A robotic intelligent edge finishing system

Abstract

This invention relates to a robotic intelligent trimming system. The system includes a robot subsystem, a trimming end effector, a management and control subsystem, and auxiliary subsystems. The robot subsystem includes a robot, a positioning accuracy compensation module, and a quick-change module; the trimming end effector includes a trimming module, a vision inspection module, an expansion module, and electrical and pneumatic control modules; the management and control subsystem includes an operation console, a system control cabinet, integrated management software, and system control software; the auxiliary subsystem includes a vacuum dust removal device, a cooling device, a tool magazine, a test tool holder, a tool setter, a tool loading device, offline programming and simulation software, and a safety protection module. This system can realize functions such as offline programming and simulation, automatic trajectory compensation, visual recognition, real-time data feedback, real-time machining posture compensation, automatic trimming, quick change, chip removal, automatic tool changing, and tool setting. This system replaces manual trimming with automated equipment, improving efficiency and reducing physical harm to operators.

Description

Technical Field

[0001] This invention belongs to the technical field of automated machining equipment, and particularly relates to a robotic intelligent trimming system. Background Technology

[0002] In the field of aircraft assembly, the requirement for seam gaps in skin is generally less than 1mm. With the pursuit of stealth performance in fifth-generation aircraft, the requirement for seam gaps has been increased to 0.5mm or even higher.

[0003] In actual assembly, operators need to test assemble the material inside the frame, making it difficult to use ordinary CNC milling machines. Currently, manual trimming is the only option. The method for controlling the allowance through manual trimming is as follows: on the assembly frame, lines are drawn along the mating datum on the composite skin. Then, the composite skin is removed from the frame for rough trimming, then back on the frame to align with the datum, and the process is repeated multiple times to ensure a mating gap of approximately 1mm. Manual trimming is labor-intensive, time-consuming, and inefficient, consuming a significant amount of manpower. Furthermore, because the trimmed surfaces are mostly curved, current manual methods cannot meet the trimming precision requirements for the skin. With the widespread application of carbon fiber composite skins, manual trimming also generates a large amount of toxic dust, which can enter the human body through the respiratory system or skin contact. Long-term exposure to this work can cause irreversible and serious harm to workers' health.

[0004] For the reasons mentioned above, automated equipment (such as industrial robots) has been introduced to replace manual operation in various mechanical processing fields. As a result, there is an urgent need for fully functional robotic intelligent trimming systems and equipment. Summary of the Invention

[0005] To overcome the aforementioned drawbacks of manual trimming operations, this invention proposes a novel robotic intelligent trimming system.

[0006] During our research and development, we realized that in order to ensure the quality of the skin seam trimming, improve efficiency, and meet the design and manufacturing standards of the next generation of aircraft, automated and intelligent trimming of the inner skin is a definite development trend. Considering the large size and complex shape of the skin, from the perspective of system flexibility, we adopted a six-axis serial industrial robot as the carrier and a trimming end effector as the tool to achieve flexible trimming processing of skins of different specifications.

[0007] Specifically, the robotic intelligent trimming system of the present invention aims to achieve the following functions:

[0008] (1) Offline programming and simulation functions

[0009] This system can perform offline programming and trajectory simulation based on the digital model of the workpiece or tooling, and automatically generate the corresponding machining program file.

[0010] (2) Automatic trajectory compensation function

[0011] This system has an automatic positioning function. The robot can compensate for the absolute positioning error based on the planned trajectory and carry the end effector to perform precise movements.

[0012] (3) Visual recognition function

[0013] This system is equipped with a visual recognition system, which can realize feature acquisition and image processing, thereby obtaining the trimming reference spatial position information and feeding it back to the robot.

[0014] (4) Real-time data feedback function

[0015] This system can transmit the reference geometric features to the host computer in real time and output accurate attitude adjustment data based on the internal algorithm.

[0016] (5) Real-time machining posture compensation function

[0017] This system can adjust the end-effector posture in real time based on the reference detection data, so as to realize reference detection and posture compensation simultaneously during the processing.

[0018] (6) Automatic trimming function

[0019] This system can automatically trim edges using robots under different working conditions and processing standards.

[0020] (7) Quick switch function

[0021] This system is equipped with a quick-change interface, which can quickly replace the adapter end according to different needs and working conditions, so as to complete different processing processes at the same workstation.

[0022] (8) Accessibility Functions

[0023] This system has a chip removal function, which can be used to remove chips during the machining process, and also has automatic tool changing and tool setting functions.

[0024] In order to meet the needs of automated product trimming, this invention has formulated an overall technical solution for a robotic intelligent trimming system.

[0025] This intelligent robotic trimming system addresses the trimming needs of existing products by employing generalized reference vision recognition technology and robot absolute positioning accuracy compensation technology based on deep neural networks. Its aim is to achieve processing reference identification and automatic positioning of the edge to be processed during the trimming process. The system acquires trimming reference position and shape information through a 3D contour scanner, and based on the graphic analysis results and the kinematic model of the trimming end effector, it uses RSI technology to transmit data to adjust the end effector's posture, achieving high-precision trimming of the vertical tail.

[0026] Considering the differences between the workpiece after clamping and the digital model, and taking into account the different characteristics of the workpiece and the different requirements for trimming, this invention employs two compensation techniques: offline compensation and online real-time compensation. Offline compensation refers to using a visual reference detection module to detect the machining reference before trimming, compensating for the robot's trajectory and pose, and then performing the trimming process. Online real-time compensation refers to using a visual reference detection module to measure the workpiece's features in real time during the trimming process, calculating compensation values, and performing robot pose compensation.

