CN110434679B

CN110434679B - Intelligent machining method for workpiece with random size error

Info

Publication number: CN110434679B
Application number: CN201910673898.1A
Authority: CN
Inventors: 王东
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-07-25
Filing date: 2019-07-25
Publication date: 2020-12-04
Anticipated expiration: 2039-07-25
Also published as: CN110434679A

Abstract

An intelligent processing method for a workpiece with random size errors measures any region to be processed of the workpiece to be processed and obtains an initial pose of the workpiece to be processed; carrying out pose adjustment on the workpiece to be machined according to the initial pose of the area to be machined, and adjusting the pose of the workpiece to be machined from the initial pose to a reference pose; and processing the area to be processed of the workpiece to be processed in the reference pose. The invention realizes the intellectualization and automation of workpiece surface processing on the whole and avoids processing errors caused by the size errors of batch large-scale workpieces.

Description

Intelligent machining method for workpiece with random size error

Technical Field

The invention relates to the field of automatic machining, in particular to surface machining of workpieces with random dimensional errors.

Background

At present, after a blank body is cast from a large workpiece such as a bolster and a side frame on a freight train bogie, a machining treatment needs to be performed on the surface of the blank body, such as shot blasting, sand cleaning, cutting and pouring system, casting head cutting, casting head allowance polishing and casting head removing of a protruded casting port, so that a usable finished workpiece can be obtained.

In order to finish the surface processing from a casting blank to a finished workpiece, the prior art mostly adopts a manual processing method, and specifically, (1) a workpiece cast by a sand mold is unpacked and taken out, and then shot blasting and sand cleaning are carried out; (2) manually cutting the gating system by flame cutting gas; (3) manually cutting off a casting head on the casting workpiece by adopting a carbon arc gouging plane, and performing shot blasting and sand cleaning again; (4) and (3) polishing and removing the allowance of the cut casting head by manually adopting an angle grinder, and realizing smooth transition of a processed area and an unprocessed area.

The whole process flow of the manual treatment generates a large amount of dust, sparks and noise, has certain harmfulness and dangerousness to operators, and is time-consuming, labor-consuming and low in efficiency due to manual grinding for cutting the casting head and the allowance of the casting head.

The effect of adopting a numerical control machine tool to carry out surface processing treatment on the large-scale workpiece in the prior art is not ideal. The reason is that large castings are subject to large dimensional tolerances during casting, and each billet can be said to have a characteristic dimension that varies from one billet to another. That is, the shape and size of the cast strand always have a large deviation from those of the standard mold, and the deviation occurs randomly, and the deviations generated at different portions of different cast strands are not always the same.

Therefore, when the numerically controlled machine tool is used for processing such workpieces in batches, the precise position of the region to be processed and the amount to be processed are different no matter which part of the workpiece is used as a processing data reference point, and if the workpiece is processed according to the processing data preset in the numerically controlled machine tool, a large processing error is generated, and a qualified finished workpiece cannot be obtained.

Therefore, until now, there is no successful application of numerical control machine tool to replace the manual processing, and it is widely accepted in the industry that such large-sized workpiece with large error cannot be machined automatically in the whole process by the existing numerical control machine tool.

In summary, the prior art has the following technical problems for such a workpiece with a large random error, (1) the prior manual processing process has low efficiency and the production environment is severe (dust, spark, noise, etc.); (2) the problem that the common numerical control machine tool cannot or is inconvenient to process because of certain size error difference among the batch cast parts to be processed; (3) the problem of danger exists in the large-scale casting transfer process.

Disclosure of Invention

Technical problem to be solved

In order to solve the technical problems in the prior art, the invention provides an intelligent machining method for workpieces with random dimensional errors, which can adapt to the random dimensional errors of the batch of castings to be machined and achieve sufficient machining precision.

Further, the problem of influence of severe production environment on human health and hidden dangers to human safety in the transferring process are solved, and full-automatic transferring and processing in the whole process are achieved.

(II) technical scheme

In order to achieve the purpose, the invention adopts the main technical scheme that:

an intelligent processing method for workpieces with random dimension errors comprises the following steps,

an initial pose acquisition step: measuring any region to be machined of the workpiece to be machined and acquiring an initial pose of the workpiece to be machined;

pose adjusting step: carrying out pose adjustment on the workpiece to be machined according to the initial pose of the area to be machined, and adjusting the pose of the workpiece to be machined from the initial pose to a reference pose;

the processing steps are as follows: and processing the area to be processed of the workpiece to be processed in the reference pose.

