Cooperative machining method and equipment for semi-closed low-rigidity cylindrical part

Abstract

The invention relates to the technical field of semi-closed cylindrical part machining, in particular to a collaborative machining method and device for a semi-closed low-rigidity cylindrical part. The collaborative machining device comprises a robot expansion shaft, a robot, an end effector, a flexible tool and an inner cavity supporting tool; the robot expansion shaft has at least one moving degree of freedom and is used for driving the robot to move so as to convey the end effector to a working position, and the end effector is used for machining and measuring respectively; the flexible tool is used for clamping the outer surface of a horizontally-placed semi-closed cylindrical part and driving the semi-closed cylindrical part to rotate around the central axis, and the inner cavity supporting tool is used for positioning and supporting the two symmetrical sides of the inner surface of the semi-closed cylindrical part and only makes contact with the inner surface corresponding to a machined area. The collaborative machining method and device for the semi-closed low-rigidity cylindrical part aim at solving the problems that the machining precision and efficiency of the semi-closed low-rigidity cylindrical part are low.

Description

A collaborative machining method and equipment for semi-enclosed, low-stiffness cylindrical components. Technical Field

[0001] This invention relates to the field of semi-enclosed cylindrical component processing technology, specifically to a collaborative processing method and equipment for semi-enclosed, low-stiffness cylindrical components. Background Technology

[0002] In the fields of aviation, aerospace, and chemical engineering, a large number of semi-enclosed cylindrical components are used. These cylindrical components are typically characterized by large structural dimensions, complex and varied shapes, and being closed at one end. To reduce weight and increase volume, thin-walled structures are often adopted, resulting in low rigidity for these large cylindrical components. During positioning and machining, deformation and stress concentration can easily occur due to the applied forces, affecting machining quality. Therefore, it is necessary to adopt reasonable positioning and machining methods and strictly control the supporting force, clamping force, and cutting force.

[0003] If a cylindrical part is placed vertically, its center of gravity is higher than when it is placed horizontally. When subjected to force, the overturning moment increases, making positioning difficult. For longer cylindrical parts, the center of gravity will rise significantly, greatly increasing the risk of overturning. Moreover, since the vertical stroke of the processing equipment is usually small, the processing range for vertically placed cylindrical parts is limited. Considering the above two factors, cylindrical parts are usually placed horizontally. The processing area is located on the outer surface of the cylindrical part. If the positioning is done on the outside of the cylindrical part, the following two problems may occur: (1) The positioning unit may occupy the working space of the processing equipment, making processing impossible; (2) If the positioning unit is far away from the processing area to avoid the processing equipment, the positioning effect is poor.

[0004] Therefore, the inventors provide a collaborative processing method and equipment for semi-enclosed, weakly stiff cylindrical parts. Summary of the Invention

[0005] (1) Technical problem to be solved The present invention provides a collaborative processing method and equipment for semi-enclosed weak stiffness cylindrical parts, which solves the technical problem of low processing accuracy and efficiency of semi-enclosed weak stiffness cylindrical parts.

[0006] (2) Technical Solution The first aspect of the present invention provides a collaborative processing device for a semi-enclosed, weakly stiff cylindrical part, including a robot extension axis, a robot, an end effector, a flexible fixture and an inner cavity support fixture. The robot extension axis has at least one degree of freedom of movement and is used to drive the robot to move to transport the end effector to the working position. The end effector is used to perform processing and measurement respectively. The flexible fixture is used to clamp the outer surface of the horizontally placed semi-enclosed cylindrical part and drive the semi-enclosed cylindrical part to rotate around the central axis. The inner cavity support fixture is used to position and support the symmetrical sides of the inner surface of the semi-enclosed cylindrical part and only contact the inner surface corresponding to the processing area.

[0007] Furthermore, the robot extension axis includes a base, a motion platform, a robot control cabinet, and an end effector control cabinet; wherein, the motion platform is slidably mounted on the base, and the robot control cabinet and the end effector control cabinet are both mounted on the motion platform. The robot control cabinet is used for the motion control of the robot, and the end effector control cabinet is used for the motion control of the end effector.

[0008] Further, the end effector includes a base unit, a station conversion unit, a shape measurement unit, a machining feature measurement unit, a position and attitude measurement unit, a cutting unit, and a machining quality measurement unit; wherein, the base unit is installed at the end of the robot, the station conversion unit is installed on the base unit and is used to convert the positions of the machining feature measurement unit, the position and attitude measurement unit, the cutting unit, and the machining quality measurement unit to the working position, the shape measurement unit is installed on the base unit and is used to measure the shape of the semi-enclosed cylindrical part to determine the relative relationship between the robot and the semi-enclosed cylindrical part; the machining feature measurement unit is used to measure the key features of the semi-enclosed cylindrical part to determine the relative positional relationship between the end effector and the semi-enclosed cylindrical part, the position and attitude measurement unit is used to measure the attitude of the semi-enclosed cylindrical part relative to the end effector; the cutting unit is used to perform cutting machining on the semi-enclosed cylindrical part, and the machining quality measurement unit is used to inspect the machining quality of the cutting unit.

