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（SPF）和喷丸强化（SP）广泛应用于航空航天和交通运输工程，分别用于使金属板材形成弯曲形状（用冲压等传统方法很难成形）并提高机械性能的表面。尽管应用范围广泛，但许多 SPF 和 SP 流程目前大多由合格的操作员手动或以开环方式执行。过程的范围、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一个有吸引力的替代品来解决上述问题。然而，机器人在此类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，许多 SPF 工艺都需要进行多次试验来达到所需的成型效果。该项目解决了两个主要的不确定性来源，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 蒙特利尔、Vibra Finish 和 Quanser 的团队组织了一项研究计划来解决上述问题。开发了一种基于视觉的控制解决方案，该解决方案使用带有视觉反馈的闭环位置和方向（位姿）控制来实时适应表面位姿不确定性，例如，当表面由于喷丸效应而连续变形时或当工件尚未相对于机器人正确固定或校准。 最后，提出了新颖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，例如喷丸、脱漆和磨料喷射加工。研究成果将缩短新零件的上市时间，降低生产成本和周期时间，并提供优质的最终产品。因此，研究结果可以通过提高制造业的核心技术能力和在全球经济中的竞争能力，对制造业，特别是航空航天和汽车行业产生战略影响。