Preferably, the initial pose acquiring step includes:

and measuring and acquiring the three-dimensional point cloud data of the area to be processed so as to acquire the initial pose of the workpiece to be processed.

Preferably, the pose adjusting step includes:

performing feature matching on the three-dimensional point cloud data of the area to be processed and the three-dimensional point cloud data converted from the theoretical digital analogy of the workpiece, and calculating the deviation between the initial pose and the reference pose of the workpiece so as to obtain a pose transformation matrix;

and adjusting the pose of the workpiece to be processed from the initial pose to the reference pose according to the pose transformation matrix.

Preferably, the workpiece to be machined is a cast part, the area to be machined comprises a casting head structure, and the machining comprises sawing and milling.

Preferably, the method further comprises the following grinding step: and polishing the workpiece after the machining is finished, wherein the polishing comprises the shape following polishing of the whole surface of the workpiece, and the contact force between the polishing executing mechanism and the surface of the workpiece is always kept constant.

Preferably, the initial pose acquisition step, the pose adjustment step, and the machining step are repeated for each to-be-machined area of the to-be-machined workpiece, so as to complete machining of each to-be-machined area on the to-be-machined workpiece.

Preferably, before the initial pose acquiring step, the method further includes: and carrying the workpiece to be processed to a processing station by means of a carrying robot and enabling the workpiece to be processed to be assembled and connected with the self-adaptive tool fixed on the processing station.

Preferably, after finishing the machining of each of the to-be-machined areas on the to-be-machined workpiece, the method further comprises: and carrying the processed semi-finished workpiece to a grinding station by means of a carrying robot, and grinding the whole surface of the semi-finished workpiece by means of a grinding robot to obtain a finished workpiece.

Preferably, the finished workpiece after finishing the grinding is carried to a designated position by means of a carrier robot.

Preferably, the method further comprises transferring the workpiece to be processed from the online station to a designated position by means of an online skid, and/or transferring the workpiece subjected to grinding to the offline station by means of an offline skid.

(III) advantageous effects

The invention has the beneficial effects that:

before each area to be machined is machined, the area to be machined is measured and matched through a measuring system, and is adjusted to a reference pose to be cut and milled. Aiming at the processing of each area to be processed, the pose of a processing object is accurate, and the processing can be conveniently finished only by using a preset cutter, a processing track and processing parameters. Therefore, full-automatic numerical control machining can be realized, the working efficiency is high, the intellectualization of workpiece surface machining is realized, and machining errors caused by size errors of batch workpieces are avoided.

Can make operating personnel avoid being close to workspace to avoid receiving the influence of dust etc. in the environment, and avoided heavy work piece to the potential danger of people in handling. The whole process automation of workpiece treatment is realized on the whole.

Drawings

FIG. 1 is a schematic diagram of a configuration of an intelligent processing system for large workpieces according to the present invention;

fig. 2 is a process flow diagram of an intelligent processing system for large workpieces according to the present invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

For the purpose of better explaining the present invention to facilitate understanding, the present invention will be described in detail below by way of specific embodiments with reference to the accompanying drawings.

The intelligent processing method is realized based on an intelligent processing system.

In an embodiment of the present invention, the workpieces targeted by the intelligent processing system are large-sized and heavy castings, specifically steel castings, such as the bolster and sideframe of a truck bogie, as shown by workpiece W in fig. 1. However, it is to be understood that the meaning of the workpiece with the random dimension error is not limited thereto, but only to emphasize that the dimension of the workpiece has a random error in the upstream manufacturing process, so that the relative position and posture error of each region to be processed is relatively large. Accordingly, the workpieces recited in the claims of the present application include, but are not limited to, castings or heavy-duty large-size steel castings. All workpieces which cannot be directly processed in batches by the numerical control machine tool due to different errors of sizes, positions and postures of the batch workpieces are processing objects applicable to the intelligent processing system.