[0027] The working process of the robot intelligent trimming system of this invention is as follows:

[0028] Before executing the automated trimming program, trimming process planning is required based on the workpiece allowance to determine the single cutting amount and milling angle. Then, the robot is programmed offline, and path grouping, trajectory simulation and collision detection are performed according to the allowance size and milling angle to determine the robot trimming path.

[0029] If the margin is too large, some of the margin can be removed according to the theoretical numerical model.

[0030] (I) Offline Compensation Automated Trimming Process

[0031] (1) The vision inspection module adjusts the 3D contour scanner to the corresponding position, and the robot moves along the vision inspection path with the trimming end effector. The 3D contour scanner scans the complete contour of the tooling reference.

[0032] (2) The algorithm processes and analyzes the contour point cloud obtained by the sensor scanning to obtain the reference surface position and shape information, and performs error detection and compensation.

[0033] (3) Adjust the end effector posture based on the results of graphic analysis and the kinematic model of the trimming end effector.

[0034] (4) Complete the current milling task according to the trimming process requirements and cutting allowance.

[0035] (5) The robot continues to move with the trimming end effector to the starting point of the next milling path, repeating steps (3) and (4) until all milling allowance is removed.

[0036] (6) The robot carries the trimming end effector and moves along the visual inspection path. The 3D contour scanner scans the complete contour of the product benchmark to complete the benchmark inspection and alignment.

[0037] (7) Repeat steps (2) to (4) until the chamfering is completed.

[0038] (II) Online Real-Time Compensation Automated Trimming Process

[0039] (1) The vision inspection module adjusts the 3D contour scanner to the corresponding position, and the robot moves along the preset path with the trimming end effector. The 3D contour scanner scans the complete contour of the tooling reference and feeds the data back to the host computer in real time.

[0040] (2) The algorithm processes and analyzes the contour point cloud obtained by the sensor scanning to obtain the reference surface position and shape information, and performs error detection and compensation.

[0041] (3) Based on the results of graphic analysis and the kinematic model of the trimming end effector, the end attitude is adjusted in real time, and the trimming of the current position is completed while the 3D contour scanner scans the previous reference.

[0042] (4) Complete the current milling task according to the trimming process requirements and cutting allowance.

[0043] (5) The robot continues to move with the trimming end effector to the starting point of the next milling path, repeating steps (1) to (4) until all milling allowance is removed.

[0044] (6) The robot carries the trimming end effector and moves along the visual inspection path. The 3D contour scanner scans the complete contour of the product benchmark to complete the benchmark inspection and alignment.

[0045] (7) Repeat steps (2) to (4) until the chamfering is completed.

[0046] This invention provides a robotic intelligent trimming system, which includes a robot subsystem, a trimming end effector, a management and control subsystem, and an auxiliary subsystem, wherein:

[0047] The robot subsystem includes a robot, a positioning accuracy compensation module, and a quick-change module;

[0048] The trimming end effector includes a trimming module, a vision inspection module, an expansion module, and an electronic and pneumatic control module.

[0049] The management and control subsystem includes an operation console, a system control cabinet, integrated management software, and system control software;

[0050] The auxiliary subsystems include a vacuum dust removal device, a cooling device, a tool magazine, a test tool holder, a tool setting device, a tool loading device, offline programming and simulation software, and a safety protection module.

[0051] Furthermore, the robot in the robot subsystem of the intelligent robot trimming system of the present invention includes a robot body, a control cabinet, and a teach pendant;

[0052] The positioning accuracy compensation module measures the end-effector positioning error under multiple joint configurations within the robot's workspace, establishes a robot kinematic error model, identifies robot kinematic parameter errors, or establishes an error mapping in the robot's Cartesian space or joint space; then, through training with a deep neural network, it establishes an intelligent error compensation model between spatial pose and error, and pre-sets the obtained intelligent error compensation model into the robot compensation algorithm to achieve the estimation and compensation of target point positioning error, thereby improving the robot's absolute positioning accuracy;

[0053] The quick-change module provides the ability to automatically change the trimming end effector. It consists of two parts: a main side and a tool side. The main side is mounted on the robot, and the tool side is mounted on the trimming end effector. The main side and the tool side can be automatically locked together. At the same time, it can connect and transmit media such as electrical signals, gas, and water. The quick-change module provides great flexibility for automatic tool changing and connecting various media. It can ensure reliable operation for millions of cycles under full load while ensuring extremely high repeatability.

[0054] In addition, the quick-change module enables rapid switching of processing techniques at the same workstation, expanding the robot's functionality. It also allows for quick switching to the same type of end effector in case of equipment failure, ensuring production cycle time and enabling rapid response to unexpected situations. Its main advantages are:

[0055] (1) High repeatability: The piston can act as a large positioning pin, adjusting the robot's main side and tool side to provide high repeatability. Full-load million-cycle testing shows that the actual repeatability is far better than the guaranteed value.

[0056] (2) High rigidity: Thanks to the large-diameter locking piston and the strong locking force it provides, the quick-change module has a strong resistance to torque. The locked quick-change module will not wobble due to high-speed movement, thus avoiding locking failure or repeatability accuracy problems.

[0057] (3) High reliability: The multi-conical locking mechanism designed in this invention uses a specially designed long-life rubber seal for the air vents to prevent any gas leakage. The main side of the robot uses a spring signal contact pin to ensure tight contact with the fixed signal pin on the tool side.

[0058] (4) Gas loss protection function: The quick-change module locking mechanism has a gas loss protection function, which can prevent the tool side from detaching from the robot main side in the event of sudden loss of locking gas, and ensure reliable locking.

