一种大型复杂构件加工新模式及新装备探讨

doi:10.3901/JME.2020.19.070

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 70-78.doi: 10.3901/JME.2020.19.070

• 特邀专栏：纪念张启先院士诞辰95周年 • 上一篇下一篇

扫码分享

一种大型复杂构件加工新模式及新装备探讨

谢福贵^1,2,3, 梅斌^1,2,3, 刘辛军^1,2,3, 张加波⁴, 乐毅⁴

1. 清华大学机械工程系摩擦学国家重点实验室北京 100084;
2. 清华大学(机械系)-西门子先进工业机器人联合研究中心北京 100084;
3. 清华大学精密超精密制造装备及控制北京市重点实验室北京 100084;
4. 北京卫星制造厂有限公司北京 100094

收稿日期:2019-12-30 修回日期:2020-04-20 出版日期:2020-10-05 发布日期:2020-11-17
通讯作者: 刘辛军(通信作者),男,1971年出生,博士,教授,博士研究生导师,国家杰出青年科学基金获得者,教育部"长江学者"特聘教授,国家"万人计划"领军人才。主要研究方向为机构学与机器人、先进制造装备。E-mail:xinjunliu@mail.tsinghua.edu.cn
作者简介:谢福贵,男,1982年出生,博士,副教授,德国"洪堡"学者,国家优秀青年科学基金获得者。主要研究方向为机构学与机器人、先进制造装备。E-mail:xiefg@mail.tsinghua.edu.cn
基金资助:
国家重点研发计划（2018YFB1306800）、国家自然科学基金（51922057，91748205）和北京市科技计划（Z181100003118003）资助项目。

Novel Mode and Equipment for Machining Large Complex Components

XIE Fugui^1,2,3, MEI Bin^1,2,3, LIU Xinjun^1,2,3, ZHANG Jiabo⁴, YUE Yi⁴

1. The State Key Laboratory of Tribology, Department of Mechanical Engineering(DME), Tsinghua University, Beijing 100084;
2. Tsinghua University(DME)-Siemens Joint Research Center for Advanced Robotics, Beijing 100084;
3. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Beijing 100084;
4. Beijing Spacecrafts, Beijing 100094

Received:2019-12-30 Revised:2020-04-20 Online:2020-10-05 Published:2020-11-17

摘要/Abstract

摘要： 大型复杂构件是航空航天、能源、船舶等领域装备的核心结构件，此类构件通常具有尺寸大、形状复杂、刚性弱等特点。传统“分体离线加工-在线检测”模式存在工艺不稳定、过程复杂、柔性差、周期长等问题，以龙门式多轴数控机床加工为代表的“包容式”加工模式，难以适应大型复杂构件的高效高质量加工制造需求。提出一种基于移动式和吸附式机器人的多机协同原位加工新模式，通过多机器人系统自主寻位、精确定位加工与加工质量原位检测，实现大型复杂构件多安装面并行铣削、制孔与打磨等作业。多机器人系统包括移动式混联机器人、吸附式并联机器人、移动式串联铣削机器人、移动式双臂加工机器人和移动式打磨机器人。构建多机协同原位加工模式，需要揭示多机器人协同原位加工行为与大型弱刚性结构件质量控制的交互机理，面临着本体、测量、工艺和集成四个方面的挑战，需要设计高灵活、高刚度的移动式和吸附式加工机器人，解决移动机器人自主准确寻位和超大结构件原位高精检测难题，攻克加工变形误差在线补偿和振动抑制技术，通过集成实现多机协同高效高精加工，为大型复杂构件的高效高质量制造提供创新技术及装备，并实现此类构件制造核心技术及装备自主可控。

关键词: 大型复杂构件, 多机协同原位加工, 移动式混联机器人, 吸附式并联机器人

Abstract: Large complex components are the core parts of equipment in the fields of aerospace, energy, ship, etc. Such components have common features such as large size, complex shape and weak stiffness. The traditional mode of offline processing and online detection has problems such as unstable and complicated process, poor flexibility and long cycle. The inclusive mode represented by gantry multi-axis CNC machine tool can hardly adapt to the requirements of high efficient and quality machining for large complex components. A novel multi-machine cooperative in-situ machining mode based on mobile and adsorptive robots is proposed. The multi-robot system can complete the independent locating, precise positioning and machining, and in-situ detection of machining quality, realizing simultaneously milling, drilling and polishing for multiple mounting surfaces. The multi-robot system includes a mobile hybrid robot, an adsorptive parallel robot, a mobile serial milling robot, a mobile dual-arm machining robot and a mobile grinding robot. In order to build the multi-machine cooperative in-situ processing mode, the interaction mechanism between multi-robots and large thin parts need to be revealed. And the challenges of design, measurement, craft and integration are encountered. It is necessary to design highly flexible mobile and adsorptive robots with high stiffness, solve the problems of accurate autonomous positioning and in-situ measurement, and conquer the deformation error online compensation and vibration suppression technology. Through system integration, multi-machine cooperative machining with high-efficiency and high-precision can be achieved, providing innovative technology and equipment for manufacturing large complex components. Consequently, the core technology and equipment of manufacturing such components can be controlled independently.

