A multi-automated processing tip parallel flexible processing system and method

Abstract

The present application relates to the technical field of aerospace component automated manufacturing, and provides a multi-automatic machining end parallel flexible machining system and method. The system comprises a drilling jig tool, at least two automatic machining ends, an automated operation execution module, an automatic machining end taking and placing combination mechanism, an end placement platform and a controller. The controller determines the number of ends participating in scheduling according to end machining time, arrangement and recovery time and total number of ends. The automated operation execution module locks the automatic machining end to the drilling jig tool after identification positioning and error correction; after releasing the gripping or connection, the automatic machining end independently processes, and the automated operation execution module continues to arrange or recover other automatic machining ends, so that the machining time of multiple automatic machining ends overlaps. The present application can reduce the waiting time of the automated operation execution module when multiple automatic machining ends work, improve the multi-hole machining efficiency while ensuring the machining quality.

Description

Technical Field

[0001] This invention relates to the field of automated manufacturing technology for aerospace components, and in particular to a parallel flexible machining system and method with multiple automated machining ends. Background Technology

[0002] In aerospace, rail transportation, composite material processing, and large component assembly, workpieces typically have numerous holes to be machined. The quality of hole machining directly affects subsequent connections, assembly accuracy, and structural reliability. Existing automated hole-making or automated drilling and riveting systems usually integrate the hole-making spindle, automatic feed mechanism, clamping mechanism, normal detection mechanism, vision positioning mechanism, and chip removal mechanism into the end of the operating mechanism. The automated operation execution module moves the automatic machining end to the point to be machined and performs drilling, reaming, countersinking, or riveting operations while the operating mechanism maintains the working posture of the automatic machining end. This method can improve the automation level of hole making, but during drilling, feeding, retraction, and auxiliary actions at a single hole, the operating mechanism usually needs to continuously occupy the current automatic machining end, making it difficult to simultaneously perform end-of-hole pick-up, placement, or retrieval tasks at other holes. The movement and scheduling capabilities of the automated operation execution module between multiple holes are not fully utilized.

[0003] Currently, many technologies focus on automated hole making, end effector alignment, and quick end effector switching. For example, Kang Renke et al. from Dalian University of Technology proposed "An Automatic Hole Making Device and Processing Method for Robots," patent number CN106041955B. This solution includes a six-axis serial robotic arm, a robotic arm end effector rotation mechanism, and an automatic hole making end effector, enabling automatic positioning, alignment, and hole making. However, during processing, the automatic hole making end effector remains fixed to the end of the operating mechanism. Bao Guolian et al. from Shenyang Siasun Robot & Automation Co., Ltd. proposed "A Quick-Change and Floating Structure for Multi-End Effectors of Robots," patent publication number CN120190843A. This solution sets multiple processing ends on a quick-change bracket. The operating mechanism can connect to any processing end effector through a processing end effector pick-and-place mechanism to adapt to different working conditions. However, its main purpose is tool switching and floating adaptation, and it does not form a parallel processing flow where multiple automatic processing ends are locked to the drilling jig, detached from the robotic arm for independent processing, and then arranged, retrieved, and scheduled by a single automated operation module. In addition, some technologies utilize multiple automated task execution modules to collaboratively complete the processing of large workpieces, thereby expanding the processing coverage and improving parallel operation capabilities. For example, Chen Nankai et al. from Hunan University proposed "A Multi-Mobile Robot Collaborative Operation Method and System," patent number CN109986563B. This solution decomposes complex processing tasks into multiple sub-tasks, with multiple mobile robots moving to the vicinity of the workpiece and sharing information to perform collaborative processing. This can improve the processing capability for large-scale workpieces and long-cycle tasks. However, it typically requires multiple automated task execution modules to simultaneously enter the workpiece's surrounding area. In situations where assembly site space is limited, tooling is dense, or the accessible space around the workpiece is limited, the arrangement of multiple automated task execution modules, motion collision avoidance, field of view obstruction, power supply wiring, and collaborative scheduling all increase the implementation difficulty.

[0004] In summary, there remains an adaptability gap between existing processing methods using a single automated task execution module and collaborative processing methods using multiple automated task execution modules: the former has limited utilization in multi-hole, long-cycle conditions, while the latter faces difficulties in deploying and coordinating collision avoidance among multiple automated task execution modules in space-constrained scenarios. There is an urgent need for a flexible processing system and method that can accommodate parallel operation, reliable placement, independent processing, and asynchronous scheduling of multiple automated processing ends within a limited workspace. Summary of the Invention

[0005] This invention aims to provide a parallel flexible machining system and method with multiple automated machining ends. By setting a unified pick-and-place interface and a positioning and locking interface corresponding to the processing point for multiple automated machining ends, the automated operation execution module can selectively pick up, attach, and release any automated machining end. After the automated machining end is locked to the drilling jig, it can operate independently without the operation mechanism, with the drilling jig bearing the processing load. The automated operation execution module can simultaneously execute the picking, placement, retrieval, and scheduling of other automated machining ends, thereby solving the problems of low processing cycle time, low utilization rate of the operation execution module, and difficulty in reliably placing and automatically scheduling multiple automated machining ends caused by the serial processing of a single automated machining end fixed to the existing automated operation execution module.