In addition, it should be understood that the area to be machined referred to in the present invention refers to a surface area having a specific recognizable morphological feature locally distributed on the surface of the workpiece. In a preferred embodiment, the area to be machined is a surface area with a sprue structure, as shown in the workpiece W in fig. 1. During machining, the casting head structure in the area to be machined needs to be removed.

The machining referred to in the present invention is performed with respect to these regions to be machined of the workpiece, and is not performed with respect to the entire surface of the workpiece.

As shown in fig. 1, the intelligent processing system of the present invention is composed of the following parts: the automatic polishing machine comprises a workpiece loading and unloading system 1, a workpiece carrying system 2, an intelligent machining center (comprising a numerical control machine tool 3, a pose measuring system 4 and a self-adaptive tool 5), a workpiece polishing system 6 and a control system 7.

Workpiece on-off-line system 1

The workpiece loading and unloading system 1 comprises two skid conveying devices 11 and 12, and is used for transferring a workpiece to be processed to a designated position from an loading station and/or transferring a workpiece which is finished to be processed to an unloading station. Of course, on the premise of meeting the conveying requirement, the line feeding and discharging system can also comprise a skid conveying device which is used for feeding or discharging the workpieces at different time intervals. Or a plurality of skid conveying devices can be arranged according to the conveying requirements.

Each of the sled conveyors 11, 12 includes two rails 11a/12a, 11b/12b and a platform 11c, 12c that slides on the rails. A chucking tool C is placed on the upper surface of the platform 11C, 12C, the chucking tool C is adapted to be assembled and fixed with the workpiece W and is adapted to be releasably engaged with the transfer robot 2 and/or the adaptive tool 5, preferably, with the air chucks of the transfer robot 2 and/or the adaptive tool 5. For the workpiece swing bolster in the embodiment of the invention, the clamping tool C is assembled and fixed with the bottom of the workpiece W. The workpiece with other structures can be assembled and fixed by selecting other suitable parts, and the suitable parts have approximately flush surfaces, do not contain the area to be processed or the characteristic to be processed, and are suitable for the clamping tool to clamp by force.

The workpiece W assembled with the clamping tool C is driven by the platforms 11C and 12C to be conveyed.

At the on-line station, a worker assembles a workpiece W to be processed and a clamping tool C, transmits the workpiece W to a specified position by an on-line skid 11, and waits for the carrying robot 2 to grab and carry the workpiece W; after the workpiece is machined, the workpiece is conveyed to the off-line station by the off-line skid 12, and a worker at the off-line station separates the clamping tool from the machined workpiece.

Workpiece conveying system 2

The workpiece conveying system 2 is used for conveying the workpiece W to be machined together with the clamping tool C from the platform 11C of the online skid 11 to a machining station on a workbench of a numerical control machine tool, and is also used for conveying the workpiece which is machined at the machining station together with the clamping tool C to a polishing station, and for conveying the workpiece which is polished at the polishing station to the platform 12C of the offline skid 12.

In the embodiment of the present invention, the workpiece transfer system is realized by the transfer robot 2. For the workpiece type swing bolster in the embodiment of the invention, an industrial robot with the model number of KUKA KR1000 is selected as the transfer robot, and the bearing capacity of the transfer robot is 1000 kg. The weight of the blank (including a casting head) of the whole swing bolster is about 700kg, and the clamping tool of the workpiece is about 200 kg. It can be understood that the transfer robot 2 can adopt other robots with other specifications sold in the market, and can conveniently grab and meet the load requirement.

The gripping operation of the transfer robot 2 for the workpiece can be realized in the following manner. The tail end of the transfer robot 2 is connected with a clamping tool C fixedly connected to a workpiece W to be processed through a flange type zero point positioning device, namely a pneumatic chuck 21. The pneumatic chuck 21 is locked with a pin on the side surface of the clamping tool C in a matched mode, at the moment, the workpiece to be machined does not move relative to the transfer robot, the transfer robot 2 drives the workpiece W to be carried, and the workpiece W is carried to the self-adaptive tool 5 on the workbench of the numerical control machine tool 3. And a pin at the bottom of the clamping tool C is matched and locked with a zero point positioning device (a pneumatic chuck 51) on the self-adaptive tool 5, and meanwhile, the pneumatic chuck 21 on the tail end of the transfer robot 2 is released, so that the transfer robot 2 is separated from the workpiece W.