[0059] (5) Lightweight and compact design with high flexibility: It has a variety of optional water, electricity and gas media modules, making the quick-change module suitable for most applications.

[0060] Furthermore, the trimming end effector in the robot intelligent trimming system of the present invention includes: a trimming module, a vision inspection module, an expansion module, and an electronic control and pneumatic control module;

[0061] The trimming end effector is mounted on the robot via a quick-change module, ensuring a reliable and stable connection structure.

[0062] Furthermore, the trimming end effector of this invention follows the design principles of lightweight, high integration, and modularity, employing a fixed spindle; the vision inspection module is configured with one or more degrees of freedom to adapt to different references; the expansion module provides automatic tool changing, chip suction, clamping functions, and customizable layout options; wires, cables, and pipes are all concealed, and cable carriers and other bundled installation measures are used along the robot body's wiring path to adapt to various changes during equipment operation, preventing wire pulling during operation; the quick-change module allows for high-precision repeated connections, and the entire system can complete different types of processing operations at the same workstation according to process requirements.

[0063] Furthermore, the trimming module in the trimming end effector of the present invention includes an electric spindle 301, a tool clamping device (tool holder) 302, a tool 303, and a spindle fixing bracket 304, wherein:

[0064] The electric spindle provides power for the tool rotation and features a compact structure, light weight, low inertia, low noise, and fast response. It also boasts high speed and power, facilitating spindle positioning. The spindle speed is controlled by a spindle motor, while the temperature rise within the spindle unit is limited by a cooling system. Speed ​​and angular displacement sensors are mounted at the rear end of the spindle, while the inner tapered hole and end face at the front end are used to mount the tool holder 302 and the tool 303. The electric spindle bearings utilize high-speed bearing technology, offering wear resistance, heat resistance, and a long service life. The electric spindle has a closed structure, preventing internal oil spillage and dripping, making it suitable for machining aluminum alloys, titanium alloys, and composite materials.

[0065] The tool holder uses the HSK tool system, which is a high-speed short conical tool holder. The interface adopts a method of simultaneous positioning of the conical surface and the end face. The tool holder is hollow, the cone length is short, and the taper is 1 / 10, which is conducive to achieving lightweight and high-speed tool changes. Due to the use of hollow cone and end face positioning, the radial deformation difference between the spindle hole and the tool holder during high-speed machining is compensated, and the axial positioning error is completely eliminated, making high-speed and high-precision machining possible.

[0066] The cutting tool is a solid carbide multi-flute micro-tooth end mill, and each tool has a unique identifier for easy identification and reading, thereby enabling tool management.

[0067] This invention employs a multi-tooth micro-end mill, which can simultaneously achieve the machining effects of both left-hand and right-hand helical cutting edges. On one hand, the left-hand micro-tooth offsets the upward lifting force F exerted by the cutter on the workpiece.r Simultaneously, it can shear burrs on the upper surface; on the other hand, the right-hand micro-tooth counteracts the downward pressure F exerted by the tool on the workpiece. l Simultaneously, it can shear burrs on the lower surface, and the combined effect of these two factors balances the Z-axis cutting force on the workpiece to a certain extent. A reasonable tooth arrangement allows the micro-tooth end mill to effectively suppress surface damage when milling workpieces at any axial position. Therefore, the structure of the micro-tooth end mill can effectively suppress burr damage on both the upper and lower surfaces of the workpiece, while achieving a low surface roughness Sa while meeting quality requirements, making it the preferred tool structure for CFRP milling.

[0068] Furthermore, the tool clamping device in the trimming end effector of the present invention is equipped with a forward movement balance adjustment to ensure the dynamic balance of the tool holder;

[0069] The tool clamping device is embedded with an RFID chip as a storage carrier for tool information to achieve tool management.

[0070] Furthermore, the vision detection module in the trimming end effector of the present invention is used to identify the processing datum and calculate the compensation amount for the processing datum error caused by clamping, so as to ensure the positional accuracy of trimming; the vision detection module includes an image acquisition unit and detection and recognition software; wherein:

[0071] The image acquisition unit is used to capture and acquire images of the processing reference according to process requirements. The image acquisition unit includes a 3D contour scanner 201 and a motion mechanism. The 3D contour scanner uses the laser triangulation principle for measurement. Specifically, through a lens group, the laser beam is magnified to form a static laser line projected onto the surface of the object being measured. The laser line forms diffuse reflection on the surface of the object, and the reflected light passes through a high-quality optical system and is projected onto a sensitive photosensitive matrix. In addition to the distance information (Z-axis) from the sensor to the surface being measured, the controller can also calculate the position information (X-axis) along the laser line using the image information. Within a two-dimensional coordinate system centered on the sensor, the contour scanner measures and outputs a set of two-dimensional coordinate values. By moving the object being measured or the contour scanner probe, a set of three-dimensional measurement values ​​can be obtained.

[0072] The motion mechanism consists of a scanner bracket 202, a connecting plate 203, a miniature electric turntable 204, a slide table 205, and a guide rail 206. The motion mechanism is adaptable to both offline compensation and online real-time compensation processing modes, and can be adapted to different structural products using the same trimming end effector, effectively improving product adaptability.