[0006] The specific technical solution of the present invention is as follows: A parallel flexible machining system with multiple automated machining ends includes a drilling jig, at least two automated machining ends, an automated operation execution module, an automated machining end pick-and-place mechanism, an end-placement platform, and a controller. The drilling jig has multiple machining points and corresponding positioning and locking interfaces. Each machining point defines its machining position on the workpiece, and the positioning and locking interfaces cooperate with the holding mechanism of the automated machining ends to maintain a predetermined position and orientation relative to the corresponding machining point. Each automated machining end includes a holding mechanism and an automatic feed drill, which performs a combined rotation and feed motion of the machining tool. The automated operation execution module includes a work operation mechanism, a moving support mechanism, a recognition and positioning module, and an error correction module. The moving support mechanism moves the automated operation execution module within the work area. The work operation mechanism is connected, cooperates with, or is integrated with the moving support mechanism, and has multiple degrees of freedom to meet operational requirements. The recognition and positioning module identifies the work area and machining points. The system is designed to locate and convert the identification and positioning results into a target docking pose in the coordinate system of the automated operation module. An error correction module is located at the end output interface, wrist, palm, hand, or automatic machining end-of-life pick-and-place mechanism of the operation mechanism. This module provides floating compensation in at least one direction during docking between the holding mechanism of the automatic machining end-of-life and the positioning and locking interface of the drilling jig, or adjusts the pose of the operation mechanism based on force / displacement feedback to reduce the risk of jamming when docking the holding mechanism and the positioning and locking interface. An end-of-life placement platform is used to place multiple automatic machining ends to be switched. An automatic machining end-of-life pick-and-place mechanism allows the automated operation module to be selectively fixed or separated from any automatic machining end-of-life. A controller is deployed in a control cabinet, the onboard control unit of the automated operation module, or an external control station. The controller is connected to the automatic machining end-of-life, each module in the automated operation module, the automatic machining end-of-life pick-and-place mechanism, and the end-of-life placement platform via wired or wireless communication to read the status of each module and control each module to perform corresponding actions.

[0007] Furthermore, the holding mechanism of the automatic processing end adopts at least one of the following: adsorption type, indexing bayonet, expansion clamping type; the positioning and locking interface of the drilling jig tool adopts at least one of the following: positioning hole, positioning pin, conical surface, bayonet, expansion hole, forming a releasable locking connection with the holding mechanism. After locking, the axial force and torque during the processing of the automatic processing end are borne by the drilling jig tool rather than the operating mechanism. The automatic feed drill at the automatic processing end is a pneumatic feed drill or an electric feed drill, and has standby, processing, processing completed, fault, and offline states. The operating mechanism is at least one of the following: a collaborative robotic arm, an industrial robot robotic arm, an upper limb operating mechanism of a humanoid robot, a parallel operating mechanism, and a linear motion mechanism; the mobile carrying mechanism may be an AGV, an AMR chassis, a humanoid robot walking mechanism, a track moving mechanism, a linear module, or a gantry moving mechanism. The automatic processing end-point pick-and-place mechanism may include a cooperating end-side joint and a working-side joint, wherein the end-side joint is connected to the automatic processing end, and the working-side joint is connected to the error correction module; the automatic processing end-point pick-and-place mechanism may employ a pneumatic quick-change device, an electric quick-change device, a mechanical gripper, a dexterous hand, an adsorption gripper, a magnetic gripper, or a combination thereof; or, the automatic processing end-point pick-and-place mechanism may directly mate with the shape, handle, groove, gripping features, or adsorption surface of the automatic processing end; The identification and positioning module includes software algorithms and hardware structures. The hardware structure of the identification and positioning module can be set on the main body, head, neck, wrist, or mounting bracket of the operating mechanism or automated operation module, or placed on the mobile carrier mechanism. The hardware structure is at least one of a 2D camera, a 3D camera, a lidar, and a laser displacement sensor. The software algorithm of the identification and positioning module can perform data preprocessing, feature extraction, element recognition, coordinate transformation, pose calculation, and error compensation based on the image information, point cloud information, and distance information collected by the hardware structure, thereby obtaining the identification and positioning result and converting the identification and positioning result into the target docking pose in the coordinate system of the automated operation module. The error correction module includes a software algorithm and a hardware structure. The hardware structure of the error correction module is at least one of a guiding structure, a floating structure, and a force sensor. The software algorithm of the error correction module can determine the docking status of the holding mechanism and the positioning locking interface based on force feedback, displacement feedback, attitude deviation feedback, or locking status feedback, and generate a pose compensation amount or motion correction command.

[0008] A parallel flexible machining method with multiple automated machining ends, implemented using the aforementioned parallel flexible machining system with multiple automated machining ends, includes the following steps: S1: Obtain processing tasks and establish processing task information including the points to be processed and the status of the automatic processing end; S2: Based on the processing task information in step S1, substitute it into the formula to calculate the number of automatic processing ends of this processing operation by the automated operation execution module, K=min[M,ceil(1+t m / t r )]; where t r The time t is the time occupied by the automated job execution module for the deployment and retrieval of a single automated processing end. mM represents the estimated processing time of the automated processing end, M represents the total number of automated processing ends configured in the parallel flexible processing system with multiple automated processing ends, ceil represents rounding up to the nearest integer, and min represents taking the smaller of the two numbers; S3: Select the first automatic processing end that is in an available state from the end placement platform, control the automatic operation execution module to form a detachable gripping, clamping, adsorption, magnetic attraction, connection or locking relationship with the first automatic processing end through the automatic processing end picking and placing combination mechanism, and move the first automatic processing end to the first processing point of the drilling jig tooling; S4: The identification and positioning result of the first point to be processed is obtained through the identification and positioning module, and the docking deviation is corrected through the error correction module, so that the holding mechanism of the first automatic processing end is docked and locked with the positioning and locking interface of the drilling jig tooling, so that the first automatic processing end is fixed relative to the drilling jig tooling, and the drilling jig tooling bears the drilling axial force and cutting torque during the processing. S5: Control the automatic processing end pick-and-place mechanism to separate, so that the first automatic processing end is separated from the automated operation execution module, and send a processing start command to the first automatic processing end, so that the first automatic processing end can independently perform processing while the holding mechanism is locked; the separation includes releasing the gripping, clamping, adsorption, magnetic attraction, connection or locking relationship of the operation mechanism to the first automatic processing end; S6: During the independent processing of the first automatic processing terminal, query the status of each automatic processing terminal, and control the automated operation execution module to grab, arrange or reclaim any automatic processing terminal according to the query result, so that at least two automatic processing terminals are in a time-overlapping processing state or an asynchronous scheduling state. When an automatic processing end is completed or an abnormality requiring recycling occurs, the automated operation execution module is controlled to reconnect with the automatic processing end, release the locking connection between the automatic processing end and the positioning locking interface of the drilling jig, and transfer the automatic processing end to the next processing point or the end placement platform. S7: Repeat steps S3 to S6 until the processing points in the processing task are completed, and put the automatic processing end that needs to be recycled back into the end placement platform.

