基于机械手的复杂锻件毛坯自适应装夹技术的研究与应用  

Research and Application of Adaptive Clamping Technology for Complex Forgings Based on Manipulator

作　　者：屈新河 李建伟 郭跃东 余维 QU Xinhe;LI Jianwei;GUO Yuedong;YU Wei(School of Mechanical Engineering&Automation,Beihang University,Beijing 100191,China;AVIC Changhe Aircraft Co.,Ltd.,Jingdezhen Jiangxi 333000,China;Jundaishi of Aviation about Lu Installed in Jingdezhen,Jingdezhen Jiangxi 333000,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]昌河飞机工业(集团)有限责任公司,江西景德镇333000 [3]陆装驻景德镇地区航空军代室,江西景德镇333000

出　　处：《机床与液压》2022年第20期1-4,共4页Machine Tool & Hydraulics

基　　金：国防科工局项目(JCKY2017205A*01)。

摘　　要：针对复杂锻件毛坯一致性差的现象,采用传统手工划线+普通设备加工和三维扫描+五轴数控设备加工2种毛坯加工工艺,前者误差大、效率低,后者投入大,且只适用铣削等系列突出问题,提出一种基于机械手的复杂锻件毛坯自适应装夹技术,利用机械手抓住毛坯,通过扫描或拍照等方式对当前毛坯进行轮廓感知,形成毛坯外形实际数模,并使它与毛坯理论数模进行最佳匹配,从而得出当前毛坯沿工件坐标系所需的调整量,实现毛坯自适应定位。机械手沿调整好的姿态平移至浇铸容器中,向该容器注入液态低熔点合金,直至冷却凝固,实现自适应夹紧。经应用验证,所提复杂锻件毛坯自适应装夹技术适应于车削和铣削加工,质量稳定可靠,满足实际生产需求,具有较强的工程应用价值。For the phenomenon of poor consistency of complex forging blank,there are two kinds of blank processing technology:traditional manual marking with common equipment processing and 3d scanning with 5-axis CNC equipment processing.However,the former has large error and low efficiency and the latter needs large investment and is suitable for a series of prominent problems such as milling.An adaptive clamping technology for complex forging blank based on manipulator was proposed.The manipulator was used to grasp the blank.Through the methods like scanning and taking pictures,the outline of the blank could be perceived.Then the actual model of the blank could be generated.Through the match of the actual model and the theoretical model,the required adjustment of the blank along the workpiece coordinate system was obtained,which was used for adaptive positioning of the blank.The blank was translated into the casting container along the adjusted attitude with the manipulator.Adaptive clamping was achieved by injecting liquid low melting point alloy into the container until it cooled and solidified.Verified by application,the adaptive clamping technology of complex forging blank can be used in turning and milling.The technology with the advantage of stable and reliable quality could meet the actual production demand and has strong engineering application value.

关 键 词：复杂锻件毛坯 自适应装夹 机械手 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TG316.1[自动化与计算机技术—控制科学与工程]