[0009] Furthermore, the flexible tooling includes a tooling base, a rotating retainer, and a tooling positioning unit. Multiple rotating retainers are coaxially mounted on the axial direction of the tooling base. Each rotating retainer has multiple tooling positioning units installed in the inner circumferential direction for clamping the outer surface of the semi-enclosed cylindrical part and adjusting and positioning the position and orientation of the semi-enclosed cylindrical part.

[0010] Furthermore, the rotating retainer is used to drive the tooling positioning unit to rotate in coordination after the tooling positioning unit positions the semi-enclosed cylindrical part, so as to realize the rotation of the semi-enclosed cylindrical part.

[0011] Furthermore, the clamping part of each tooling positioning unit moves radially to accommodate the clamping and positioning of semi-enclosed cylindrical parts of different shapes and diameters.

[0012] Furthermore, the inner cavity support fixture includes a column, a crossbeam, a slide table, and a support unit. The crossbeam is installed at the top of the column and is used to extend into the inner cavity of the semi-enclosed cylindrical component. The slide table is slidably installed along the axial direction of the crossbeam and is used to drive the support unit to reach the inner surface area of ​​the semi-enclosed cylindrical component to be supported and to move in coordination with the robot to simultaneously reach the same processing position inside and outside the semi-enclosed cylindrical component. The support unit is installed on the slide table and extends and retracts in a direction perpendicular to the slide table so that the support unit contacts and supports the inner surface of the semi-enclosed cylindrical component.

[0013] Furthermore, the inner cavity support fixture also includes a slide table connecting unit, on which slide tables are installed on both sides of the crossbeam. The slide table connecting unit is used to connect the slide tables on both sides of the crossbeam to achieve synchronous movement of the two slide tables.

[0014] Furthermore, the robot extension axis also includes a test bench, a tool magazine, a water chiller, and a vacuum cleaner. The test bench, the tool magazine, the water chiller, and the vacuum cleaner are all installed on the motion platform. The test bench is used to test the cutting effect of the tool, the tool magazine is used to store automatically replaceable tools, the water chiller is used to cool the cutting unit, and the vacuum cleaner is used to remove chips.

[0015] A second aspect of the present invention provides a collaborative machining method for a semi-enclosed, weakly stiff cylindrical component, comprising the following steps: mounting the semi-enclosed cylindrical component on a flexible fixture and adjusting it to a horizontal position; moving the robot to a working area via a robot extension axis; moving the robot to a working position via an end effector; sequentially measuring the geometric features of the outer surface of the semi-enclosed cylindrical component using the end effector, performing preliminary machining on the outer surface of the semi-enclosed cylindrical component, and measuring the geometric features of the preliminary machining on the outer surface of the semi-enclosed cylindrical component; determining subsequent machining parameters by evaluating the preliminary machining quality, and repeating the machining and inspection process during continued machining until the current machining task is completed; rotating the machining areas of other parts of the semi-enclosed cylindrical component to the machining position using the flexible fixture, and then machining the remaining machining areas on the circumference of the semi-enclosed cylindrical component according to the above machining and inspection process; when all machining areas on the circumference of the semi-enclosed cylindrical component are completed, moving the robot to the working area via the robot extension axis, and machining all machining objects according to the above steps.

[0016] (3) Beneficial Effects In summary, this invention utilizes industrial robots carrying end effectors to process the outer surface of cylindrical parts, applicable to cylindrical parts of various sizes and specifications. Arranging two robots on both sides of the semi-enclosed cylindrical part for processing improves the stress state of the cylindrical part, increasing processing accuracy and efficiency. Using two robots instead of a large gantry milling machine reduces costs and improves processing economy. The robots carrying end effectors are equipped with various measuring units to accurately grasp the precise positional relationship between the semi-enclosed cylindrical part and the robot, the working status of the processing unit, and the indicators achieved in the previous processing step, allowing for timely parameter adjustments in subsequent processing to ensure processing accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 is a structural schematic diagram of a collaborative processing device for semi-enclosed weak-stiffness cylindrical parts provided in an embodiment of the present invention; Figure 2 is a force diagram of a semi-enclosed weak-stiffness cylindrical part placed on a collaborative processing device provided in an embodiment of the present invention; Figure 3 is a schematic diagram of the deformation of the inner cavity support fixture and the semi-enclosed cylindrical part under external force in a collaborative processing device for semi-enclosed weak-stiffness cylindrical parts provided in an embodiment of the present invention; Figure 4 is a schematic diagram of the moment of inertia calculation of the inner cavity support fixture and the semi-enclosed cylindrical part under external force in a collaborative processing device for semi-enclosed weak-stiffness cylindrical parts provided in an embodiment of the present invention; Figure 5 is a structural schematic diagram of a robot extension axis in a collaborative processing device for semi-enclosed weak-stiffness cylindrical parts provided in an embodiment of the present invention; Figure 6 is a first-view structural schematic diagram of the end effector in a collaborative processing device for semi-enclosed weak-stiffness cylindrical parts provided in an embodiment of the present invention. Figure 7 is a second-view structural schematic diagram of the end effector in a collaborative processing device for semi-enclosed weak-stiff cylindrical parts provided in an embodiment of the present invention; Figure 8 is a structural schematic diagram of the flexible tooling in a collaborative processing device for semi-enclosed weak-stiff cylindrical parts provided in an embodiment of the present invention; Figure 9 is a structural schematic diagram of the inner cavity support tooling in a collaborative processing device for semi-enclosed weak-stiff cylindrical parts provided in an embodiment of the present invention; Figure 10 is a schematic diagram of the rolling support of the inner cavity support tooling for the semi-enclosed cylindrical parts in a collaborative processing device for semi-enclosed weak-stiff cylindrical parts provided in an embodiment of the present invention; Figure 11 is a schematic diagram of the rolling support of the inner cavity support tooling for the semi-enclosed cylindrical parts in another collaborative processing device for semi-enclosed weak-stiff cylindrical parts provided in an embodiment of the present invention; Figure 12 is a flowchart of a collaborative processing method for semi-enclosed weak-stiff cylindrical parts provided in an embodiment of the present invention.