[0009] Furthermore, in step S1, obtaining the processing task includes at least one of manually inputting processing parameters, importing a workpiece model or process model, reading the identification code near the processing position, and reading the processing plan in the processing database. The processing task information includes at least one of the following: the number of the point to be processed, the pose of the point to be processed, processing parameters, the number of the automatic processing end point, tool life, the current status of the automatic processing end point, and the current position of the automatic processing end point.

[0010] Furthermore, in step S3, before or after selecting an automatic machining end that is in an available state, it is determined whether the automatic machining end needs to replace the tool; when the determination result is that the tool needs to be replaced, automatic tool change is performed or manual tool change is prompted; the determination is based on at least one of the following: machining count threshold, tool wear detection result, machining database prediction result, and cumulative machining time value.

[0011] Furthermore, in step S5, after the first automatic processing end is separated from the automated operation execution module, it obtains electrical or gas power through an independent power supply interface, and feeds back at least one status information of standby, locking, processing, processing completed, fault, disconnection, and tool life to the automated operation execution module through wired or wireless communication.

[0012] Further, in step S6, controlling the automated operation execution module to capture, arrange, or reclaim any automated processing end based on the query results includes: when there is an automated processing end that has completed processing or needs to be reclaimed due to a fault, reclaiming the automated processing end first; when there is no automated processing end to be reclaimed and there is a usable automated processing end, capturing the usable automated processing end and arranging it at the processing point, and starting the automated processing end to process; when there is no automated processing end to be reclaimed and there is no usable automated processing end, continuing to query the status of each automated processing end.

[0013] Further, in step S6, controlling the automated operation execution module to reconnect with the automated processing end includes: determining the position of the automated processing end through at least one of visual guidance, repeated positioning, automated processing end status recording, or automated processing end in-situ detection, and controlling the automated operation execution module to reconnect with the automated processing end through the automated processing end pick-and-place mechanism. The connection includes forming a gripping, clamping, adsorption, magnetic attraction, connection, or locking relationship between the operation mechanism and the automated processing end.

[0014] Furthermore, in step S6, before the automated operation execution module grabs, places, or retrieves the automated processing end, the controller further includes: according to the work area where the processing point is located, the position of the end placement platform, and the current position of the operation mechanism, the controller controls the mobile carrier mechanism to move the operation mechanism to the corresponding work area.

[0015] Furthermore, when any automated processing end reports a fault, disconnection, or processing timeout, the automated processing end is marked as abnormal, the assignment of new processing tasks to the automated processing end is stopped, and at least one of the following actions is performed: recovery, reset, alarm, isolation, or reallocation of unfinished points.

[0016] The beneficial effects of this invention are: 1. By controlling the separation of the automatic machining end-end pick-up and drop-off mechanism after locking the automatic machining end-end to the drilling jig tool, the automatic machining end-end can process independently after being separated from the automated operation execution module. The automated operation execution module can continue to perform the placement or retrieval tasks of other automatic machining ends during the current processing of the automatic machining end-end, thereby improving the multi-point processing efficiency and the utilization rate of the automated operation execution module.

[0017] 2. The retaining mechanism and the positioning locking interface form a releasable locking connection, so that the drilling axial force and cutting torque generated during the machining process are mainly transmitted to the drilling jig tooling, reducing the impact of the continuous machining load on the positioning accuracy and stability of the operating mechanism during the machining period.

[0018] 3. By establishing processing task information, automatic processing terminal status records, and terminal quantity selection rules, asynchronous scheduling, status tracking, and task reallocation of multiple automatic processing terminals can be achieved, improving the system's continuous operation capability and avoiding the waste of scheduling resources caused by blindly increasing the number of automatic processing terminals. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings are briefly described below. The drawings are for illustrative purposes only and do not limit the scope of protection of the present invention.

[0020] Figure 1 This is a schematic diagram of a system scenario to which the parallel flexible machining system and method with multiple automated machining ends of the present invention are applicable; Figure 2 This is the overall flowchart of the parallel flexible machining method with multiple automated machining ends of the present invention; Figure 3 This is a schematic diagram of the structure of the parallel flexible machining system with multiple automated machining ends of the present invention; Figure 4 A flowchart illustrating the process of querying the status of multiple automated processing endpoints and making scheduling decisions; Figure 5 This is a schematic diagram of a single processing end structure; Figure 6 This is a schematic diagram of multiple automated processing ends processing in parallel.

[0021] In the diagram: 1. Automated operation execution module; 11. Operation mechanism; 12. Error correction module hardware structure; 13. Identification and positioning module hardware structure; 14. Control cabinet; 15. Moving support mechanism; 2. End-of-line placement platform; 3. Automatic processing end-of-line; 31. Holding mechanism; 32. Automatic feed drill; 4. Automatic processing end-of-line pick-and-place mechanism; 41. Working side joint; 42. End-of-line side joint; 5. Drill jig tooling; 51. Point to be processed; 52. Positioning and locking interface. Detailed Implementation

[0022] The specific embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood that the following embodiments are only for the purpose of helping to understand the present invention and are not intended to limit the scope of protection of the present invention.

[0023] like Figure 1 As shown, the method of this embodiment is executed on a parallel flexible machining system with multiple automated machining ends. The figure illustrates an automated job execution module 1, an end-effector placement platform 2, at least two automated machining ends 3, and a drilling jig fixture 5. Figure 5 As shown, a single machining end includes an automatic machining end 3 (including a holding mechanism 31 and an automatic feed drill 32) and an end-side joint 42. Figure 5 The end-side joint 42 in the embodiment only corresponds to the quick-change interface; in the dexterous hand embodiment, the dexterous hand can directly mate with the shape, handle, groove, gripping features and / or suction surface of the automatic processing end 3. For example... Figure 6 As shown, the drilling jig 5 is provided with multiple processing points 51 and corresponding positioning and locking interfaces 52.

