Δ of the electric cylinder (21) l : (3) ； Wherein, l 1 is the initial length of the electric cylinder, l 2 is the length of the electric cylinder after rotation, m is the distance from the rotation point of the thin-walled part clamping jaw to the connection point of the upper end of the electric cylinder and the hinge support seat of the end rotation mechanism, n is the distance from the rotation point of the thin-walled part clamping jaw to the connection point of the lower end of the electric cylinder and the hinge support seat of the thin-walled clamping jaw, and the angle β is the angle between m and n , and the angle β is: (4) ； wherein the angle α is the angle between m and n the angle between S3.1, measurement of the position of the axis of the large thin-walled shell; S3.2, adjustment of the position of the axis of the large thin-walled shell; The coordinates of four quadrant points of the inner wall of the large thin-wall shell (1) are measured by a trigger probe (33); the four quadrant points are a 2、 b 2、 c 2、 d 2, and the coordinates thereof are respectively ( y 21 , z 21 ), ( y 22 , z 22 ), ( y 23 , z 23 ) and ( y 24 , z 24 ); thus the coordinates of the end surface rotation center of the large thin-wall shell (1) in the Y-Z plane are O 1( y 1, z 1), wherein y 1 is: (5) ； z 1 is: (6) ； The center of rotation of the machine tool worktable (32) is measured in advance and stored in the numerical control system of the machine tool (3) itself; the coordinates of the center of rotation of the machine tool worktable (32) in the Y-Z plane are obtained O 0( x 0, y 0); the position deviation of the axis of the large thin-walled shell (1) and the axis of the machine tool worktable (32) in the Y direction is Δ y ​ (7) ； The position deviation of the axis of the large thin-walled shell (1) and the axis of the machine tool worktable (32) in the Z direction is Δ z : (8) ； The machine tool (3) measures the adjustment data and uploads it to the general control system; the general control system transmits the data to the PLC of the truss robot (2), and the truss robot (2) drives the large thin-walled shell (1) to complete the posture adjustment: S4: The machine tool (3) uses the trigger probe (33) to obtain the axial position of the large thin-walled shell (1), and the self-centering chuck (34) on the machine tool workbench (32) moves to the corresponding clamping position to complete the self-centering clamping of the large thin-walled shell (1). S4 is specifically:

2. The intelligent feeding method of a large thin-walled shell processing production line according to claim 1, characterized in that, ​ Firstly, the large thin-walled shell (1) is pre-assembled based on the mobile shaft current monitoring; the trigger probe (33) obtains the axial position of the large thin-walled shell (1) at both ends, and the self-centering chuck (34) on both sides of the machine tool (3) moves to the clamping position of the large thin-walled shell (1); the self-centering chuck (34) itself clamps into the large thin-walled shell (1), so that the self-centering chuck (34) can hold the large thin-walled shell (1) when the truss robot (2) loosens the large thin-walled shell (1); at the same time, based on the mobile shaft current monitoring method, the end face of the self-centering chuck (34) is attached to the end face of the large thin-walled shell (1), and the pre-assembly of the large thin-walled shell (1) is completed; Subsequently, the large thin-walled shell (1) is self-centered and clamped, after the pre-assembly is completed, the truss robot (2) loosens the large thin-walled shell (1), and at the same time the self-centering chuck (34) itself clamps open, and the self-centering clamping of the large thin-walled shell (1) is completed.

3. The intelligent feeding method of a large thin-walled shell processing production line according to claim 2, characterized in that, In the process of self-centering clamping, in order to ensure that the end face of the self-centering chuck (34) is attached to the end face of the large thin-walled shell (1), the pre-assembly method based on the mobile shaft current monitoring is adopted; during the movement of the self-centering chuck (34) of the machine tool (3), when the end face of the self-centering chuck (34) contacts the end face of the large thin-walled shell (1), the current of the mobile shaft servo motor will increase; therefore, according to this principle, the target current during the movement of the mobile shaft is set, whether the end face of the self-centering chuck (34) is attached to the large thin-walled shell (1) is judged by monitoring whether the current during the movement reaches the target current, and the specific process is as follows: S4.1, the axial position of the large thin-walled shell is obtained; A point on the end face of the large thin-walled shell (1) after adjustment is measured by the trigger probe (33), the axial position of the large thin-walled shell (1) in the machine tool (3) is obtained, and data support is provided for the preliminary movement of the self-centering chuck (34); S4.2, the self-centering chuck moves to the preliminary position; The self-centering chuck (34) moves quickly to the position of the large thin-walled shell (1) according to the obtained axial position of the large thin-walled shell (1), and when the movement approaches the position of the large thin-walled shell (1), the self-centering chuck (34) reaches the preliminary movement position; S4.3, the self-centering chuck moves to the accurate position; The self-centering chuck (34) reduces the moving speed and continues to move; at the same time, the current of the mobile shaft servo motor is monitored during the movement, and when the current of the mobile shaft servo motor reaches the target current, the self-centering chuck (34) stops moving; the other self-centering chuck (34) moves to the clamping position in the same way.

Images