基于数字孪生的复杂件多机器人智能加工方法

Digital twins based multi-robot intelligent machining method for complex components

针对舱体类构件内部存在众多复杂相交特征且可行空间狭小,其内壁等加工有极大困难,制造设备的加工效率和智能化水平难以满足航天装备快速和高质量发展需求问题,为提高舱体类构件制造设备的加工效率和智能化水平,提出了一种基于数字孪生的多机器人智能协同加工方法.构建了不同功能机器人协同加工系统虚拟空间、物理空间和信息数据层的数字孪生框架,详细阐述了孪生数据源及类型、数据融合和数据存储等孪生数据模型的设计;建立了多机器人协同加工优化控制与决策模型,研制了多机器人智能加工软硬件平台,实现了虚实映射与交互以及加工系统在线监控.以某型号飞行器舱段精密铣削和测量工艺为案例进行验证与分析,优化加工路线,提高加工效率,验证了该方法的可行性与高效性.

As an important component of aerospace equipment such as missiles,rockets and satellites,there are many complex intersecting characteristics and narrow feasible space inside the cabin components,which bring great challenges to the processing of its inner wall,and thus the processing efficiency and intelligence level of manufacturing equipment are difficult to meet the rapid and high-quality development needs of aerospace equipment.To improve the machining efficiency and intelligent level of cabin component manufacturing equipment,a multi-robot intelligent collaborative machining method based on digital twin was proposed.The digital twin framework of virtual space,physical space and information data layer of robot collaborative processing system with different functions was constructed.The design of twin data model such as twin data source and type,data fusion and data storage was elaborated in detail,and the optimal control and decision-making model of multi-robot collaborative processing was established.The software and hardware platform of multi-robot intelligent processing was developed.The virtual-real mapping and interaction were realized,and the on-line monitoring of processing system was realized.Taking the precision milling and measurement process of a certain type of aircraft cabin as a case for verification and analysis,the processing route was optimized,the processing efficiency was improved,and the feasibility and efficiency of the method were verified.