[0024] like Figure 3 As shown, the automated operation execution module 1 includes an operation mechanism 11, an error correction module hardware structure 12, an identification and positioning module hardware structure 13, a control cabinet 14 serving as a controller, and a moving support mechanism 15. The operation-side connector 41 is mounted on the error correction module hardware structure 12. The end-effector placement platform 2 is used to place the end-effector assembly composed of the automated processing end-effector 3 and the end-effector-side connector 42. Figure 3 The specific shapes, installation positions, and connection relationships shown are only for illustrating the exemplary structure of the collaborative robotic arm and AGV chassis, and do not limit the specific configuration of the automated operation execution module 1. The relationship between the operation-side joint 41 and the error correction module hardware structure 12 is as follows: Figure 3 The specific structure of the quick-switch interface embodiment shown does not constitute an essential relationship for the dexterous hand embodiment.

[0025] The operation mechanism 11 employs a collaborative robotic arm, mounted on a mobile carrier mechanism 15, for grasping, transporting, arranging, and retrieving the automated processing end effector 3 under the control of the control cabinet 14. The mobile carrier mechanism 15 uses an AGV chassis to drive the operation mechanism 11 between the end effector placement platform 2, the drilling jig fixture 5, and different work areas. In other embodiments, the operation mechanism 11 may be an industrial robot robotic arm, a humanoid robot's upper limb manipulation mechanism, a parallel manipulation mechanism, or a linear motion mechanism; the mobile carrier mechanism 15 may be an AMR chassis, a humanoid robot's walking mechanism, a track-based movement mechanism, a linear module, or a gantry movement mechanism. In another embodiment, the automated operation execution module 1 employs a humanoid robot, whose upper limb manipulation mechanism constitutes the operation mechanism 11, and whose bipedal, wheeled, or legged walking mechanism constitutes the mobile carrier mechanism 15; the operation mechanism 11 and the mobile carrier mechanism 15 can be connected, cooperate, or be integrated through a torso connection.

[0026] The identification and positioning module hardware structure 13 employs a 3D camera, which is connected to the operating mechanism 11 and mounted on the main body, head, neck, wrist, or mounting bracket of the automated operation execution module 1, or on the mobile support mechanism 15. It is used to acquire image information, point cloud information, and / or distance information of the drilling jig 5, the point to be processed 51, the positioning and locking interface 52, or the identification code. The identification and positioning module's software algorithm is used to perform data preprocessing, feature extraction, element recognition, coordinate transformation, pose calculation, and error compensation on the acquired data, thereby obtaining the target docking pose of the automated processing end effector 3 relative to the point to be processed 51.

[0027] The error correction module hardware structure 12 employs a six-dimensional force sensor, which is located between the end output interface, wrist, palm, hand, finger base, and / or working side joint 41 of the operating mechanism 11. This sensor detects force and torque changes during the docking process between the holding mechanism 31 and the positioning locking interface 52. The error correction module's software algorithm, based on the force / torque information fed back from the error correction module hardware structure 12, the pose information of the operating mechanism 11, and the locking status information, determines the docking status and generates pose compensation or motion correction commands to control the operating mechanism 11 to perform compliant docking, minor adjustments, retraction and re-docking, or stop alarm actions. In embodiments employing a collaborative robotic arm, the six-dimensional force sensor is located at the end output flange of the robotic arm and the working side joint 41; in embodiments employing a dexterous hand, the six-dimensional force sensor can be located at the wrist, palm, finger base, or the contact point between the dexterous hand and the automatic processing end effector 3.

[0028] In this embodiment, the holding mechanism 31 adopts an expansion clamping type holding structure, and the positioning locking interface 52 adopts an expansion hole matching method, that is, an expansion hole is provided to match the expansion clamping type holding structure. After the holding mechanism 31 is inserted into the positioning locking interface 52, it forms a releasable locking connection with the inner wall of the expansion hole through the expansion clamping action, so that the automatic processing end 3 maintains a predetermined position and posture relative to the drill jig fixture 5. After locking, the drilling axial force and cutting torque generated during the processing are transmitted to the drill jig fixture 5 through the holding mechanism 31 and the positioning locking interface 52, instead of being continuously borne by the operating mechanism 11.

[0029] The automatic feed drill 32 can be a pneumatic or electric feed drill, used to realize the combined rotation and axial feed motion of the machining tool, and has standby, locking, machining, machining completed, fault, or disconnection states. The end-side coupling 42 is connected to the automatic machining end 3, and the working-side coupling 41 is connected to the error correction module hardware structure 12. When the working-side coupling 41 and the end-side coupling 42 are locked, the working operation mechanism 11 can grasp and transport the corresponding automatic machining end 3; when the holding mechanism 31 is locked with the positioning locking interface 52, the working-side coupling 41 and the end-side coupling 42 are separated, allowing the automatic machining end 3 to detach from the working operation mechanism 11 and perform machining independently. In other embodiments, the automatic machining end picking and placing coupling mechanism 4 can adopt a mechanical gripper, a dexterous hand, an adsorption gripper, a magnetic gripper, or a combination thereof; wherein, the dexterous hand can pick up, transport, arrange, retrieve, and release the automatic machining end 3 by gripping with fingers, enveloping grasp, or cooperating with the end-side coupling 42. In other embodiments, the dexterous hand can directly engage with the shape, handle, groove, gripping features and / or suction surface of the automatic processing end 3, without providing a cooperating working side joint 41 and end side joint 42.

[0030] like Figure 2 As shown, the parallel flexible machining method with multiple automated machining ends includes the following steps: S1: Control cabinet 14 acquires machining tasks and establishes machining task information. Acquiring machining tasks includes at least one of the following: manually inputting machining parameters, importing workpiece models or process models, reading identification codes near the machining position, and reading machining plans from the machining database. The machining task information includes at least one of the following: the number of the point to be machined 51, the pose of the point to be machined 51, machining parameters, the number of the automatic machining end effector 3, tool life, the current status of the automatic machining end effector 3, and the current position of the automatic machining end effector 3.

[0031] S2: Control cabinet 14 calculates the recommended number K of automatic processing terminals 3 to participate in the scheduling of this processing operation based on the processing task information, K=min[M,ceil(1+t)] m / t r )]; where tr The time t is the time occupied by the automated operation execution module 1 for the deployment and retrieval of a single automated processing end 3. m The estimated processing time for the automated processing end 3 is given by M, where M is the total number of automated processing ends 3 configured in the multi-automated processing end parallel flexible processing system, ceil represents rounding up to the nearest integer, and min represents taking the smaller of the two numbers. This number is used to determine the number of automated processing ends 3 participating in asynchronous scheduling, rather than requiring all automated processing ends 3 in the multi-automated processing end parallel flexible processing system to be put into processing simultaneously.