[0019] In the diagram: 1-Robot extended axis; 11-Base; 12-Motion platform; 13-Robot control cabinet; 14-End effector control cabinet; 15-Test tool table; 16-Tool magazine; 17-Water chiller; 18-Vacuum cleaner; 2-Robot; 3-End effector; 31-Base unit; 32-Station conversion unit; 33-Shape measurement unit; 34-Machining feature measurement unit; 35-Position and attitude measurement unit; 36-Cutting unit; 37-Machining quality measurement unit; 4-Flexible tooling; 41-Tooling base; 42-Rotating retainer; 43-Tooling positioning unit; 5-Internal cavity support tooling; 51-Column; 52-Beam; 53-Slide table; 54-Support unit; 55-Slide table connection unit; 100-Semi-enclosed cylindrical component. Detailed Implementation

[0020] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present invention by way of example, but should not be used to limit the scope of the present invention. That is, the present invention is not limited to the described embodiments, and any modifications, substitutions and improvements to the parts, components and connection methods are covered without departing from the spirit of the present invention.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] This invention provides a collaborative processing device for semi-enclosed, weakly stiff cylindrical parts. Referring to Figure 1, the collaborative processing device may include a robot extension axis 1, a robot 2, an end effector 3, a flexible fixture 4, and an internal cavity support fixture 5. The robot extension axis 1 has at least one degree of freedom of movement and is used to move the robot 2 to transport the end effector 3 to the working position. The end effector 3 is used for processing and measurement. The flexible fixture 4 is used to clamp the outer surface of the horizontally placed semi-enclosed cylindrical part 100 and drive the semi-enclosed cylindrical part 100 to rotate around its central axis. The internal cavity support fixture 5 is used to position and support the symmetrical sides of the inner surface of the semi-enclosed cylindrical part 100 and only contacts the inner surface corresponding to the area being processed.

[0025] In the above embodiment, robot 2 is mounted on the motion platform of robot extension axis system 1. The motion platform of robot extension axis system 1 can move along the axial direction of semi-enclosed cylindrical part 100, expanding the workspace of robot 2. An end effector 3 is mounted at the end of robot 2. Robot extension axis system 1 and robot 2 work together to adjust the position and orientation of end effector 3, so that it reaches the processing position and orientation. Flexible fixture 4 adjusts and determines the position and orientation of semi-enclosed cylindrical part 100 by clamping the outer surface of semi-enclosed cylindrical part 100. Internal cavity support fixture 5 supports and clamps semi-enclosed cylindrical part 100 inside semi-enclosed cylindrical part 100 and moves synchronously with end effector 3. It always processes the outer surface of semi-enclosed cylindrical part 100 while stably supporting and clamping the inner surface of semi-enclosed cylindrical part 100, reducing the deformation and vibration of semi-enclosed cylindrical part 100 and improving the processing quality.

[0026] Robot 2 carries end effector 3 and is equipped with various measuring units to accurately grasp the precise positional relationship between the semi-enclosed cylindrical part 100 and robot 2, the working status of the processing unit, and the indicators achieved in the previous processing step. In subsequent processing, parameters are adjusted in a timely manner to ensure processing accuracy.

