机器人化装备测量-加工一体化技术现状及展望  

Technical Status and Prospect of Measurement and Machining Integration Technology for Robotized Equipment

作　　者：王卓群 谢福贵[1,2] 解增辉 刘辛军[1,2] WANG Zhuoqun;XIE Fugui;XIE Zenghui;LIU Xinjun(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学机械工程系,北京100084 [2]清华大学精密超精密制造装备及控制北京市重点实验室,北京100084

出　　处：《机器人》2024年第1期118-128,共11页Robot

基　　金：国家自然科学基金(92148301)。

摘　　要：面对非结构化的加工场景以及多品种小批量复杂构件的定制化加工需求,机器人化装备需具备感知待加工件和加工场景的能力,对测量技术与加工技术的深度融合需求迫切,但目前尚无成熟的技术体系。本文围绕测量-加工一体化技术所涉及的测量数据获取、加工特征提取、加工方案生成和末端闭环控制4项关键技术进行综述,总结了测量-加工一体化技术的现状与面临的技术挑战,对测量-加工一体化技术在构建跨尺度测量场、优化数据驱动方式、集成多功能测量、拓展智能化应用等方面的发展趋势进行了分析和探讨。Facing the non-structured machining scenarios and the customized machining demands of diverse small-batch complex components,the robotized equipment needs to possess the capability to perceive the workpiece and the machining environment,which brings about an urgent demand for the deep integration of measurement and machining technologies.However,there exists no mature technical system in this field.This article surveys four key technologies involved in the measurement and machining integration technology,including measurement data acquisition,machining feature extraction,machining plans generation and closed-loop control at the end effector.It summarizes the current status and technical challenges of the measurement and machining integration technology,and analyzes and explores the development trends of the measurement and machining integration technology in constructing a cross-scale measurement field,optimizing data-driven approaches,integrating multifunctional measurements,and expanding intelligent applications.

关 键 词：测量-加工一体化 机器人化装备 智能化加工 跨尺度测量 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]