Key words: large and complex components, multi-machine cooperative in-situ machining, mobile hybrid robot, adsorptive parallel robots

中图分类号:

TG156

谢福贵, 梅斌, 刘辛军, 张加波, 乐毅. 一种大型复杂构件加工新模式及新装备探讨[J]. 机械工程学报, 2020, 56(19): 70-78.

XIE Fugui, MEI Bin, LIU Xinjun, ZHANG Jiabo, YUE Yi. Novel Mode and Equipment for Machining Large Complex Components[J]. Journal of Mechanical Engineering, 2020, 56(19): 70-78.

参考文献

[1] GARNIER S,SUBRIN K,AREVALO-SILES P,et al. Mobile robot stability for complex tasks in naval industries[J]. Procedia CIRP,2018(1),72:297-302.
[2] AHMED K,DU T T,ZHANG Y. A practical approach for automated polishing system of free-form surface path generation based on industrial arm robot[J]. International Journal of Advanced Manufacturing Technology,2017,93(1):1-14.
[3] KIM S H,NAM E,HA T I,et al. Robotic machining:A review of recent progress[J]. International Journal of Precision Engineering and Manufacturing,2019,20(9):1629-1642.
[4] AXINTE D A,ALLEN J M,ANDERSON R,et al. Free-leg Hexapod:A novel approach of using parallel kinematic platforms for developing miniature machine tools for special purpose operations[J]. CIRP Annals,2011,60(1):395-398.
[5] VERL A,VALENTE A,MELKOTE S,et al. Robots in machining[J]. CIRP Annals,2019,68(2):799-822.
[6] KUKA. Mobile robot[EB/OL].[2019-10-23]. https://www.kuka.com/en-cn/products/mobility/mobile-robot-systems/kmr-quantec.
[7] 丰飞,严思杰,丁汉. 大型风电叶片多机器人协同磨抛系统的设计与研究[J]. 机器人技术与应用,2018(5):16-24. FENG Fei,YAN Sijie,DING Han. Design and research of multi-robot cooperative grinding and polishing system for large wind power blades[J]. Robot Technique and Application,2018(5):16-24.
[8] RUSHWORTH A,AXINTE D A,RAFFLES M,et al. A concept for actuating and controlling a leg of a novel walking parallel kinematic machine tool[J]. Mechatronics,2016:63-77.
[9] OLARRA A,AXINTE D A,KORTABERRIA G,et al. Geometrical calibration and uncertainty estimation methodology for a novel self-propelled miniature robotic machine tool[J]. Robotics and Computer-integrated Manufacturing,2018(1):204-214.
[10] MOLLER C,SCHMIDT H C,KOCH P,et al. Machining of large scaled CFRP-parts with mobile CNC-based robotic system in aerospace industry[J]. Procedia Manufacturing,2017(1):17-29.
[11] SUSEMIHL H,MOELLER C,KOTHE S,et al. High accuracy mobile robotic system for machining of large aircraft components[J]. SAE International Journal of Aerospace,2016,9(2):231-238.
[12] TUNC L T,SHAW J. Experimental study on invest-tigation of dynamics of hexapod robot for mobile ma-chining[J]. The International Journal of Advanced Manu-facturing Technology,2015(1):817-830.
[13] NUBIOLA A,BONEV I A. Absolute calibration of an ABB IRB 1600 robot using a laser tracker[J]. Robotics and Computer-integrated Manufacturing,2013,29(1):236-245.
[14] LIGHTCAP C,HAMNER S,SCHMITZ T L,et al. Improved positioning accuracy of the pa10-6ce robot with geometric and flexibility calibration[J]. IEEE Transactions on Robotics,2008,24(2):452-456.
[15] LI Jie,XIE Fugui,LIU Xinjun,et al. Geometric error identification and compensation of linear axes based on a novel 13-line method[J]. The International Journal of Advanced Manufacturing Technology,2016:2269-2283.
[16] BU Y,LIAO W,TIAN W,et al. Stiffness analysis and optimization in robotic drilling application[J]. Precision Engineering,2017(1):388-400.
[17] LIU Xinjun,LI Jie,ZHOU Yanhua. Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator[J]. Mechanism and Machine Theory,2015,87:1-17.