[0027] Referring to Figure 2, the semi-enclosed cylindrical component 100 is subjected to six forces: the weight G of the semi-enclosed cylindrical component 100 itself, the supporting force N of the flexible tooling 4, the cutting forces Ft1 and Ft2 of the end effectors 3 on both sides of the semi-enclosed cylindrical component 100, and the supporting forces Fp1 and Fp2 of the inner cavity supporting tooling 5. The supporting force N of the flexible tooling 4 on the semi-enclosed cylindrical component 100 is equal in magnitude and opposite in direction to the weight G of the semi-enclosed cylindrical component 100 itself. Therefore, it will not generate a downward bending moment on the semi-enclosed cylindrical component 100, avoiding vertical downward deformation of the semi-enclosed cylindrical component 100 due to the downward bending moment, and ensuring the accuracy of the machining position in the vertical direction. The inner cavity support fixture 5 and the end effectors 3 on both sides apply radial forces to the semi-enclosed cylindrical part 100 from the inside and outside, respectively, forming a complete force transmission path. The resultant force Ff (with the horizontal direction to the right being positive) formed by the cutting forces Ft1 and Ft2 of the end effectors 3 on the cylindrical part 6 and the supporting forces Fp1 and Fp2 of the inner cavity support fixture 5 on the semi-enclosed cylindrical part 100 is Ft2-Fp2-(Ft1-Fp1). Since the inner cavity support fixture 5 and the end effectors 3 on both sides apply radial forces to the semi-enclosed cylindrical part 100 from the inside and outside, respectively, the resultant force of each force is also distributed radially. Therefore, it only affects the radial positioning of the semi-enclosed cylindrical part 100, and thus only affects the radial machining accuracy of the semi-enclosed cylindrical part 100. In the other two directions perpendicular to the radial direction of the semi-enclosed cylindrical part 100 (the axial direction of the semi-enclosed cylindrical part 100 and the tangential direction perpendicular to both the radial and axial directions), since there is no force, it will not affect the machining accuracy. Therefore, only the radial machining accuracy of the semi-enclosed cylindrical part 100 needs to be considered.

[0028] As shown in Figure 3, when the resultant force borne by the inner cavity support fixture 5 and the semi-enclosed cylindrical component 100 acts at a distance L from the fixed end f At that time, the bending moment M borne by the inner cavity support fixture 5 and the semi-enclosed cylindrical component 100 f (Ft2-Fp2-Ft1+Fp1)×L f According to the principles of mechanics of materials, the deformations of the inner cavity support fixture 5 and the semi-enclosed cylindrical component 100 are as follows: (1) In the formula, E is the elastic modulus of the material; I is the moment of inertia of the inner cavity support fixture 5 and the semi-enclosed cylindrical component 100. Both the inner cavity support fixture 5 and the semi-enclosed cylindrical component 100 are bent, and the moment of inertia is composed of the moments of inertia of the inner cavity support fixture 5 and the semi-enclosed cylindrical component 100. E belongs to the material properties, and I belongs to the structural properties. With M f L f It changes with the changes.

[0029] As shown in Figure 4, the main structure of the inner cavity support fixture 5 is a hollow rectangular beam with an internal cavity width of b. i The height is h i The outer width is b o The height is h o The moment of inertia Ir of the inner cavity support fixture 5 is: (2) The structure of the semi-enclosed cylindrical component 100 is an annular cylinder with an inner diameter of R. i The outer diameter is R o The moment of inertia Ip of the semi-enclosed cylindrical component 100 is: (3) Thus, the moment of inertia I of the inner cavity support fixture 5 and the semi-enclosed cylindrical part 100 can be obtained as: I = Ir + Ip (4) Substituting equation (4) into equation (1), the horizontal deformation of the semi-enclosed cylindrical part 100 under the action of cutting force and support force can be calculated. Horizontal deformation will change the radial machining depth on the semi-enclosed cylindrical part 100, that is, the radial machining depth on the side to which the resultant force points increases. The radial machining depth on the side furthest from the direction of the resultant force is reduced. To ensure high machining accuracy, during machining, the radial machining depth on both sides of the semi-enclosed cylindrical part 100 is compensated. and .

[0030] Robot 2, carrying end effector 3, is used to process the outer surface of a semi-enclosed cylindrical part 100, suitable for cylindrical parts of various sizes. Large gantry milling machines, however, are limited by their table size and beam height, making it impossible to process large cylindrical parts. By arranging two robots 2 on both sides of the semi-enclosed cylindrical part 100 for processing, the stress state of the part is improved, increasing processing accuracy and efficiency. Using two robots 2 instead of a large gantry milling machine reduces costs and improves the economics of processing. The robot 2, carrying end effector 3 equipped with various measuring units, accurately grasps the precise positional relationship between the semi-enclosed cylindrical part 100 and the robot 2, the working status of the processing unit, and the indicators achieved in the previous processing step. This allows for timely parameter adjustments in subsequent processing, ensuring processing accuracy.

