Research On Machining And Measuring Integrated System Based On Industrial Manipulator

With the development of high-end equipment in major engineering fields such as aerospace,Marine ship,energy and power,a class of complex thin-walled curved parts with more complex three-dimensional structure and more demanding performance indexes have emerged.Due to non developable thin-walled curved three-dimensional characteristics such parts,parts surface more uniform form a highly complex corresponding function structure,conventional digital machining and measuring device is difficult to meet the demand of the high precision manufacturing and efficient overall quality evaluation,therefore needs to be a one-stop space positioning precision machining-the result evaluation of machining and measuring system integration and technical solutions,in order to achieve a single clamping the next forming closed loop manufacturing and quality evaluation in machine parts.The key difficulty in the development of the integrated machining and measuring system lies in the flexible and accurate spatial interaction movement to provide the strategy and the accurate and reliable feature information measurement method.In view of this,this paper creatively proposes an integrated system for machining and measuring of complex thin-walled curved parts based on industrial manipulator.The specific research contents are as follows:(1)Overall design of the integrated machining and measuring system analyzes the equipment matching of process requirements,and carries out parameter selection and optimization redesign of multi-degree-of-freedom series industrial manipulator,special workpiece fixture,laser generator and visual sensor.Analyze the principle of machining and measuring control software development and design the software architecture.Integrate the research content and design the complete machining and measuring process.(2)Collaborative machining interaction unit design designed feeding strategy for multi-machining surfaces of complex thin-walled curved parts,and carried out off-line programming control research on industrial manipulator under complex trajectory.Duplicate CAM/CAD process planning technology,design complex thin-walled surface parts complete machining process.The principle of multi-pulse laser etching was analyzed,and the feasibility of laser material reduction was explored.The laser beam combination method was studied and the configuration of the composite laser generator was designed.(3)Machine vision measurement unit design and research of industrial camera internal parameter calibration technology based on ChArUco checkerboard calibration plate,design offeed table workspace guidance method based on monocular vision Pnp measurement principle.Based on the results of vision measurement and hand-eye configuration calibration,the paper designs the method of visual direction correction for the inclined measurement configuration,and studies the technique of knife alignment based on dynamic modulation mapping.Based on binocular stereoscopic vision measurement technology to measure the machining results of parts,design parts quality evaluation standards.(4)machining process control configuration software based on the MFC framework establishment processing process graphical interface control configuration software,design software access layer,the operational layer and monitoring layer abstract architecture,custom image processing and analysis,machine vision measurement,trigger device communication,each other to share resources,industrial manipulator off-line programming control,abnormal parameters monitoring module.The machining and measuring integration system based on industrial manipulator proposed in this paper can fully meet the machining and measuring requirements of complex thin-walled curved surface parts,fill in the relevant technical gaps,significantly improve the processing accuracy and efficiency of complex thin-walled curved surface parts,and has significant scientific research value and engineering practical value.