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An Offline Trajectory Planning System for Mobile Hybrid Robot Cutting

A mobile robot, trajectory planning technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the working range of the robot positioning accuracy cannot meet the high-end manufacturing industry, and achieve the effect of reducing the number of

Active Publication Date: 2020-07-14
BEIJING SATELLITE MFG FACTORY
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned patents are only for fixed series robots, and neither the positioning accuracy nor the working range of the robots can meet the needs of high-end manufacturing industries.

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  • An Offline Trajectory Planning System for Mobile Hybrid Robot Cutting

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Embodiment Construction

[0028] The method of the off-line programming system for the mobile hybrid robot will be described in detail below in conjunction with the accompanying drawings. As shown in Figure 1, the system of the present invention mainly includes a milling path planning subsystem, a mechanism kinematics definition subsystem, a mobile robot trajectory planning subsystem and a mobile robot simulation subsystem.

[0029] Milling path planning subsystem: use the computer-aided manufacturing NC programming software to complete the milling processing path of the workpiece to be processed, generate tool position files and transmit them to the mobile robot trajectory planning subsystem. The milling path planning subsystem includes coordinate system management module, tool management module and operation programming module.

[0030] The milling path planning subsystem includes a coordinate system management module, a tool management module, and an operation programming module; the coordinate syst...

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Abstract

The invention discloses an offline trajectory planning system for the cutting of a mobile hybrid robot. The offline trajectory planning system for the cutting of the mobile hybrid robot comprises a milling path planning subsystem, a mechanism kinematics defining subsystem, a mobile robot trajectory planning subsystem and a mobile robot simulating subsystem; the milling path planning subsystem performs path designing on milling machining of a machined workpiece, and transmits a path design result to the mobile robot trajectory planning subsystem; the mechanism kinematics defining subsystem establishes a kinematics three-dimensional model, and completes the calculation of forward kinematics relation and inverse kinematics relation of a mechanism; the mobile robot trajectory planning subsystem designs and optimizes the position of the mobile hybrid robot relative to a large workpiece by analyzing an input cutter position file, generates a robot body trajectory and outputs a numerical control program which can be executed by a control system of the mobile hybrid robot; and the mobile robot simulating subsystem determines whether the generated numerical control program is kept consistent with the cutter position file or not and determines whether the generated numerical control program is safe and correct or not.

Description

technical field [0001] The invention relates to an off-line trajectory planning system for mobile hybrid robot cutting processing, and relates to the field of mobile hybrid robot numerical control machining. The method is used for trajectory planning of mobile hybrid robot processing large workpieces, which can effectively improve the movement The automation level and processing efficiency of CNC machining with hybrid robots. Background technique [0002] With the increase of my country's demand in the field of major structural parts manufacturing, its high-precision and high-flexibility manufacturing characteristics pose new challenges to processing equipment. For example, a large sealed cabin structure with a diameter of more than 3 meters and a length of more than 10 meters needs to be processed as a whole in order to ensure that its function and accuracy meet the requirements of the design specifications. Existing machine tools are difficult to meet the requirements of t...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1664B25J11/005
Inventor 张加波赵长喜乐毅杨继之刘海涛周莹皓文科
Owner BEIJING SATELLITE MFG FACTORY