[0032] The control cabinet 14 also establishes a status record for each automatic machining end-point 3. The status record includes the number of the automatic machining end-point 3, tool life, current status, and current position. The current status of the automatic machining end-point 3 includes standby, grabbed, docking, locking, machining, machining completed, fault, offline, awaiting retrieval, retrieved, or asynchronous scheduling status. The current position of the automatic machining end-point 3 includes its parking position on the end-point placement platform 2, the current processing point 51, or the corresponding work area. Asynchronous scheduling refers to the system operation state where different automatic machining ends 3 are respectively in the placement, locking, machining, machining completed, or retrieval stages, and these stages overlap in time. The control cabinet 14 reads the automatic machining end-point 3 presence detection signal from the end-point placement platform 2. This signal indicates whether an automatic machining end-point 3 exists at each end-point parking position. When multiple available automatic machining ends 3 exist, the control cabinet 14 can select the first automatic machining end-point 3 based on the principles of closest distance, tool matching, longest tool life, machining priority, or a comprehensive cost function.

[0033] Before or after selecting the automatic machining end point 3, the control cabinet 14 determines whether the automatic machining end point 3 needs to replace the tool based on the machining count threshold, tool wear detection results, machining database prediction results, or cumulative machining time. If the determination result indicates that the tool needs to be replaced, automatic tool change is performed or a manual tool change is prompted.

[0034] S3: Select the first automatic processing end 3, which is in an available state, from the end placement platform 2. Control the automated operation execution module 1 to form a releasable gripping, clamping, adsorption, magnetic attraction, connection, and / or locking relationship with the first automatic processing end 3 through the automatic processing end pick-and-place mechanism 4. Move to the first processing point 51. Specifically, the control cabinet 14 controls the moving carrier mechanism 15 to move to the vicinity of the end placement platform 2, and controls the operation mechanism 11 to grab the first automatic processing end 3 through the automatic processing end pick-and-place mechanism 4. During grabbing, the working side joint 41 and the end side joint 42 are connected and locked; after the automatic processing end pick-and-place mechanism 4 forms a releasable gripping, clamping, adsorption, magnetic attraction, connection, and / or locking relationship, the moving carrier mechanism 15 and the operation mechanism 11 move the first automatic processing end 3 to the vicinity of the first processing point 51 of the drilling jig fixture 5. In the dexterous hand embodiment, the operating mechanism 11 uses the dexterous hand to clamp or envelop the first automatic processing end 3 to form a releasable gripping relationship.

[0035] S4: The identification and positioning module acquires image information, point cloud information, and / or distance information. The control cabinet 14 calculates the target docking pose and controls the movement of the operating mechanism 11. Specifically, when the first automatic processing end 3 approaches the first processing point 51, the identification and positioning module hardware structure 13 acquires point cloud information and image information of the drilling jig 5, the positioning and locking interface 52, and their surrounding features. The control cabinet 14 controls the operating mechanism 11 to perform coarse positioning based on the target docking pose output by the identification and positioning module, so that the holding mechanism 31 approaches the expansion hole inlet of the positioning and locking interface 52.

[0036] The error correction module provides floating compensation and / or feedback information on force, displacement, or attitude deviations. The control cabinet 14 adjusts the position and orientation of the operating mechanism 11 based on the feedback from the error correction module. The holding mechanism 31 docks with and locks to the positioning and locking interface 52. Specifically, during the docking process between the holding mechanism 31 and the positioning and locking interface 52, the error correction module hardware structure 12 provides real-time feedback on contact force and torque. When the detected contact force, torque, or attitude deviation exceeds a preset range, the control cabinet 14 controls the operating mechanism 11 to make a slight adjustment in the corresponding direction or retract and re-dock to reduce the risk of jamming when the expansion clamping holding structure is inserted into the expansion hole. When the holding mechanism 31 reaches the preset insertion depth, contact force range, and relative position and orientation conditions, the control cabinet 14 controls the holding mechanism 31 to perform the expansion clamping and locking action.

[0037] S5: Control the automatic processing end-effector pick-and-place mechanism 4 to separate and send a processing start command. The first automatic processing end-effector 3 performs processing independently. Specifically, after confirming that the first automatic processing end-effector 3 is locked, the control cabinet 14 controls the automatic processing end-effector pick-and-place mechanism 4 to perform a separation action, so that the first automatic processing end-effector 3 separates from the automated operation execution module 1, that is, the operation side connection part 41 and the end-effector connection part 42 are unlocked relative to each other. Subsequently, the control cabinet 14 sends a processing start command to the first automatic processing end-effector 3, so that the first automatic processing end-effector 3 performs processing independently while the holding mechanism 31 remains locked. The separation includes releasing the gripping, clamping, adsorption, magnetic attraction, connection and / or locking relationship of the operation mechanism 11 on the first automatic processing end-effector 3. In the dexterous hand embodiment, the separation is achieved by controlling the dexterous hand to release the clamping or enveloping grip on the first automatic processing end-effector 3.

[0038] The automatic feed drill 32 of the first automatic machining end unit 3 executes machining actions according to the set spindle speed, feed rate, machining depth, and retraction parameters. After machining is completed, the first automatic machining end unit 3 sends a machining completion signal to the control cabinet 14; if overload, stroke abnormality, tool abnormality, insufficient air pressure, or communication abnormality occurs, it sends a fault or disconnection status.

[0039] S6: Query the status of each automatic processing terminal 3, and grab, deploy, or retrieve any automatic processing terminal 3 based on the query results. During the independent processing of the first automatic processing terminal 3, the operation mechanism 11 is no longer occupied by the processing process, but can switch to grabbing, deploying, or retrieving other completed automatic processing terminal 3 tasks. Thus, at least two automatic processing terminals 3 can perform processing in overlapping time, or be in an asynchronous scheduling state such as deployment, processing, completion, and retrieval.