[0031] Due to the size limitations of the inner cavity of the semi-enclosed cylindrical component 100, the adjustment range of the cross-sectional area of ​​the beam of the inner cavity support fixture 5 extending into the inner cavity of the semi-enclosed cylindrical component 100 will not be large. Therefore, the vertical dimension should be maximized, i.e., the beam height should be maximized, thereby increasing the beam's section modulus in the vertical direction and reducing the downward deflection caused by gravity. The beam will inevitably deflect, causing the inner cavity support fixture 5 mounted on the beam to deflect as well, affecting the positioning accuracy of the inner cavity support fixture 5. Therefore, increasing the contact area between the inner cavity support fixture 5 and the semi-enclosed cylindrical component 100 ensures sufficient contact area even if the predetermined contact position deviates to some extent due to the beam's deflection, guaranteeing reliable support for the inner side of the machined area. Since positioning units are installed on both the left and right sides of the inner cavity support fixture 5, simultaneously supporting the inner wall of the semi-enclosed cylindrical component 100, the cutting force transmitted from the outer surface of the semi-enclosed cylindrical component 100 to the beam can cancel each other out. Therefore, the beam thickness can be smaller, and significant lateral bending will not occur. The inner cavity support fixture 5, mounted on the beam, can move along the beam's axis. Rollers are installed on the positioning unit of the inner cavity support fixture 5 to support the inner wall of the semi-enclosed cylindrical component 100. When the inner cavity support fixture 5 moves along the beam's axis, the rollers can roll along the inner wall of the semi-enclosed cylindrical component 100, allowing the support position of the inner wall to be adjusted according to the position of the robot processing the outer surface of the semi-enclosed cylindrical component 100. Multiple rollers can be installed to increase the support area and improve the stress condition of the support area. The two robots 2 outside the semi-enclosed cylindrical component 100 and the inner cavity support fixture 5 move in tandem, enabling processing of the outer surface of the semi-enclosed cylindrical component 100 under supported conditions, improving the system's stress condition, and increasing processing accuracy and efficiency.

[0032] As an optional implementation, referring to Figure 5, the robot extended axis 1 includes a base 11, a motion platform 12, a robot control cabinet 13, and an end effector control cabinet 14. The motion platform 12 is slidably mounted on the base 11. Both the robot control cabinet 13 and the end effector control cabinet 14 are mounted on the motion platform 12. The robot control cabinet 13 is used for motion control of the robot 2, and the end effector control cabinet 14 is used for motion control of the end effector 3. The motion platform 12 has translational degrees of freedom, and the number of translational degrees of freedom can be flexibly selected to achieve one-dimensional, two-dimensional, or three-dimensional motion. The position and orientation of the robot extended axis system 1 are determined according to the processing requirements, thus determining the motion direction of the robot extended axis system 1. The translation of the robot extended axis system 1 drives the robot 2, enabling the robot 2 to reach any processing position along the axis of the cylindrical part 6. After the flexible fixture 4 supports the cylindrical part 6, the central axis of the flexible fixture 4 is coaxial with the central axis of the cylindrical part 6. The flexible fixture 4 can rotate around the central axis, driving the cylindrical part 6 to rotate around the central axis, and transferring the area to be processed on the circumference of the cylindrical part 6 to the processing range of the end effector 3. The positioning unit of the internal cavity positioning robot 5 can move along the axial direction, thereby reaching any processing position in the axial direction of the cylindrical part 6 inside the cylindrical part 6. It moves in coordination with the robot 2 that performs the processing task externally, reaching the same processing position simultaneously inside and outside the cylindrical part 6, ensuring stable and reliable clamping inside the cylindrical part during processing.

[0033] As shown in Figure 5, the robot extension axis 1 also includes a test bench 15, a tool magazine 16, a water chiller 17, and a vacuum cleaner 18. The test bench 15, the tool magazine 16, the water chiller 17, and the vacuum cleaner 18 are all installed on the motion platform 12. The test bench 15 is used to test the cutting effect of the tool, the tool magazine 16 is used to store automatically replaceable tools, the water chiller 17 is used to cool the cutting unit 36, and the vacuum cleaner 18 is used to remove chips.

[0034] As an optional implementation, as shown in Figures 6 and 7, the end effector 3 includes a base unit 31, a station conversion unit 32, a shape measurement unit 33, a machining feature measurement unit 34, a position and attitude measurement unit 35, a cutting unit 36, and a machining quality measurement unit 37. The base unit 31 is mounted at the end of the robot 2. The station conversion unit 32 is mounted on the base unit 31 and is used to convert the positions of the machining feature measurement unit 34, the position and attitude measurement unit 35, the cutting unit 36, and the machining quality measurement unit 37 to their working positions. The shape measurement unit 33 is mounted on the base unit 31 and is used to measure the shape of the semi-enclosed cylindrical part 100 to determine the relative relationship between the robot 2 and the semi-enclosed cylindrical part 100. The machining feature measurement unit 34 is used to measure the key features of the semi-enclosed cylindrical part 100 to determine the relative positional relationship between the end effector 3 and the semi-enclosed cylindrical part 100. The position and attitude measurement unit 35 is used to measure the attitude of the semi-enclosed cylindrical part 100 relative to the end effector 3. The cutting unit 36 ​​is used to perform cutting on the semi-enclosed cylindrical part 100, and the machining quality measurement unit 37 is used to inspect the machining quality of the cutting unit 36.

[0035] The end effector 3 carried by the robot 2 includes a variety of measurement functions: (1) It has a geometric feature scanning function. By scanning the geometric features on the semi-enclosed cylindrical part 100, it can reconstruct the actual measurement model of the semi-enclosed cylindrical part 100 in the positioning state to ensure the accuracy of the processing object; on the other hand, it can determine the relative positional relationship between the semi-enclosed cylindrical part 100 and the robot 2, thereby accurately planning the motion command of the robot 2.