Intelligent machining center

In the embodiment of the invention, the intelligent processing center comprises a numerical control machine tool 3, a pose measuring system 4 fixedly arranged on the numerical control machine tool 3 and a self-adaptive tool 5 fixedly arranged on a workbench of the numerical control machine tool.

The numerical control machine 3 comprises in particular a three-axis vertical numerical control machine. The three-axis dimension of the numerical control machine 3 needs to be specially configured according to the dimension characteristics of the swing bolster. For example, bolster size: the length is about 260cm, the width is about 50cm, the height is about 50cm, the travel of an x axis in three axes is more than or equal to 300cm, and the travel of a y axis in three axes is more than or equal to 80 cm.

Of course, the numerical control machine 3 can also be a horizontal or gantry numerical control machine or a machining center. The arrangement relationship of the machine tool spindle and the workbench can be determined according to the shape, the type and the processing requirement of the workpiece to be processed.

Preferably, the machine tool adopts a BT50 mechanical spindle, is provided with a tool magazine capable of automatically changing tools, and at least comprises a plurality of tools with sizes such as a disc milling cutter and a saw cutter so as to meet the requirements of sawing and milling casting heads of swing bolster workpieces. Of course, the kind of tool is not limited thereto, but depends on the machining type requirement of the workpiece to be machined.

In an embodiment of the invention, the types of machining that the bolster needs to perform in the numerically controlled machine tool 3 include: firstly, cutting a casting head by using a saw blade, and reserving a margin of about 3mm after cutting; then, the cut margin is milled by using a disc milling cutter, and a small margin of about 0.3mm is left after milling is completed.

The pose measuring system 4 comprises at least one three-dimensional scanning device 41 fixedly arranged on the numerical control machine tool 3 and a measurement and calculation module in data connection with the three-dimensional scanning device 41. The three-dimensional scanning device 41 in the embodiment of the present invention is preferably a non-contact device, such as a projection type three-dimensional scanning device.

The three-dimensional scanning device 41 is fixedly connected with the numerically-controlled machine tool 3 through a rigid support 43 arranged above the workbench, and no relative displacement exists between the two. The projection direction of the three-dimensional scanning device 41 is parallel to or at a slight angle with respect to the main axis 31 of the numerical control machine 3, so as to avoid blocking and obtain a complete scanning image. In this scheme with only one three-dimensional scanning device 41, the three-dimensional scanning device acquires three-dimensional point cloud data of an area to be processed, and obtains pose information of a workpiece for the area to be processed.

Preferably, the pose measurement system comprises two three-dimensional scanning devices 41 and 42 fixedly arranged on the numerical control machine, and the two three-dimensional scanning devices collect three-dimensional point cloud data of an area to be processed and perform data splicing to obtain workpiece pose information of the area to be processed. Specifically, two three-dimensional scanning devices are adopted to simultaneously scan the same region to be processed of a workpiece to be processed, and the two scanners are arranged so that the scanning ranges are partially overlapped. And after point cloud data of the two scanners are obtained, data splicing is carried out, so that the position and posture information of the workpiece aiming at the area to be processed can be obtained, and more detailed local characteristics in the area to be processed are obtained.

The measurement calculation module may be integrated in the control system 7. The invention does not limit the software and hardware form, the specific implementation mode and the set position of the measurement and calculation module, as long as the functions of obtaining the initial pose of the workpiece, outputting the pose transformation matrix and the data of the amount to be processed based on the three-dimensional point cloud data acquired by the three-dimensional scanning device can be satisfied.

Specifically, a theoretical digital model of the workpiece is prestored in the measurement calculation module, and the theoretical digital model of the workpiece includes a plurality of different machine tool reference to-be-machined position states. More specifically, different machine tool reference to-be-machined position states are suitable for machining different to-be-machined areas, and correspondingly, one reference pose exists. Generally, the reference poses are different corresponding to different regions to be processed.

The actual three-dimensional point cloud data of a certain to-be-processed area acquired by the three-dimensional scanning device 41 is suitable for feature matching with the three-dimensional point cloud data converted from the theoretical digital-to-analog conversion of the workpiece, and the deviation between the initial pose and the reference pose of the workpiece is calculated, so that a pose transformation matrix is obtained.