[0040] like Figure 4 The diagram shows the status query and scheduling decision process. Note: Dashed boxes indicate exception handling branches. Control cabinet 14 periodically or through event-triggered queries of the status of each automated processing end 3. Query results include statuses such as standby, grabbed, docking, locked, processing, processing completed, fault, offline, awaiting recycling, and recycled. Control cabinet 14 determines the next operation target based on the query results and processing task information.

[0041] In one scheduling strategy, control cabinet 14 first determines whether there are any automatically processed end-point 3s that have completed processing or need to be retrieved due to malfunctions. If so, control cabinet 14 prioritizes retrieving the automatically processed end-point 3. If not, it continues to determine whether there are any automatically processed end-point 3s to be retrieved and whether there are any available automatically processed end-point 3s. If so, control cabinet 14 grabs the available automatically processed end-point 3 and places it at the processing point 51, and starts processing with the automatically processed end-point 3. If not, it continues to query the status of each automatically processed end-point 3 until a new executable task appears. After completing the above actions, the status record of the automatically processed end-point 3 and the processing task information are updated. Control cabinet 14 determines whether the processing task is completed based on the updated processing task information.

[0042] In another scheduling strategy, control cabinet 14 can establish scheduling priorities based on the expected processing completion time, the movement path of the automated operation execution module, the number of automated processing ends 3, the number of unprocessed points 51, and tool life. For example, when multiple automated processing ends 3 complete processing simultaneously, the automated processing end 3 closest to the current position of the operation mechanism 11 is retrieved first; when the number of automated processing ends 3 is insufficient, the automated processing ends 3 that have completed processing and have sufficient tool life are retrieved first and transferred to the next point 51 to be processed, and the automated processing end 3 is started to process.

[0043] When an abnormal automatic processing end-point 3 is found to have completed processing or needs to be recycled, the control cabinet 14 determines the position of the automatic processing end-point 3. The position determination method can be visual guidance based on the results collected by the identification and positioning module hardware structure 13, repeated positioning, status recording of the automatic processing end-point 3, on-site detection of the automatic processing end-point 3, or a combination thereof. The operation mechanism 11 moves to the automatic processing end-point 3 and re-establishes a gripping, clamping, adsorption, magnetic attraction, connection, and / or locking relationship with the automatic processing end-point 3 through the automatic processing end-point pick-and-place mechanism 4.

[0044] After re-establishing the gripping, clamping, adsorption, magnetic attraction, connection, and / or locking relationships, the control cabinet 14 controls the holding mechanism 31 to release its expansion clamping connection with the positioning locking interface 52. For the automated machining end effector 3 that has been processed and is still suitable for continued use, the control cabinet 14 can directly transfer it to the next processing point 51 and start the automated machining end effector 3 for processing; for the automated machining end effector 3 that needs tool changing, maintenance, or has a fault that needs to be recovered, the control cabinet 14 puts it back to the end effector placement platform 2 or the designated maintenance position.

[0045] S7: Control cabinet 14 determines whether all processing points 51 have been processed; if not, repeat steps S3 to S6; if yes, return the automatic processing end 3 that needs to be recycled to the end placement platform 2. At this time, control cabinet 14 updates the processing task information table and generates a processing completion record.

[0046] In an exemplary working condition, the efficiency improvement effect of the present invention can be illustrated using a cycle time model. Let N be the number of points 51 to be processed. In the traditional automated operation execution module 1's single automated processing end-effector 3 processing method, the time required for the automated operation execution module 1 to complete auxiliary actions such as moving, positioning, normal adjustment, clamping, tool retraction, and transfer of a single point is t0. The time required for the automated processing end-effector 3 to complete processing actions such as drilling, countersinking, tool retraction, or chip removal of a single point is t0. m The total processing time of the traditional processing method can be approximately expressed as Ttraditional = N × (t0 + t0). m ).

[0047] When employing the parallel flexible machining method with multiple automated machining ends of the present invention, after the automated operation execution module 1 arranges the automated machining end 3 onto the drilling jig fixture 5 and locks it in place, it can detach from the automated machining end 3 and continue to grab, arrange, or retrieve other automated machining ends 3. Let t be the time required for the automated operation execution module 1 to complete scheduling actions such as grabbing, moving, docking, locking, quick-change separation, retrieval, unlocking, or rotation of the automated machining end 3 for a single machining point. r The actual number of automated processing terminals 3 participating in asynchronous scheduling is K, and K is not greater than the total number M of automated processing terminals 3 configured in the multi-automated processing terminal parallel flexible processing system. Since each processing point still needs to undergo scheduling actions by the automated operation execution module 1, and the automated processing terminal 3 occupies the corresponding processing terminal during processing, the steady-state single-point equivalent cycle time in the continuous multi-point processing scenario of this invention can be approximately expressed as CK = max[t r ,(t r +t m The total processing time can be approximated as T / K. 并行 (K)≈N×CK+t tail , where t tail The tail section time required for the last batch of automated processing end 3 to complete processing, recycling, or reset.

[0048] From the above model, it can be seen that when t r ≥t m When t = / (K-1), the cycle time of the parallel flexible machining system with multiple automated machining ends is mainly limited by the scheduling time of the automated operation execution module 1. Further increasing the number of automated machining ends 3 has limited improvement on the steady-state cycle time. r <t mWhen / (K-1), the cycle time of the multi-automatic-end parallel flexible machining system is mainly limited by the processing time of the automatic machining end 3 and the number of parallel ends. Increasing the number of automatic machining ends 3 participating in the scheduling can further reduce the waiting time. Therefore, this invention does not simply require all automatic machining ends 3 in the multi-automatic-end parallel flexible machining system to be put into processing at the same time, but can be based on t r and t m The matching relationship determines the number K of the recommended automated processing ends 3 to participate in the scheduling, where K can be approximately taken as min[M, ceil(1+t)]. m / t r )).

[0049] For example, when N=100, t0=15 seconds, t r =25 seconds, t m When M=4 and M=90 seconds, the total processing time of the traditional processing method is approximately 100×(15+90)=10500 seconds. Using this invention and deploying K=4 automatic processing terminals 3, the steady-state equivalent cycle time per point is approximately max[25, (25+90) / 4]=28.75 seconds, and the total processing time is approximately 100×28.75+90=2965 seconds. The efficiency improvement is approximately 3.54 times, and the time saving rate is approximately 71.8%. The above calculations are for illustrative purposes only; the actual efficiency improvement can be adjusted based on the number of processing points 51, the path of the automated operation execution module 1, the processing time of the automatic processing terminals 3, the number of terminals, the recovery strategy, and the scheduling strategy.