[0073] The image acquisition unit works as follows: the detection and recognition software controls the 3D contour scanner 201 to acquire images, the host computer performs image preprocessing, reference recognition, and deviation calculation, and sends the reference position deviation value to the robot to complete the processing reference alignment and trimming end effector pose adjustment. Since the skin to be trimmed has different positions and working conditions, the vision inspection module 2 needs to be able to automatically adjust its position and accurately identify the graphics. Therefore, the vision inspection module 2 is equipped with a device that can translate and rotate. The 3D contour scanner 201 is fixed to the scanner bracket 202, and the scanner bracket 202 is connected to the micro electric turntable 204 and the slide table 205 via the connecting plate 203. The slide table 205 is mounted on the guide rail 206. The guide rail 206 is driven by a servo motor to rotate the lead screw, thereby moving the slide table 205 on the guide rail 206. Since the slide table 205 is connected to the connecting plate 203, it drives the 3D contour scanner 201 to complete the translational movement. The miniature electric turntable 204 consists of a servo motor, a worm gear, and bearings. When the 3D contour scanner 201 needs to be rotated, the miniature electric turntable 204 is connected to the scanner bracket 202. The servo motor drives the worm gear to rotate the scanner bracket 202, thereby driving the 3D contour scanner 201 to rotate.

[0074] Furthermore, the image acquisition unit in the trimming end effector of the present invention is adapted to the following two compensation methods:

[0075] (1) Offline compensation: Before trimming, the processing reference is detected by the visual reference detection module, and the trajectory and pose of the robot are compensated according to the processing reference before trimming.

[0076] (2) Online real-time compensation: During the trimming process, the visual reference detection module measures the features of the workpiece in real time, calculates the trajectory pose compensation value and performs robot pose compensation.

[0077] The image acquisition unit is divided into two layout methods: reference front and reference rear.

[0078] Reference front position: The trimming reference is located in front of the edge to be trimmed relative to the trimming end effector. For the reference front position working condition, the relative position of the reference and the workpiece to be processed is different. In order to use the same trimming end effector in the online real-time compensation mode to meet the processing requirements under different working conditions, the image acquisition unit is configured with two degrees of freedom, one translation and one rotation, to adapt to the two processing modes of offline compensation and online real-time compensation.

[0079] Rear reference: Relative to the trimming end effector, the trimming reference is located behind the edge to be trimmed; for the rear reference working condition, it is necessary to ensure that the tool end face is tangent to the reference and the edge to be trimmed. Therefore, the spindle is parallel to the reference plane, and the reference position and attitude are fixed relative to the tool. At this time, the image acquisition unit is only configured with one translational degree of freedom.

[0080] Furthermore, the translational degree of freedom in the trimming end effector of the present invention is implemented as follows:

[0081] The translational motion precession mechanism uses a servo motor to drive the lead screw to rotate, which in turn drives the slide to move on the guide rail. Its drive mechanism is a fully enclosed actuator, which is equipped with an inner slider. The LM slider and the ball screw nut of this inner slider are integrally constructed on the inner side of the high-rigidity U-shaped cross-section outer track. Its main advantages are: equal load in four directions, high precision, and high rigidity. The translational degree of freedom accuracy is measured by a linear grating ruler and corrected by the control system circuit. There are no mechanical transmission parts during the measurement of the linear axis position by the linear grating ruler. The mechanical motion error of the slider is detected by the linear grating ruler in the slide and corrected by the control system circuit. Therefore, the application of the grating ruler can eliminate multiple potential error sources, including: reverse error; and motion characteristic error caused by ball screw pitch error.

[0082] The rotational degree of freedom is implemented as follows:

[0083] The rotational motion drive mechanism is a miniature electric turntable equipped with a servo motor. The miniature electric turntable adopts a worm gear transmission mode and uses a high-precision shaft system inside, which has high rotational accuracy, strong load-bearing capacity, and smooth movement. The rotational freedom is realized under the rotational drive of the miniature electric turntable.

[0084] Furthermore, to adapt to different product needs, the trimming end effector of the present invention is equipped with a detachable expansion module at the front end. The expansion module is used to realize automatic tool changing, chip suction, and clamping functions; it can also be integrated to provide a rapid response solution for different working conditions in the future.

[0085] The drive system of the expansion module uses two independent cylinders, which are respectively fixed to the main body adapter plate of the trimming end effector;

[0086] The expansion module includes a chip suction module and an independent clamping module; wherein:

[0087] The chip suction module is equipped with a detachable flexible flared chip suction port at the front end, which can achieve 360° surround of the tool. The front end of the chip suction module is made of flexible material, which can make the chip suction port fit the product surface to the maximum extent without damaging the product surface, providing good suction. The flared design makes the chip suction port turn outward, thereby avoiding the chip getting into the tool during the trimming process and affecting the processing.

[0088] In the working state, the cylinder pushes the push rod to extend the expansion module, and the chip suction port surrounds the tool and contacts the product to be trimmed. The chip suction port continuously moves with the tool during the trimming process. Therefore, regardless of the relative position of the edge to be trimmed and the trimming end actuator, it can provide the same effective suction force. In the non-working state, the cylinder push rod retracts, driving the chip suction module to retract. At this time, the chip suction module does not occupy the front end space. This state is also applicable to working conditions where there is interference around the cutting edge.

[0089] The chip suction module is equipped with an automatic opening and closing mechanism at the front end. When a tool change is required, the cylinder push rod continues to retract, driving the opening and closing mechanism to open, so that the chip suction module separates from the middle, thereby avoiding the tool change path and realizing the automatic tool change function.

[0090] The independent clamping module is equipped with two clamping heads, each controlled independently by two cylinders. Each head has two sets of plungers to ensure that the surface to be repaired is in close contact with the back support during processing. When the independent clamping module is working, the chip suction port is fixed on the spindle base and guided to the chip discharge position by a universal tube. This structure is suitable for working conditions where the surface to be repaired has poor rigidity, has an effective support structure on its back, and the surface to be repaired is not in good contact with the back support.