The pose measurement and calculation process of the pose measurement system 4 is as follows:

(1) calibrating the three-dimensional scanner and a numerical control machine (numerical control machine 3), and calculating to obtain a corresponding relation between a coordinate system of the three-dimensional scanner and a coordinate system of the numerical control machine;

(2) the three-dimensional scanning device scans a certain to-be-processed area of a to-be-processed workpiece to form actual three-dimensional point cloud data and obtain a coordinate value of the actual three-dimensional point cloud data in a coordinate system of a three-dimensional scanner;

(3) and the measurement calculation module converts the coordinate value under the coordinate system of the actual three-dimensional point cloud three-dimensional scanner into the coordinate value under the coordinate system of the machine tool according to the corresponding relation of the two coordinate systems, so as to obtain the initial posture of the workpiece.

(4) And performing characteristic matching on the actual three-dimensional point cloud data of the area to be processed and the prestored three-dimensional point cloud data of the theoretical digifax in the state of the position to be processed of the machine tool reference, calculating the deviation between the initial pose and the reference pose, and outputting a pose transformation matrix, the relative position of the area to be processed and the amount to be processed.

In this embodiment, the deviation between the initial pose and the reference pose is determined by comparing the actual workpiece with workpiece features (e.g., workpiece surface features, workpiece profile features, SIFT feature values, etc.) of the theoretical model in which the region to be machined is located.

The relative position of the to-be-machined area refers to the relative position of the to-be-machined area on the to-be-machined workpiece relative to the surface of the workpiece where the to-be-machined area is located when the pose of the to-be-machined workpiece is adjusted to the reference pose, namely the relative position of the casting head relative to the plane where the root of the casting head is located; the to-be-machined amount refers to the height of a casting head in the to-be-machined area of the actual workpiece, which needs to be cut off.

The self-adaptive tool 5 is fixedly connected to a workbench of the numerical control machine tool, and functions of clamping and fixing a workpiece to be processed and adjusting the pose of the workpiece to be processed are achieved. The self-adaptive tool 5 is provided with a zero point positioning device (air chuck) 51 with an upward working face, and the air chuck 51 is matched and locked with a pin fixedly connected to the bottom of a clamping tool C on a workpiece W, so that the bottom of the workpiece W is fixed on the working face of the air chuck of the self-adaptive tool 5 and has no relative displacement with the self-adaptive tool 5. Since the bottom of the bolster casting blank is not provided with a casting head and the area to be machined in the invention, the workpiece W is fixed from the bottom, so that all positions to be machined can be exposed, and the measurement and the machining are convenient.

The self-adaptive tool 5 has a workpiece locking state and a workpiece adjustable state. When the self-adaptive tool 5 is in a workpiece locking state, the self-adaptive tool realizes the fixation and clamping of the workpiece, can bear the cutting force during the machining of a machine tool, the self gravity and the eccentric moment of the workpiece, keeps stable, and does not slide or deflect due to the interference of internal and external factors. When the workpiece is in an adjustable state, the self-adaptive tool 5 can drive the workpiece to adjust the position and the posture according to the scanning matching result of the system.

The freedom of motion of self-adaptation frock includes under work piece adjustable state: rotation about the x-axis (the horizontal major axis of the workpiece); the right (left) side upright post of the tool translates along the x-axis direction relative to the left (right) side upright post; and (4) translation of the right upright post in the y-axis direction.

Workpiece polishing system 6

After all the areas to be machined on the workpiece have been machined in the cnc machine 3, for example, by cutting and milling, the surface of the workpiece needs to be integrally ground to obtain the finished workpiece. Particularly, after the casting head in the area to be processed is cut, sharp protrusions or convex edges can exist between the processing area and the non-processing area, and the grinding can realize smooth transition between the processing area and the non-processing area.

As described above, the present invention takes the workpiece on the adaptive tool 5 off and carries it to the polishing system 6 by means of the carrier robot 2 to complete the polishing work. As shown in fig. 1, the workpiece W is carried to the grinding station by the carrier robot 2. The illustrated grinding station is provided with a platform 61 having a horizontal top surface on which the workpiece W is placed horizontally together with the chucking fixture C and is held stable under its own weight.

In the embodiment of the invention, the polishing is realized by means of a polishing robot 62, specifically, a robot with the model number of KUKA KR210 is selected, and a polishing executing mechanism 63 is arranged at the tail end of the robot. The grinding actuator is, for example, an electric spindle adopting a BT30 tool interface to drive a grinding wheel or a grinding head to rotate.

