Intelligent robotic system for automated shot peening and peen forming

用于自动喷丸和喷丸成型的智能机器人系统

• 批准号: 430531-2012
• 负责人: JanabiSharifi, Farrokh
• 金额: $ 5.36万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Strategic Projects - Group
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=573979
• 关键词: Intelligent; robotic; system; automated; shot

Shot peen forming (or SPF) and Shot peening (or SP) and are extensively applied in aerospace and transportation engineering to, respectively, form curved shapes from sheet metal (which would be difficult to form with traditional methods like stamping) and improve mechanical properties of the surfaces. Despite a wide range of their applications, many SPF and SP processes are currently executed mostly manually or in an open-loop fashion by qualified operators. The reach, repeatability, accuracy, and response time of the processes are then obviously limited by those of the operator. A robotic system seems to offer an attractive substitute addressing the aforementioned issues. However, the application of robots in such applications is hindered by the process uncertainties which limit the accuracy, repeatability, and response time of automated solutions. For instance, several trials to reach the desired forming are common to many SPF processes. Two main sources of uncertainty, tackled in this project, include the nozzle's motion (position and velocity) and peening coverage. Teams from Ryerson University, NRC-IAR-AMTC, Sonaca Montreal, Vibra Finish, and Quanser have organized a research program to address the aforementioned issues. A vision-based control solution is developed that uses closed-loop position and orientation (pose) control with visual feedback to adapt to the surface pose uncertainty in real-time, e.g., when the surface is continuously deforming due to peening effect or when the workpiece has not been properly fixtured or calibrated with respect to the robot. Finally, novel real-time coverage measurement and control techniques are proposed that could improve coverage quality for shot peening applications. The developed methods can readily be extended to similar applications such as shot blasting, depainting, and abrasive jet machining. The research outcome would lead to reduced time-to-market for the new parts, lower production costs and cycle time, and superior end products. The results could thus make a strategic impact on the manufacturing industry, especially in aerospace and automotive sectors, by raising their core technical competencies and ability to compete in the global economy.

喷丸成形（或SPF）和喷丸（或SP）广泛应用于航空航天和运输工程中，分别从金属板形成弯曲形状（这将难以用传统方法如冲压形成）并改善表面的机械性能。尽管它们的应用范围很广，但许多SPF和SP过程目前大多由合格的操作员手动或以开环方式执行。过程的可达性、可重复性、准确性和响应时间显然受到操作员的限制。机器人系统似乎提供了解决上述问题的有吸引力的替代品。然而，机器人在这些应用中的应用受到过程不确定性的阻碍，这些不确定性限制了自动化解决方案的准确性、可重复性和响应时间。例如，达到所需成形的若干试验对于许多SPF工艺是常见的。两个主要的不确定性来源，在这个项目中解决，包括喷嘴的运动（位置和速度）和喷丸覆盖范围。 来自瑞尔森大学、NRC-IAR-AMTC、Sonaca Montreal、Vibra Finish和Quanser的团队组织了一个研究项目来解决上述问题。开发了一种基于视觉的控制解决方案，其使用具有视觉反馈的闭环位置和取向（姿态）控制来实时适应表面姿态不确定性，例如，当表面由于喷丸效应而连续变形时，或者当工件没有相对于机器人适当地固定或校准时。 最后，提出了新的实时覆盖测量和控制技术，可以提高喷丸应用的覆盖质量。所开发的方法可以很容易地扩展到类似的应用，如喷丸，脱漆，磨料喷射加工。研究成果将缩短新部件的上市时间，降低生产成本和周期时间，并提供优质的上级最终产品。因此，这些成果可以通过提高制造业的核心技术能力和在全球经济中竞争的能力，对制造业，特别是航空航天和汽车行业产生战略影响。