[0091] Furthermore, the extended module in the trimming end effector of the present invention includes an integrated chip suction and pressing module. The integrated chip suction and pressing module combines chip suction and pressing functions. Using the full circumference pressing end, while pressing the surface to be trimmed, the chip suction port is sent to the edge to be trimmed.

[0092] The integrated chip suction and clamping module is equipped with an automatic opening and closing mechanism at the front end. When a tool change is required, the cylinder push rod continues to retract, driving the opening and closing mechanism to open, so that the integrated chip suction and clamping module separates from the middle, thereby avoiding the tool change path and realizing the automatic tool change function.

[0093] Furthermore, the trimming end effector of the present invention is equipped with one electric spindle, two motors, two cylinders and one grating ruler. Based on this design and with a margin reserved, the electric control and pneumatic control modules are configured.

[0094] Furthermore, the management and control subsystem in the robot intelligent trimming system of the present invention is the control center of the robot intelligent trimming system, wherein:

[0095] The operation console is used for task management, monitoring, and data storage of the robot intelligent trimming system. The operation console has a piano-style structure, a built-in computer workstation, and multiple touch screens for operating the assembly system. The console surface is equipped with emergency stop buttons, etc.

[0096] The system control cabinet is equipped with a PLC module, frequency converter, transformer, intelligent voltage regulator, switch, and relay.

[0097] The integrated management software adopts a modular design, providing comprehensive basic functions for the system itself, including user identity and permission management, equipment management, tooling management, program task management, data acquisition and storage, and toolchain management. The toolchain management module includes a self-testing and calibration module, a calibration module, a vision inspection module, a tool management module, a real-time tool monitoring module, a compensation module, and an automatic tool changer module. Users can also customize and load required modules according to actual production needs.

[0098] The user identity and permission management module uses a UKEY to identify, authenticate, and manage user permissions. System administrators, process programmers, and equipment operators have different usage permissions and can use different built-in function modules of the system. The self-testing and calibration processing module includes a self-testing submodule and a calibration submodule. The self-testing submodule includes two submodules: power-on self-test and online monitoring. The calibration module is used to correct relevant parameters according to the system status to keep the system performance stable and meet usage requirements. The visual inspection module uses a 3D laser scanner to acquire images of reference features and performs real-time image processing, feature extraction, and recognition to measure the offset of the machining reference on the actual workpiece. The system calculates the real-time compensation value for the edge to be repaired. The real-time tool monitoring module collects the radial force during the milling process in real time, compares the monitored values ​​with a known set model to detect and judge tool wear, breakage, and detachment, and performs emergency handling, such as timely tool replacement and alarm activation. The tool management module manages the tools, including a tool database and corresponding processing modules, recording, querying status, and predicting lifespan of tools from installation to disposal. The data acquisition and storage module collects and records necessary data, including tooling and workpiece data (identification code, category, status, etc.), system operation status data (system operation log data, etc.).

[0099] The system control software includes PLC control software and interactive operation software. The PLC control software collects data from various sensors and controls various actuators according to the processing flow to achieve functions such as machining datum alignment, trimming, and tool changing. The interactive operation software is the human-machine interface of the PLC, which can switch the system working mode. In the debugging mode, parameters of each actuator can be set and actions can be controlled. The system can display the working status of the assembly system, the data of each sensor, and the working progress in real time.

[0100] Furthermore, in the auxiliary subsystem of the robot intelligent trimming system of the present invention:

[0101] The vacuum dust removal device has a chip removal function and is used for chip removal from aluminum, titanium, and composite materials, as well as dust removal and purification of composite materials.

[0102] Considering the presence of carbon fiber dust in the chips, an explosion-proof and anti-static pneumatic vacuum cleaner is configured. The following design features contribute to the vacuum cleaner's excellent explosion-proof performance:

[0103] (1) Configure a static-dissipating flexible tube to avoid the generation of static sparks.

[0104] (2) Configure an antistatic explosion-proof filter.

[0105] (3) Powered by compressed air, it requires no power source, has no moving parts, and does not overheat.

[0106] The vacuum dust removal system is compact, easy to integrate, and can operate continuously for extended periods with minimal maintenance. It features a powerful back-flushing system that automatically blows air to clean dust from the filters, protecting the machine and improving work efficiency.

[0107] The cooling device uses a water chiller; the water chiller can ensure that the water temperature is precisely controlled within the optimal operating temperature range of the spindle, so that the spindle can be well protected by temperature control in different room temperature environments.

[0108] The tool magazine is used to store tool assemblies and adopts a disc-type tool magazine design. Under the control of the management and control subsystem, it realizes tool changing and tool management functions. The tool magazine includes tool assemblies, a rotating tool disc, a tool changing module, an information reading module, and a tool magazine control cabinet. Wherein:

[0109] The tool assembly includes a tool holder and a cutting tool, with an integrated RFID storage chip on the tool holder. Different specifications of cutting tools are installed according to the type of rivets on the workpiece. Each cutting tool is identified by a code for tool identification and management. Upon arrival at the warehouse, the tool assembly is measured by a tool pre-setting instrument, and the measurement data is written to the RFID storage chip on the tool holder.

[0110] The main function of the information reading module is to read the tool information stored in the RFID chip of the tool holder assembly, facilitating tool management and compensation. The information reading module is matched with the RFID chip of the tool holder assembly. When the tool assembly is put into storage, the operator holds the tool assembly, aligns the chip with and abuts it against the reader / writer head mounted on the side of the tool magazine, and the system automatically reads the stored information.

[0111] The rotary cutter head is configured with tool assembly positions as needed.

[0112] The tool changing module mainly consists of an automatic tool changing arm and a tool position switching mechanism.