A set of constant force control system is connected between the end of the grinding robot and the grinding actuator 63. The axial direction of the constant force control system provides constant contact force between the polishing actuating mechanism and a workpiece to be polished, and provides a certain amount of buffer stroke for the polishing actuating mechanism, so that the function of polishing along with the shape is achieved. The constant force control system aims to solve the problem that a grinding path cannot be planned in advance due to size errors among batch workpieces. Specifically, since the mechanical arm is a rigid body, when the polishing executing device contacts an uneven surface, the pressure to the workpiece is different at different places, and when the uniform track path is adopted for polishing, the condition that the polishing tool is damaged or the workpiece is damaged can occur, so that the polishing path of the contact surface to be attached needs to be planned in advance. However, if the uneven surface conditions are different among workpieces in a batch, the grinding path of the contact surface cannot be planned in advance. The constant force control system is used for solving the problem and realizing the shape-following polishing of the surface to be polished.

Because of the constant force control system, the pressure of the polishing actuating mechanism 63 on the surface to be polished is certain: at the surface bulge, the pressure is unchanged, and the relative distance between the polishing executing mechanism and the tail end of the robot is compressed much more; at the surface recess, the pressure is constant and the relative distance between the sanding actuator and the end of the robot is compressed less.

The specific device of the constant force control system can be realized by a commercially available product, and is additionally arranged between the tail end of the robot and the grinding actuating mechanism 63, for example, a commercially available PUSHCOP model AFD1100-2 active constant force control device can be adopted.

Control system 7

The control system 7 adopts a PLC to control the movement and information processing of the workpiece loading and unloading system 1, the workpiece carrying system 2, the numerical control machine tool 3, the pose measuring system 4, the self-adaptive tool 5 and the workpiece polishing system 6. For example, a transfer robot, a polishing actuator and an on-off line skid mechanism are connected through a Profinet communication protocol to perform signal interaction and data transmission, and the opening and closing of the numerical control machine tool are controlled through an I/O interface. The invention aims to explain the functions of a workpiece on-off line system 1, a workpiece carrying system 2, a numerical control machine tool 3, a pose measuring system 4, a self-adaptive tool 5 and a workpiece polishing system 6, and a control system 7 can be realized by any mode in the prior art, and the realization mode is not limited herein.

Processing method

Based on the arrangement of the machining center and the pose measuring system, the process of carrying, measuring, positioning, machining and polishing a workpiece to be machined in the system is shown in fig. 2.

(1) A worker assembles a workpiece to be processed and a clamping tool at an online station;

(2) the upper and lower line sliding sledges convey the workpiece to a designated position;

(3) the carrying robot 2 carries and fixes the workpiece W to be processed to the self-adaptive tool 5 of the numerical control machine;

(4) a pose measuring system 4 fixedly connected with the numerical control machine tool 3 carries out local scanning measurement on a region to be processed on the workpiece, acquires three-dimensional point cloud data of the workpiece to be processed including the region to be processed, and correspondingly acquires the initial pose of the workpiece to be processed at the moment;

(5) analyzing the acquired three-dimensional point cloud data, matching and comparing the three-dimensional point cloud data with the prestored three-dimensional point cloud data of the theoretical digital analogy to obtain the deviation of the initial pose and the reference pose, namely obtaining a pose transformation matrix, and simultaneously obtaining the relative position of the area to be processed and the amount to be processed;

(6) feeding the pose transformation matrix back to a control system 7, and controlling the self-adaptive tool 5 to drive the workpiece W to be processed to carry out pose adjustment until the pose adjustment coincides with a reference pose;

(7) the numerical control machine tool 3 adjusts the feed position according to the relative position of the area to be machined and the amount to be machined, and performs saw cutting machining on the area to be machined of the workpiece according to a preset machining track and machining parameters, for example, a casting head is cut off;

(8) replacing the milling cutter, and milling the allowance after the dead head is cut;

(9) checking whether all the areas to be processed are finished: if so, performing the following operation of step (10); if the machining operation of all the areas to be machined is not finished, moving the next area to be machined on the workpiece into the view field of the knife pose measuring system, and repeating the steps (4) - (8) to finish the machining of all the areas to be machined on the workpiece;

(10) the carrying robot 2 carries the workpiece W which is cut and milled to a polishing station;

(11) the polishing robot smoothly polishes all the processing positions according to a preset polishing track and a polishing mode;

(12) the carrying robot 2 carries the polished workpiece W to a platform of the off-line skid;

(13) the off-line skid conveys the machined workpiece to an off-line station;

(14) and disassembling the machined workpiece and the clamping tool at the offline station by a worker to obtain a finished workpiece.