[0036] (2) Add a detection function for processing indicators. Since the semi-enclosed cylindrical part 100 has low rigidity and is subjected to support force, clamping force and cutting force, it is inevitable that it will deform. Relatively speaking, the rigidity of robot 2 is lower than that of machine tool. Under the reaction force of cutting force, robot 2 will also produce more significant deformation than machine tool. The two deformation factors work together to affect the processing accuracy. By using the detection function, the processing indicators of the previous process are detected, and the processing parameters of the next process are adjusted accordingly. After the final process is completed, the processing quality is detected.

[0037] (3) It has the function of detecting the status of the machining unit. The status of the machining unit directly affects the machining quality. Robot 2 is prone to chatter during cutting. A tool holder that can measure the cutting force is installed on the spindle, and a vibration sensor is installed on the spindle to indirectly measure the vibration of the tool. Once an abnormality is detected, the machining parameters are adjusted in time to avoid deteriorating the machining quality.

[0038] As shown in Figure 8, the flexible fixture 4 includes a fixture base 41, a rotating retainer 42, and a fixture positioning unit 43. Multiple rotating retainers 42 are coaxially mounted on the axial direction of the fixture base 41. Multiple fixture positioning units 43 are installed in the inner circumferential direction of each rotating retainer 42 to clamp the outer surface of the semi-enclosed cylindrical part 100 and adjust and position the semi-enclosed cylindrical part 100.

[0039] Referring to Figure 8, the rotating retainer 42 is used to drive the tooling positioning unit 43 to rotate after the tooling positioning unit 43 positions the semi-enclosed cylindrical part 100, thereby achieving the rotation of the semi-enclosed cylindrical part 100. The clamping part of each tooling positioning unit 43 moves radially to adjust the clamping range to accommodate the clamping and positioning of semi-enclosed cylindrical parts 100 of different shapes and diameters. The rotating retainer 42 can rotate around its own axis, driving the positioning unit 43 mounted on it to rotate, thereby driving the semi-enclosed cylindrical part 100 clamped by the positioning unit 43 to rotate.

[0040] As shown in Figure 9, the internal cavity support fixture 5 includes a column 51, a crossbeam 52, a slide table 53, and a support unit 54. The column 51 is installed on the ground. The crossbeam 52 is installed at the top of the column 51 and extends into the internal cavity of the semi-enclosed cylindrical part 100. The slide table 53 is slidably installed along the axial direction of the crossbeam 52 and is used to drive the support unit 54 to reach the inner surface area of ​​the semi-enclosed cylindrical part 100 to be supported, and to move in coordination with the robot 2 to simultaneously reach the same processing position inside and outside the semi-enclosed cylindrical part 100. The support unit 54 is installed on the slide table 53 and extends and retracts in a direction perpendicular to the slide table 53 so that the support unit 54 contacts and supports the inner surface of the semi-enclosed cylindrical part 100. Furthermore, the internal cavity support fixture 5 also includes a slide table connecting unit 55. Slide tables 53 are installed on both sides of the crossbeam 52. The slide table connecting unit 55 is used to connect the slide tables 53 on both sides of the crossbeam 52 to achieve synchronous movement of the two slide tables 53, which saves the drive device and simplifies the structure. The support unit 54 can be made of rollers. Multiple sets of rollers support the beam at symmetrical locations on the inner wall of the semi-enclosed cylindrical part 100. The cutting force on the outer surfaces of both sides of the semi-enclosed cylindrical part 100 is transmitted to the beam through the semi-enclosed cylindrical part 100 and the inner cavity support fixture 5, and the forces cancel each other out. This prevents the beam from bending due to stress and ensures that even if the beam is relatively thin, it will not bend and will not affect the positioning accuracy of the inner wall of the semi-enclosed cylindrical part 100.

[0041] Referring to Figure 9, the inner cavity support fixture 5 can move in two directions: the slide table 53 moves axially along the crossbeam 52, which can adjust the axial position of the support unit 54; the support unit 54 can extend and retract in a direction perpendicular to the slide table 53, ensuring that the support unit 54 can adapt to semi-enclosed cylindrical parts 100 of different diameters and reliably support the inner surface of the semi-enclosed cylindrical parts 100. These two modes of movement ensure that the support unit 54 has the ability to move axially and radially along the semi-enclosed cylindrical parts 100. The flexible fixture 4 can drive the semi-enclosed cylindrical parts 100 to rotate around the central axis, so the support unit 54 can support any part of the semi-enclosed cylindrical parts 100.