[0113] The tool magazine control cabinet is used to control the tool magazine, completing operations such as tool changing, tool assembly loading, and tool assembly unloading. The tool magazine control cabinet and tool magazine are integrated into a single design, resulting in a compact structure and easy maintenance.

[0114] The test tool holder is used for automatic test tool testing, sample piece process testing, and tool calibration.

[0115] Automatic tool testing: The intelligent trimming system verifies the functions, performance, and process flow on the tool testing stand to ensure that the system is working properly; tool testing is also performed on the tool testing stand after installing new tools.

[0116] Test piece process experiment: Before trimming a workpiece made of new material, the intelligent trimming system generally needs to conduct a trimming experiment on a test piece made of the same material to determine the processing parameters.

[0117] Tool calibration: To ensure that the skin is flush with the underlying skeleton after trimming, the intelligent trimming system performs tool calibration on the test tool holder before trimming after tool change, thereby determining the tool tip compensation value, eliminating tool and installation errors, ensuring trimming accuracy, and avoiding damage to the reference.

[0118] The intelligent trimming system is equipped with an external tool setter, which consists of a high-precision switch (probe), a high-hardness, high-wear-resistant carbide tetrahedron (tool setter probe), and a signal transmission interface. The tetrahedron probe is used to contact the tool and transmits force to the high-precision switch through a flexible support rod installed below it. The on / off signals emitted by the switch are transmitted to the CNC system through the signal transmission interface for tool orientation identification, calculation, compensation, and storage, so as to ensure the accuracy of the tool tip position and avoid damage to the reference.

[0119] The tool loading device is used for quick manual loading and unloading of tools. It can be manually pressurized according to the pressure specified by the tool holder and the pressure indicator on the device. It is simple and safe to operate.

[0120] The offline programming and simulation software consists of a robot parameter interface, a robot simulation simulator, and a post-processor for generating offline programs that can be executed by the robot. It is used to complete tasks such as reading the 3D digital model of the workpiece, extracting and converting model data, converting coordinate systems, automatically generating robot program code, trajectory planning, interference checking, process simulation and optimization, and generating executable code. In an interactive graphical user interface, it automatically extracts point information and generates machining path points; it automatically generates the vector direction of path points by calculating the surface features of the part; it can sort selected path points according to different sorting rules to generate machining sequences; it can simulate the programming path and loop process in tooling, workpiece, robot, and end effector models, providing warnings for interference and other problems, and prompting for optimization of the system's motion trajectory.

[0121] The safety protection module includes a robot safety protection module and a safety controller. This trimming robot can simultaneously set up to 8 Cartesian and 8 axis-related workspaces. These workspaces can be stacked. The robot only moves within the set and activated workspace range. Its actual position is continuously calculated and monitored according to pre-set safety parameters. If the monitored limits or safety parameters are exceeded, the monitoring system will respond, and the robot will automatically stop, thus providing safety for the equipment and personnel.

[0122] The Flexi Soft safety controller can be configured to read sensor data, receive warning signals, or switch the protected area of ​​a safety laser scanner via an EFI interface. Furthermore, Flexi Soft is suitable for controlling and monitoring a wide range of contact and non-contact safety sensors and actuators, safety door switches, emergency stop devices, two-hand controllers, safety photoelectric switches, safety light curtains, and safety laser scanners.

[0123] Furthermore, the present invention also relates to the application of the aforementioned robotic intelligent trimming system in the aircraft assembly industry.

[0124] In summary, the intelligent robotic trimming system of the present invention has the following advantages:

[0125] (1) Replacing the existing manual trimming method with automated equipment can improve quality and efficiency and reduce physical harm to operators.

[0126] (2) Compared with other types of existing automated processing end effectors, the device of the present invention can adapt to offline compensation and online real-time compensation, and can select a suitable algorithm strategy based on comprehensive factors such as the characteristics of the workpiece itself.

[0127] (3) Compared with other types of existing automated processing end effectors, the present invention can adapt to different product configurations using the same trimming end effector, and the product adaptability is greatly improved.

[0128] (4) This trimming end effector achieves a stable connection with the robot through a quick-change mechanism. The quick-change module can achieve high-precision repeated connection and can provide the possibility of achieving different processing functions at the same workstation according to process requirements. Attached Figure Description

[0129] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the following drawings are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0130] Figure 1 This is a block diagram of the overall composition of the robot intelligent trimming system of the present invention.

[0131] Figure 2 This is a schematic layout diagram of the robot intelligent trimming system of the present invention.

[0132] Figure 3 This is a structural diagram of the KR420 R3080 industrial six-axis serial robot used in the intelligent trimming system of this invention.

[0133] Figure 4 This is a schematic diagram of the workspace of the KUKA KR420 R3080 robot used in the intelligent trimming system of this invention.

[0134] Figure 5 This is a schematic diagram of the load capacity of the KUKA KR420 R3080 robot used in the intelligent trimming system of this invention.

[0135] Figure 6 This is a schematic diagram of the quick-change module structure in the robot intelligent trimming system of the present invention, wherein the left figure shows the main side and the right figure shows the tool side.

[0136] Figure 7 This is a schematic diagram of the basic structure of the trimming end effector in the system of the present invention.

[0137] Figure 8 This is a schematic diagram showing the installation method of the trimming end effector and the robot in the system of the present invention.

[0138] Figure 9 This is a schematic diagram of the trimming module in the trimming end effector of the system of the present invention.

[0139] Figure 10 This is a schematic diagram of the milling force state in the trimming end effector of the system of the present invention.

[0140] Figure 11 This is a schematic diagram of the laser triangular reflection principle in the end effector of the trimming system of the present invention.