[0050] When any automated processing terminal 3 reports a fault, disconnection, or processing timeout, the control cabinet 14 marks the automated processing terminal 3 as abnormal and stops assigning new processing tasks to it. The control cabinet 14 can perform at least one of the following actions based on the fault level: recovery, reset, alarm, isolation, or reassignment of unfinished points.

[0051] If the automatic processing terminal 3 experiences a malfunction requiring retrieval during processing but remains locked, the control cabinet 14 can prioritize controlling the operating mechanism 11 to retrieve the automatic processing terminal 3. If the malfunction prevents the automatic processing terminal 3 from unlocking itself, the control cabinet 14 can initiate a backup unlocking process or prompt manual intervention. If the malfunction requiring retrieval occurs when a processing point 51 has not yet been completed, the control cabinet 14 can mark the processing point 51 as incomplete and reassign it to another available automatic processing terminal 3.

[0052] The processing tasks in the method of this invention are not limited to drilling. They can also be extended to tasks such as reaming, boring, countersinking, chamfering, grinding, inspection, gluing, and riveting, depending on the type of the automatic processing end 3. As long as the automatic processing end 3 can be fixed to the drilling jig fixture 5 by the holding mechanism 31 and perform the operation independently after being separated from the automated operation execution module 1, the scheduling method of this invention can be adopted.

[0053] The status query in the method of the present invention can be carried out by polling or by automatic processing end-point active reporting; the scheduling strategy can be fixed priority, shortest path, shortest waiting time, balanced processing cycle, balanced tool life or a combination thereof.

[0054] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Equivalent substitutions or modifications made by those skilled in the art to the step sequence, status fields, scheduling algorithms, docking methods, communication methods, mobile carrier methods, and work area division methods without departing from the concept of the present invention should all fall within the scope of protection of the present invention.

Claims

1. A parallel flexible machining system with multiple automated machining ends, characterized in that, The system includes a drilling jig, at least two automatic machining ends, an automated operation execution module, an automatic machining end pick-and-place mechanism, an end-placement platform, and a controller. The drilling jig has multiple machining points and corresponding positioning and locking interfaces. Each machining point defines its machining position on the workpiece, and the positioning and locking interfaces cooperate with the holding mechanism of the automatic machining ends to maintain a predetermined position and orientation relative to the corresponding machining point. The automatic machining ends include a holding mechanism and an automatic feed drill, which performs a combined rotation and feed motion of the machining tool. The automated operation execution module includes an operation mechanism, a moving support mechanism, an identification and positioning module, and an error correction module. The moving support mechanism moves the automated operation execution module within the work area. The operation mechanism is connected, cooperates with, or is integrated with the moving support mechanism, and has multiple degrees of freedom to meet operational requirements. The identification and positioning module identifies and positions the machining area and machining points, and then... The position result is converted into the target docking pose in the coordinate system of the automated operation execution module; the error correction module is set at the end output interface, wrist, palm, hand, or automatic machining end pick-and-place mechanism of the operation mechanism. The error correction module is used to provide floating compensation in at least one direction during the docking process between the holding mechanism of the automatic machining end and the positioning and locking interface of the drilling jig, or to adjust the pose of the operation mechanism based on force / displacement feedback to reduce the risk of jamming when the holding mechanism docks with the positioning and locking interface; the end placement platform is used to place multiple automatic machining ends to be switched; the automatic machining end pick-and-place mechanism is used to selectively connect or disconnect the automated operation execution module from any automatic machining end; the controller is deployed in the control cabinet, the airborne control unit of the automated operation execution module, or an external control station; the controller is connected to the automatic machining end, each module in the automated operation execution module, the automatic machining end pick-and-place mechanism, and the end placement platform through wired or wireless communication, and is used to read the status of each module and control each module to perform corresponding actions.

2. The parallel flexible machining system with multiple automated machining ends according to claim 1, characterized in that: The holding mechanism of the automatic processing end adopts at least one of the following: adsorption type, indexing bayonet, expansion clamping type; the positioning and locking interface of the drilling jig tool adopts at least one of the following: positioning hole, positioning pin, conical surface, bayonet, expansion hole, forming a releasable locking connection with the holding mechanism. After locking, the axial force and torque of the automatic processing end during the processing are borne by the drilling jig tool rather than the operating mechanism. The automatic feed drill at the automatic processing end is a pneumatic feed drill or an electric feed drill, and has standby, processing, processing completed, fault, and offline states. The operating mechanism is at least one of the following: a collaborative robotic arm, an industrial robot robotic arm, an upper limb operating mechanism of a humanoid robot, a parallel operating mechanism, and a linear motion mechanism; the mobile carrying mechanism adopts an AGV, an AMR chassis, a humanoid robot walking mechanism, a track moving mechanism, a linear module, or a gantry moving mechanism. The automatic processing end-point pick-and-place mechanism includes a cooperating end-side joint and a working-side joint. The end-side joint is connected to the automatic processing end, and the working-side joint is connected to the error correction module. The automatic processing end-point pick-and-place mechanism adopts a pneumatic quick-change device, an electric quick-change device, a mechanical gripper, a dexterous hand, an adsorption gripper, a magnetic gripper, or a combination thereof. Alternatively, the automatic processing end-point pick-and-place mechanism directly mates with the shape, handle, groove, gripping features, or adsorption surface of the automatic processing end. The identification and positioning module includes software algorithms and hardware structures. The hardware structure of the identification and positioning module is set on the main body, head, neck, wrist, or mounting bracket of the operating mechanism or automated operation module, or placed on the mobile carrier mechanism. The hardware structure is at least one of a 2D camera, a 3D camera, a lidar, and a laser displacement sensor. The software algorithm of the identification and positioning module can perform data preprocessing, feature extraction, element recognition, coordinate transformation, pose calculation, and error compensation based on the image information, point cloud information, and distance information collected by the hardware structure, thereby obtaining the identification and positioning result and converting the identification and positioning result into the target docking pose in the coordinate system of the automated operation execution module. The error correction module includes a software algorithm and a hardware structure. The hardware structure of the error correction module is at least one of a guiding structure, a floating structure, and a force sensor. The software algorithm of the error correction module can determine the docking status of the holding mechanism and the positioning locking interface based on force feedback, displacement feedback, attitude deviation feedback, or locking status feedback, and generate a pose compensation amount or motion correction command.

