特征关联异形构件机器人原位一体化加工技术

doi:10.3901/JME.2022.14.104

机械工程学报 ›› 2022, Vol. 58 ›› Issue (14): 104-115.doi: 10.3901/JME.2022.14.104

• 特邀专栏：大型构件视觉测量与机器人加工 • 上一篇下一篇

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特征关联异形构件机器人原位一体化加工技术

马建伟, 闫惠腾, 吕琦, 孙赫辰, 高松

大连理工大学精密与特种加工教育部重点实验室大连 116024

收稿日期:2021-03-31 修回日期:2021-09-05 出版日期:2022-07-20 发布日期:2022-09-07
通讯作者: 马建伟(通信作者)，男，1984年出生，博士，教授，博士研究生导师。主要研究方向难加工材料曲面加工、激光精密加工、机器人辅助加工规划及控制。E-mail：mjw2011@dlut.edu.cn
作者简介:闫惠腾，男，1994年出生，博士研究生。主要研究方向为大型复杂构件机器人辅助加工方法。E-mail：yanhuiteng@mail.dlut.edu.cn;吕琦，男，1996年出生，硕士研究生。主要研究方向为机器人动力学参数辨识和视觉跟踪导引。E-mail：346308962@qq.com;孙赫辰，男，1998年出生，硕士研究生。主要研究方向为机器人系统刚度识别与轨迹优化。E-mail：free_dynasty@163.com;高松，男，1995年出生，硕士研究生。主要研究方向为机器人系统运动学和动力学约束下的时间最优轨迹规划。E-mail：657259920@qq.com
基金资助:
国家自然科学基金(51975098)和辽宁省“兴辽英才”计划(XLYC1907006，XLYCYSZX1901，XLYC1801008)资助项目。

In-situ Integrated Robot Machining Technology for Special-shaped Components with Correlation Feature

MA Jianwei, YAN Huiteng, Lü Qi, SUN Hechen, GAO Song

Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024

Received:2021-03-31 Revised:2021-09-05 Online:2022-07-20 Published:2022-09-07

摘要/Abstract

摘要： 特征关联异形构件往往是航空航天、船舶、能源等重大工程领域高端装备的关键件。由于此类构件具有结构异形、待加工特征间具有强关联性等特征，常规数字化加工装置难以满足其一体化制造要求，特别是待加工关联特征间精度往往难以保证。为提升该类构件的制造水平，提出一种集激光刻蚀加工、加工质量原位检测为一体的机器人原位一体化加工系统。系统主要由机器人激光刻蚀单元、视觉测量单元及监测控制软件组成，采用机器视觉实现机器人系统空间定位与激光加工起始点的精准对刀；通过激光刻蚀技术结合机器人轨迹规划，实现特征关联异形构件特征加工；进而通过双目体式显微镜对工件加工质量进行原位高精检测，最终实现特征关联异形构件原位一体化加工。研究成果为实现特征关联异形构件的高质高效加工提供了一种新的技术与装备。

关键词: 特征关联异形构件, 机器人加工, 激光刻蚀, 视觉导引, 加工-检测一体化

Abstract: The special-shaped components with correlation feature are usually the key parts of high-end equipment in the fields of aerospace, ship, energy, etc. Due to the irregular structure and strong association among the features to be processed, conventional digital processing equipment cannot meet the requirements of integrated manufacturing. In particular, the accuracy of the correlation features to be processed is hard to guarantee. In order to improve the manufacturing level of such parts, an in-situ integrated robot machining system is proposed, which integrates laser processing and in-situ inspection of machining quality. The system is mainly composed of robot laser etching unit, vision measurement unit and monitoring software. The machine vision is used to realize the spatial positioning of the robot system and the precise tool alignment for the starting point for laser machining. By using laser etching technology and robot trajectory planning, the correlation feature processing of special-shaped components is finished. And then, the machining quality of the workpiece is tested in situ by the binocular microscope. Finally, the in-situ integrated processing of the special-shaped components with correlation feature is realized. The research achievement provides a new technology and equipment for machining the special-shaped components with correlation feature with high efficiency and quality.

Key words: special-shaped components with correlation feature, robotic machining, laser etching, visual guidance, integrated machining-testing technology

中图分类号:

TP249

马建伟, 闫惠腾, 吕琦, 孙赫辰, 高松. 特征关联异形构件机器人原位一体化加工技术[J]. 机械工程学报, 2022, 58(14): 104-115.

MA Jianwei, YAN Huiteng, Lü Qi, SUN Hechen, GAO Song. In-situ Integrated Robot Machining Technology for Special-shaped Components with Correlation Feature[J]. Journal of Mechanical Engineering, 2022, 58(14): 104-115.

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特征关联异形构件机器人原位一体化加工技术

In-situ Integrated Robot Machining Technology for Special-shaped Components with Correlation Feature

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