[0141] Figure 12 This is a schematic diagram illustrating the working condition of ensuring the seam gap after trimming one or both sides of adjacent skin in an embodiment of the trimming end actuator of the present invention.

[0142] Figure 13 This is a schematic diagram illustrating the working condition of ensuring the seam gap between the skin and the skeleton after the skin is trimmed in an embodiment of the trimming end effector of the system of the present invention.

[0143] Figure 14 This is a schematic diagram illustrating the relative pose of the skin and the reference after trimming in an embodiment of the trimming end effector of the system of the present invention.

[0144] Figure 15This is a schematic diagram of the degree-of-freedom configuration of the image acquisition unit in the visual inspection module of the trimming end effector of the system of the present invention.

[0145] Figure 16 This is a schematic diagram of the actuator structure in the trimming end effector of the system of the present invention.

[0146] Figure 17 This is a schematic diagram of the miniature electric turntable in the trimming end effector of the system of the present invention.

[0147] Figure 18 This is a schematic diagram illustrating the working condition of ensuring that the skin is flush with the underlying skeleton after trimming in an embodiment of the trimming end effector of the system of the present invention.

[0148] Figure 19 This is a schematic diagram showing the position of the drive cylinder of the extension module in the trimming end effector of the system of the present invention.

[0149] Figure 20 This is a schematic diagram of the chip suction module in the working state of the trimming end effector of the system of the present invention.

[0150] Figure 21 This is a schematic diagram of the chip suction module in the non-working state of the trimming end effector of the system of the present invention.

[0151] Figure 22 This is a schematic diagram of the chip suction module in the tool changing state of the end effector of the trimming system of the present invention.

[0152] Figure 23 This is a schematic diagram of the independent clamping module in the trimming end effector of the system of the present invention.

[0153] Figure 24 This is a schematic diagram of the integrated chip suction and clamping module in the trimming end effector of the system of the present invention.

[0154] Figure 25 This is a schematic diagram of the electrical and pneumatic control modules in the trimming end effector of the system of the present invention.

[0155] Figure 26 This is a schematic diagram of the user identity and permission management module software interface in the system of the present invention.

[0156] Figure 27 This is a schematic diagram of the interactive operation software interface in the system of the present invention.

[0157] Figure 28 This is a schematic diagram of the tool magazine structure in the system of the present invention.

[0158] Figure 29 This is a schematic diagram of the rotating cutter head structure in the system of the present invention.

[0159] Figure 30 This is a schematic diagram of the tool changing module in the system of the present invention.

[0160] Figure 31 This is a schematic diagram of the automatic tool changing process in the system of the present invention.

[0161] Figure 32 This is a schematic diagram of the test tool holder structure in the system of the present invention.

[0162] Figure captions: 1. Quick-change module; 2. Visual inspection module; 3. Trimming module; 4. Expansion module; 201. 3D contour scanner; 202. Scanner bracket; 203. Connecting plate; 204. Miniature electric turntable; 205. Slide table; 206. Guide rail; 301. Electric spindle; 302. Tool clamping device; 303. Tool; 304. Spindle fixing bracket. Detailed Implementation

[0163] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. This invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this invention.

[0164] At the same time, it should be understood that the scope of protection of the present invention is not limited to the specific embodiments described below; it should also be understood that the terminology used in the embodiments of the present invention is for describing specific embodiments and not for limiting the scope of protection of the present invention.

[0165] Example: A robotic intelligent trimming system

[0166] The intelligent robotic trimming system of this invention includes a robot subsystem, a trimming end effector subsystem, a management and control subsystem, and auxiliary subsystems, such as... Figure 1 and Figure 2 As shown.

[0167] 1. Robot Subsystem

[0168] The robot subsystem includes the robot, a positioning accuracy compensation module, and a quick-change module. The robot is fixedly mounted on the foundation surface via a mounting base.

[0169] 1.1 Robot

[0170] The robot consists of the robot body, control cabinet, and teach pendant.

[0171] Based on the weight of the end effector, the milling force during machining, and the effective workspace, and considering the robot's need for sufficient rigidity, the KUKA FORTEC KR420 R3080 industrial six-axis serial robot was selected. Its structure is as follows: Figure 3 As shown in Table 1, the main technical specifications are as follows.

[0172] Table 1. Main Technical Specifications of KUKA KR420 R3080 Industrial Six-Axis Serial Robot

[0173] Serial Number project index 1 Maximum range of motion 3076mm 2 Rated load 420kg 3 Rated additional load of rotating mechanism / boom / arm 0kg / 0kg / 50kg 4 Pose repeatability accuracy (ISO 9283) ±0.08mm 5 Number of axes 6 6 Installation location ground 7 Area 1050mm×1050mm 8 weight Approximately 2415 kg 9 Protection level IP65

[0174] The workspace accessible to the KUKA KR420 R3080 robot is as follows: Figure 4 As shown, its end load capacity is as follows Figure 5 As shown. The robot is equipped with a KUKA KR C4 control cabinet and a SmartPAD teach pendant.

[0175] 1.2 Positioning Accuracy Compensation Module

[0176] Within the workspace, the repeatability of the KUKAKR420 R3080 robot is ±0.08mm, while its absolute positioning accuracy is approximately ±1mm to ±3mm at different positions. This does not meet the requirements for aircraft assembly, so a precision compensation method is used to improve the absolute positioning accuracy.

[0177] Positioning accuracy compensation technology:

[0178] Measure the end-effector positioning error under several joint configurations within the robot's workspace, establish a robot kinematic error model, identify robot kinematic parameter errors, or establish an error mapping in the robot's Cartesian space or joint space.