3. A method for parallel flexible machining with multiple automated machining ends, characterized in that, This is achieved using a parallel flexible machining system with multiple automated machining ends as described in any one of claims 1-2. Includes the following steps: S1: Obtain processing tasks and establish processing task information including the points to be processed and the status of the automatic processing end; S2: Based on the processing task information in step S1, substitute it into the formula to calculate the number of automatic processing ends of this processing operation by the automated operation execution module, K=min[M,ceil(1+t m / t r )]; where t r The time t is the time occupied by the automated job execution module for the deployment and retrieval of a single automated processing end. m M represents the estimated processing time of the automated processing end, M represents the total number of automated processing ends configured in the parallel flexible processing system with multiple automated processing ends, ceil represents rounding up to the nearest integer, and min represents taking the smaller of the two numbers; S3: Select the first automatic processing end that is in an available state from the end placement platform, control the automatic operation execution module to form a detachable gripping, clamping, adsorption, magnetic attraction, connection or locking relationship with the first automatic processing end through the automatic processing end picking and placing combination mechanism, and move the first automatic processing end to the first processing point of the drilling jig tooling; S4: The identification and positioning result of the first point to be processed is obtained through the identification and positioning module, and the docking deviation is corrected through the error correction module, so that the holding mechanism of the first automatic processing end is docked and locked with the positioning and locking interface of the drilling jig tooling, so that the first automatic processing end is fixed relative to the drilling jig tooling, and the drilling jig tooling bears the drilling axial force and cutting torque during the processing. S5: Control the automatic processing end pick-and-place mechanism to separate, so that the first automatic processing end is separated from the automated operation execution module, and send a processing start command to the first automatic processing end, so that the first automatic processing end can independently perform processing while the holding mechanism is locked; the separation includes releasing the gripping, clamping, adsorption, magnetic attraction, connection or locking relationship of the operation mechanism to the first automatic processing end; S6: During the independent processing of the first automatic processing terminal, query the status of each automatic processing terminal, and control the automated operation execution module to grab, arrange or reclaim any automatic processing terminal according to the query result, so that at least two automatic processing terminals are in a time-overlapping processing state or an asynchronous scheduling state. When an automatic processing end is completed or an abnormality requiring recycling occurs, the automated operation execution module is controlled to reconnect with the automatic processing end, release the locking connection between the automatic processing end and the positioning locking interface of the drilling jig, and transfer the automatic processing end to the next processing point or the end placement platform. S7: Repeat steps S3 to S6 until the processing points in the processing task are completed, and put the automatic processing end that needs to be recycled back into the end placement platform.

4. The parallel flexible machining method with multiple automated machining ends according to claim 3, characterized in that, In step S1, obtaining the processing task includes at least one of the following: manually inputting processing parameters, importing a workpiece model or process model, reading the identification code near the processing position, and reading the processing plan in the processing database. The processing task information includes at least one of the following: the number of the point to be processed, the pose of the point to be processed, processing parameters, the number of the automatic processing end point, tool life, the current status of the automatic processing end point, and the current position of the automatic processing end point.

5. The parallel flexible machining method with multiple automated machining ends according to claim 3, characterized in that, In step S3, before or after selecting an automatic machining end that is in an available state, it is determined whether the automatic machining end needs to replace the tool; when the determination result is that the tool needs to be replaced, automatic tool change is performed or manual tool change is prompted; the determination is based on at least one of the following: machining count threshold, tool wear detection result, machining database prediction result, and cumulative machining time value.

6. The method for parallel flexible machining with multiple automated machining ends according to claim 3, characterized in that, In step S5, after the first automatic processing end is separated from the automated operation execution module, it obtains electrical or gas power through an independent power supply interface and feeds back at least one status information of standby, locking, processing, processing completed, fault, disconnection, and tool life to the automated operation execution module through wired or wireless communication.

7. The parallel flexible machining method with multiple automated machining ends according to claim 3, characterized in that, In step S6, controlling the automated operation execution module to capture, deploy, or reclaim any automated processing end based on the query results includes: when there is an automated processing end that has completed processing or needs to be reclaimed due to a fault, reclaiming the automated processing end first; when there is no automated processing end to be reclaimed and there is a usable automated processing end, capturing the usable automated processing end and deploying it to the processing point, and starting the automated processing end to process; when there is no automated processing end to be reclaimed and there is no usable automated processing end, continuing to query the status of each automated processing end.

8. The parallel flexible machining method with multiple automated machining ends according to claim 3, characterized in that, In step S6, controlling the automated operation execution module to reconnect with the automated processing end includes: determining the position of the automated processing end through at least one of visual guidance, repeated positioning, automated processing end status recording, or automated processing end in-situ detection, and controlling the automated operation execution module to reconnect with the automated processing end through the automated processing end pick-and-place mechanism; the connection includes forming a gripping, clamping, adsorption, magnetic attraction, connection, or locking relationship between the operation mechanism and the automated processing end.

9. A parallel flexible machining method with multiple automated machining ends according to claim 3, characterized in that, In step S6, before the automated operation execution module grabs, places, or retrieves the automated processing end, the controller further includes: according to the work area where the processing point is located, the position of the end placement platform, and the current position of the operation mechanism, the controller controls the mobile carrier mechanism to move the operation mechanism to the corresponding work area.

10. A parallel flexible machining method with multiple automated machining ends according to claim 3, characterized in that, When any automated processing end reports a fault, disconnection, or processing timeout, the automated processing end is marked as abnormal, the assignment of new processing tasks to the automated processing end is stopped, and at least one of the following actions is performed: recovery, reset, alarm, isolation, or reallocation of unfinished points.

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