[18] XIE Fugui,LIU Xinjun,WANG Jinsong,et al. A 3-DOF parallel manufacturing module and its kinematic opti-mization[J]. Robotics and Computer-integrated Manu-facturing,2012,28(3):334-343.
[19] 叶伟,杨臻,李秦川. 一种远中心并联机构运动学与性能分析[J]. 机械工程学报,2019,55(5):65-73. YE Wei,YANG Zhen,LI Qinchuan. Kinematics and performance analysis of a parallel manipulator with remote center of motion[J]. Journal of Mechanical Engineering,2019,55(5):65-73.
[20] MENG Qizhi,XIE Fugui,LIU Xinjun. Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations[J]. Frontiers of Mechanical Engineering,2018,13(2):211-224.
[21] MERLET J P. Parallel robots[M]. New York:Springer Science & Business Media,2006.
[22] LIU Xinjun,WANG Jinsong,Parallel kinematics:type,kinematics,and optimal design[M]. New York:Springer-Verlag,Berlin Heidelberg,2014.
[23] WANG Jinsong,WU Chao,LIU Xinjun. Performance evaluation of parallel manipulators:Motion/force transmissibility and its index[J]. Mechanism Machine Theory,2010,45(10):1462-1476.
[24] HUANG Tian,LIU Haitao,CHETWYND D G,et al. Generalized Jacobian analysis of lower mobility manipulators[J]. Mechanism and Machine Theory,2011,46(6):831-844.
[25] OLARRA A,ALLEN J,AXINTE D A,et al. Experimental evaluation of a special purpose miniature machine tool with parallel kinematics architecture:Free leg hexapod[J]. Precision Engineering-journal of The International Societies for Precision Engineering and Nanotechnology,2014,38(3):589-604.
[26] XIE Fugui,LIU Xinjun,LUO Xuan,et al. Mobility,singularity,and kinematics analysis of a novel spatial parallel mechanism[J]. Journal of Mechanisms and Robotics,2016,8(6):061022.
[27] XIE Fugui,LIU Xinjun,WANG Jinsong,et al. Kinematic optimization of a five degrees-of-freedom spatial parallel mechanism with large orientational workspace[J]. Journal of Mechanisms and Robotics,2017,9(5):051005.
[28] Pkmtricept S L. Tricept[EB/OL].[2019-10-23]. http://pkmtricept.com/productos/index.php?id=en&Nfamilia=1238064354.
[29] Starrag. Ecospeed[EB/OL].[2019-10-23]. https://www.starrag.com/en-us/product-range/11.
[30] Metrom[EB/OL].[2019-10-23]. http://www.metrom-mobil.com/.
[31] 高峰. 机构学研究现状与发展趋势的思考[J]. 机械工程学报,2005,41(8):3-17. GAO Feng. Reflection on the current status and development strategy of mechanism research[J]. Journal of Mechanical Engineering,2005,41(8):3-17.
[32] 关英姿,刘文旭,焉宁,等. 空间多机器人协同运动规划研究[J]. 机械工程学报,2019,55(12):37-43. GUAN Yingzi,LIU Wenxu,YAN Ning,et al. Research on cooperative motion planning of space multi-robots[J]. Journal of Mechanical Engineering,2019,55(12):37-43.
[33] KUKA. Automation in the aerospace industry[EB/OL].[2019-10-23]. https://www.kuka.com/en-cn/industries/weitere-branchen/aerospace.
[34] CMU. Laser Coating Removal for Aircraft[EB/OL].[2019-10-23]. https://www.nrec.ri.cmu.edu/nrec/solutions/defense/laser-coating-removal-for-aircraft.html.
[35] 向勇,田威,洪鹏,等. 双机器人钻铆系统协同控制与基坐标系标定技术[J]. 航空制造技术,2016(16):87-92. XIANG Yong,TIAN Wei,HONG Peng,et al. Colla-borative control and base coordinates calibration techno-logy for dual-robot drilling and riveting system[J]. Aero-nautical Manufacturing Technology,2016(16):87-92.

一种大型复杂构件加工新模式及新装备探讨

Novel Mode and Equipment for Machining Large Complex Components

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	刘辛军, 谢福贵, 杨迪, 解增辉, 孟齐志. 现代科技创新研究模式探讨[J]. 机械工程学报, 2022, 58(11): 1-10.
[2]	文科, 张加波, 乐毅, 周莹皓, 杨继之, 陈钦韬. 数控驱动的移动铣削机器人精度提升方法[J]. 机械工程学报, 2021, 57(5): 72-80.