[0042] As shown in Figure 10, the inner cavity support fixture 5 uses two rollers to support the semi-enclosed cylindrical component 100 on its inner wall. The center points O1 and O2 of the two rollers are fixed on the inner cavity support fixture 5, and the two rollers rotate around points O1 and O2 respectively. As the rollers roll on the inner wall of the semi-enclosed cylindrical component 100, the rolling friction is less than the sliding friction, resulting in less resistance. This facilitates the smooth movement of the inner cavity support fixture 5 and avoids damage to the inner wall of the semi-enclosed cylindrical component 100. The contact points between the two rollers and the semi-enclosed cylindrical component 100 are A and B. Ideally, the movement of the end effector 3 on the outer wall of the semi-enclosed cylindrical part 100 should be perfectly synchronized with the movement of the inner cavity support fixture 5 on the inner wall of the semi-enclosed cylindrical part 100. The point of application of the cutting force of the end effector 3 on the outer wall of the semi-enclosed cylindrical part 100 and the point of application of the supporting force of the inner cavity support fixture 5 on the inner wall of the semi-enclosed cylindrical part 100 should always be symmetrical about the semi-enclosed cylindrical part 100; that is, the point of application of the cutting force of the end effector 3 on the outer wall of the semi-enclosed cylindrical part 100 should always be collinear with points A and O1, or with points B and O2. It is difficult for the inner cavity support fixture 5 and the end effector 3 to maintain precise synchronization over a long period, and due to various error factors, the synchronization is poor at times. Even if the inner cavity support fixture 5 and the end effector 3 could achieve precise synchronization over a long period, the economic cost would be extremely high and unacceptable. When the internal support fixture 5 and the end effector 3 are out of sync, it is even more important to achieve precise machining, so that ordinary equipment can also have important engineering value and achieve higher economic benefits.

[0043] Based on the worst-case scenario analysis, assuming the end effector 3 and the inner cavity support fixture 5 are not synchronized, and the point of application of the cutting force of the end effector 3 does not correspond to points A and B with respect to the interior and exterior of the semi-enclosed cylindrical component 100. Assume the point of application C of the cutting force of the end effector 3 is between points A and B, the distance between points A and B is L, and the distance between point C and point A is y. The semi-enclosed cylindrical component 100 between points A and B can be considered as a simply supported beam, and the deflection of point C under the action of the cutting force Fc of the end effector 3 is... (5) The radial machining depth calculated according to formula (5) can achieve a high accuracy of radial machining depth.

[0044] As shown in Figure 11, it is still assumed that the end effector 3 and the inner cavity support fixture 5 are not synchronized, and the point of application of the cutting force of the end effector 3 is not symmetrical with respect to points A and B about the inside and outside of the semi-enclosed cylindrical part 100. Assuming that the point of application of the cutting force C of the end effector 3 is not between points A and B, and the distance between it and either point A or point B is y, the semi-enclosed cylindrical part 100 between points A and C, and between points B and C, can be considered as a cantilever beam. Under the action of the cutting force Fc of the end effector 3, the deflection of point C is... (6) The radial machining depth calculated according to formula (6) can achieve a high accuracy of radial machining depth.

[0045] This invention also provides a collaborative machining method for semi-enclosed, weakly stiff cylindrical components. Referring to Figure 12, the method includes the following steps: S100, installing the semi-enclosed cylindrical component on a flexible fixture and adjusting it to a horizontal position; S200, the robot's extension axis drives the robot to move to the working area; S300, the robot drives the end effector to move to the working position; S400, using the end effector to sequentially measure the geometric features of the outer surface of the semi-enclosed cylindrical component, perform preliminary machining of the outer surface of the semi-enclosed cylindrical component, and measure the geometric features of the preliminary machining of the outer surface of the semi-enclosed cylindrical component; S500, by evaluating the preliminary machining quality, determining subsequent machining parameters, and repeating the machining and inspection process during continued machining until the current machining task is completed; S600, using the flexible fixture to rotate the machining areas of other parts of the semi-enclosed cylindrical component to the machining position, and then machining the remaining machining areas on the circumference of the semi-enclosed cylindrical component according to the above machining and inspection process; S700, when all machining areas on the circumference of the semi-enclosed cylindrical component are completed, the robot's extension axis drives the robot to move to the working area, and machining all machining objects according to the above steps.

[0046] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the figures. Furthermore, for the sake of brevity, detailed descriptions of known methods and techniques are omitted here.

[0047] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art without departing from the scope of the invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A collaborative processing device for semi-enclosed, weakly stiff cylindrical parts, characterized in that, The system includes a robot extension axis (1), a robot (2), an end effector (3), a flexible fixture (4), and an inner cavity support fixture (5). The robot extension axis (1) has at least one degree of freedom of movement and is used to move the robot (2) to transport the end effector (3) to the working position. The end effector (3) is used to perform processing and measurement respectively. The flexible fixture (4) is used to clamp the outer surface of a horizontally placed semi-enclosed cylindrical part (100) and drive the semi-enclosed cylindrical part (100) to rotate around the central axis. The inner cavity support fixture (5) is used to position and support the symmetrical sides of the inner surface of the semi-enclosed cylindrical part (100) and only contact the inner surface corresponding to the processing area.

2. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 1, characterized in that, The robot extension axis (1) includes a base (11), a motion platform (12), a robot control cabinet (13), and an end effector control cabinet (14); wherein, the motion platform (12) is slidably mounted on the base (11), the robot control cabinet (13) and the end effector control cabinet (14) are both mounted on the motion platform (12), the robot control cabinet (13) is used for motion control of the robot (2), and the end effector control cabinet (14) is used for motion control of the end effector (3).

3. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 2, characterized in that, The end effector (3) includes a base unit (31), a station conversion unit (32), a shape measurement unit (33), a machining feature measurement unit (34), a position and attitude measurement unit (35), a cutting unit (36), and a machining quality measurement unit (37); wherein, the base unit (31) is installed at the end of the robot (2), the station conversion unit (32) is installed on the base unit (31) and is used to convert the positions of the machining feature measurement unit (34), the position and attitude measurement unit (35), the cutting unit (36), and the machining quality measurement unit (37) to the working position, and the shape measurement unit (33) is installed on the base unit (31). The measurement unit (34) is used to measure the shape of the semi-enclosed cylindrical part (100) to determine the relative relationship between the robot (2) and the semi-enclosed cylindrical part (100); the machining feature measurement unit (34) is used to measure the key features of the semi-enclosed cylindrical part (100) to determine the relative positional relationship between the end effector (3) and the semi-enclosed cylindrical part (100); the position and attitude measurement unit (35) is used to measure the attitude of the semi-enclosed cylindrical part (100) relative to the end effector (3); the cutting unit (36) is used to perform cutting machining on the semi-enclosed cylindrical part (100); and the machining quality measurement unit (37) is used to inspect the machining quality of the cutting unit (36).

4. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 1, characterized in that, The flexible tooling (4) includes a tooling base (41), a rotating retainer (42), and a tooling positioning unit (43). Multiple rotating retainers (42) are coaxially mounted on the axial direction of the tooling base (41). Each rotating retainer (42) has multiple tooling positioning units (43) installed in the inner circumferential direction for clamping the outer surface of the semi-enclosed cylindrical part (100) and adjusting and positioning the position and orientation of the semi-enclosed cylindrical part (100).

5. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 4, characterized in that, The rotating retaining ring (42) is used to drive the tooling positioning unit (43) to rotate in coordination after the tooling positioning unit (43) positions the semi-enclosed cylindrical part (100) so as to realize the rotation of the semi-enclosed cylindrical part (100).

6. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 4, characterized in that, Each of the tooling positioning units (43) has a clamping part that moves radially to accommodate the clamping and positioning of semi-enclosed cylindrical parts (100) of different shapes and diameters.

7. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 1, characterized in that, The inner cavity support fixture (5) includes a column (51), a crossbeam (52), a slide (53), and a support unit (54). The crossbeam (52) is installed on the top of the column (51) and is used to extend into the inner cavity of the semi-enclosed cylindrical part (100). The slide (53) is slidably installed along the axial direction of the crossbeam (52) and is used to drive the support unit (54) to reach the inner surface area of ​​the semi-enclosed cylindrical part (100) to be supported and to move in coordination with the robot (2) to reach the same processing position at the same time inside and outside the semi-enclosed cylindrical part (100). The support unit (54) is installed on the slide (53) and extends and retracts in a direction perpendicular to the slide (53) so that the support unit (54) contacts and supports the inner surface of the semi-enclosed cylindrical part (100).

8. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 7, characterized in that, The inner cavity support fixture (5) also includes a slide table connecting unit (55). The slide tables (53) are installed on both sides of the crossbeam (52). The slide table connecting unit (55) is used to connect the slide tables (53) on both sides of the crossbeam (52) to achieve synchronous movement of the two slide tables (53).

9. The collaborative processing equipment for semi-enclosed, weak-stiff cylindrical parts according to claim 3, characterized in that, The robot extension axis (1) also includes a test bench (15), a tool magazine (16), a water chiller (17), and a vacuum cleaner (18). The test bench (15), the tool magazine (16), the water chiller (17), and the vacuum cleaner (18) are all installed on the motion platform (12). The test bench (15) is used to test the cutting effect of the tool. The tool magazine (16) is used to store automatically replaceable tools. The water chiller (17) is used to cool the cutting unit (36). The vacuum cleaner (18) is used to remove chips.

10. A processing method using the collaborative processing equipment for semi-enclosed weak-stiffness cylindrical parts as described in claim 1, characterized in that, The method includes the following steps: installing a semi-enclosed cylindrical component (100) on a flexible tooling (4) and adjusting it to a horizontal position; the robot extension axis (1) drives the robot (2) to move to the working area; the robot (2) drives the end effector (3) to move to the working position; the end effector (3) sequentially measures the geometric features of the outer surface of the semi-enclosed cylindrical component (100), performs preliminary machining on the outer surface of the semi-enclosed cylindrical component (100), and measures the geometric features of the preliminary machining on the outer surface of the semi-enclosed cylindrical component (100); by evaluating the quality of the preliminary machining, the method determines... The subsequent processing parameters are then processed, and the processing and inspection processes are repeated during the continued processing until the current processing task is completed. The processing area of ​​the other parts of the semi-enclosed cylindrical part (100) is rotated to the processing position using the flexible tooling (4), and then the remaining processing area on the circumference of the semi-enclosed cylindrical part (100) is processed according to the above processing and inspection process. When all processing areas on the circumference of the semi-enclosed cylindrical part (100) are completed, the robot extension axis (1) drives the robot (2) to move to the working area and processes all processing objects according to the above steps.

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