Novel Mode and Equipment for Machining Large Complex Components

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.