In another alternative embodiment, all the areas to be processed are scanned at one time to obtain an initial pose relative to each area to be processed, and a pose transformation matrix, a relative position of the area to be processed, and an amount to be processed are obtained by comparing the initial pose with a reference pose relative to each area to be processed, and then pose adjustment and processing are performed on each area to be processed one by one. That is, steps (4) to (5) are repeated, data of all the regions to be processed are acquired, and steps (6) to (8) are repeated in step (9).

According to the above description, before each region to be machined is machined, the region to be machined is subjected to measurement matching by the measurement system, is adjusted to an ideal pose, and is then subjected to cutting and milling. Aiming at the processing of each area to be processed, the pose of a processing object is accurate, and the processing can be conveniently finished only by using a preset cutter, a processing track and processing parameters.

The features of the embodiments and embodiments described above may be combined with each other without conflict.

It should be understood that the above description of specific embodiments of the present invention is only for the purpose of illustrating the technical lines and features of the present invention, and is intended to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the specific embodiments described above. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.

Claims

1. An intelligent processing method for workpieces with random dimension errors is characterized by comprising the following steps,

pose adjusting step: under a machine tool coordinate system, carrying out pose adjustment on the workpiece to be machined according to the initial pose of the area to be machined, and adjusting the pose of the workpiece to be machined from the initial pose to a reference pose suitable for machining the area to be machined;

the processing steps are as follows: processing the area to be processed of the workpiece to be processed in the reference pose,

the initial pose acquisition step includes:

scanning the area to be processed by adopting a three-dimensional scanning device to form actual three-dimensional point cloud data and obtain a coordinate value of the actual three-dimensional point cloud data under a coordinate system of a three-dimensional scanner; and converting the coordinate value of the actual three-dimensional point cloud under the coordinate system of the three-dimensional scanner into the coordinate value under the coordinate system of the machine tool according to the corresponding relation between the coordinate system of the machine tool and the coordinate system of the three-dimensional scanner, and obtaining the initial pose of the workpiece to be processed.

2. The intelligent processing method according to claim 1, wherein the pose adjustment step includes:

3. The intelligent processing method according to claim 1, wherein the workpiece to be processed is a cast part, the area to be processed comprises a casting head structure, and the processing comprises sawing and milling.

4. The smart manufacturing method of claim 1, further comprising,

polishing: and polishing the workpiece after the machining is finished, wherein the polishing comprises the shape following polishing of the whole surface of the workpiece, and the contact force between the polishing executing mechanism and the surface of the workpiece is always kept constant.

5. The intelligent processing method according to claim 1, wherein the initial pose acquisition step, the pose adjustment step, and the processing step are repeated for each of the to-be-processed regions of the to-be-processed workpiece, and the processing of each of the to-be-processed regions on the to-be-processed workpiece is completed.

6. The intelligent processing method according to claim 1, further comprising, before the initial pose acquisition step: and carrying the workpiece to be processed to a processing station by means of a carrying robot and enabling the workpiece to be processed to be assembled and connected with the self-adaptive tool fixed on the processing station.

7. The intelligent processing method according to claim 5, further comprising, after completing the processing of each of the to-be-processed regions on the to-be-processed workpiece: and carrying the processed semi-finished workpiece to a grinding station by means of a carrying robot, and grinding the whole surface of the semi-finished workpiece by means of a grinding robot to obtain a finished workpiece.

8. The intelligent processing method according to claim 7, wherein the finished workpiece that has finished being ground is carried to a specified position by means of a carrier robot.

9. The intelligent processing method according to claim 8, further comprising transferring the workpiece to be processed from an online station to a designated position by means of an online skid, and/or transferring the workpiece subjected to the grinding to an offline station by means of an offline skid.