[0179] A deep neural network is used for training to establish an intelligent error compensation model between spatial pose and error. This model is then pre-programmed into the robot's compensation algorithm to estimate and compensate for target point localization errors, thereby improving the robot's absolute positioning accuracy.

[0180] 1.3 Quick-switch module

[0181] Robotic tool changers provide the ability to automatically change end effectors. They consist of two parts, referred to as the master side and the tool side, such as... Figure 6 As shown, the design on both sides allows for automatic locking and connection, while also enabling the transmission of media such as electrical signals, gas, and water. The robot tool changer provides exceptional flexibility for automatic tool changing and connecting to various media. The main side of the tool changer is mounted on the robot, and the tool side is mounted on the end effector. The design of this series of quick-change devices ensures reliable operation for millions of cycles under full load while maintaining extremely high repeatability.

[0182] The quick-change module enables rapid switching of processing techniques at the same workstation, expanding the robot's functionality. It also allows for quick switching to the same type of end effector in case of equipment failure, ensuring production cycle time and enabling rapid response to unexpected situations. Its main advantages are:

[0183] (1) High repeatability: The piston can act as a large positioning pin, adjusting the robot side and the tool side to provide high repeatability. Full-load million-cycle testing shows that the actual repeatability is far better than the guaranteed value.

[0184] (2) High hardness: Thanks to the large-diameter locking piston and the strong locking force it provides, the tool quick-change device has a strong resistance to torque. The locked tool quick-change device will not shake due to high-speed movement, thus avoiding locking failure or repeatability accuracy problems.

[0185] (3) High reliability: The multi-conical locking mechanism designed in this invention uses a specially designed long-life rubber seal for the air vents to prevent any gas leakage. The robot side uses a spring signal contact pin to ensure tight contact with the fixed signal pin on the tool side.

[0186] (4) Gas loss protection function: The locking mechanism of the tool quick change device has a gas loss protection function, which can prevent the tool side from disengaging from the robot side in the event of sudden loss of locking gas, and ensure reliable locking.

[0187] (5) Lightweight and compact design with high flexibility: It has a variety of optional media modules such as water, electricity and gas, making the tool change device suitable for most applications.

[0188] 2. Trimming end effector subsystem

[0189] The trimming end effector is the core component of this robot's intelligent trimming system. The trimming end effector of this invention mainly includes a trimming module 3, a vision inspection module 2, an expansion module 4, and an electronic and pneumatic control module. It is installed on the robot through a quick-change module 1, and the connection structure is reliable and stable.

[0190] This trimming end effector is designed according to the principles of lightweight, high integration, and modularity. It adopts a fixed spindle, and the vision inspection module has a degree of freedom in configuration to adapt to different references. The expansion module provides optional functions such as chip suction and clamping. Its wires, cables, pipes, etc. are arranged in a concealed manner and run along the robot body. It is equipped with bundled installation measures such as drag chains and conduits to adapt to various changes during equipment operation and prevent wire pulling during equipment operation.

[0191] This trimming end effector connects to the robot via a quick-change module; its basic structure is as follows: Figure 7 As shown, its installation method is as follows Figure 8As shown, the quick-change module enables high-precision, repeatable connections, allowing the entire system to complete different types of processing operations at the same workstation, depending on process requirements.

[0192] 2.1 Trimming Module

[0193] The trimming module includes an electric spindle 301, a tool holder (tool shank) 302, a tool 303, and a spindle mounting bracket (mounting structure) 304, etc. Figure 9 As shown, it uses an electric spindle to drive the tool to rotate, thus achieving the trimming function.

[0194] 2.1.1 Electric Spindle

[0195] Electric spindles provide power for tool rotation and offer advantages such as compact structure, light weight, low inertia, low noise, and fast response. They also boast high speed, high power, and easy spindle positioning. The electric spindle bearings utilize high-speed bearing technology, are wear-resistant and heat-resistant, and have a lifespan several times that of traditional bearings.

[0196] The spindle speed is controlled by the spindle motor, while the temperature rise within the spindle unit is limited by the cooling system. Speed ​​and angular displacement sensors are installed at the rear end of the spindle, and the inner tapered hole and end face at the front end are used to mount the tool holder 302 and the cutting tool 303.

[0197] The electric spindle of this application adopts a closed structure, so that the internal oil will not overflow or drip, and it is suitable for machining aluminum alloys, titanium alloys and composite materials.

[0198] 2.1.2 Tool clamping device

[0199] The tool holder uses the HSK tool system, a new type of high-speed short conical tool holder. The interface employs simultaneous positioning via the conical surface and end face. The tool holder is hollow, with a short cone length and a taper of 1 / 10, which facilitates lightweight and high-speed tool changes. The use of a hollow cone and end face positioning compensates for the radial deformation difference between the spindle bore and the tool holder during high-speed machining and completely eliminates axial positioning errors, making high-speed, high-precision machining possible.

[0200] The tool holder is embedded with a Balluff RFID chip (BIS C-122-04 / L) as a storage medium for tool information to enable tool management.

[0201] The tool holder is factory-balanced to ensure dynamic balance.

[0202] 2.1.3 Cutting tools

[0203] We use solid carbide micro-tooth end mills, each with a unique identifier for easy identification and reading, thus enabling tool management.

[0204] For straight-blade end mills, when the vibration amplitude in the workpiece thickness direction is too large, the peeling effect of the cutting edge on the surface fibers is stronger than steady-state cutting. Because the upper and lower surfaces of the workpiece are in a weakly constrained state, burrs or tearing damage are easily caused on both the upper and lower surfaces. Figure 10 As shown, under vibration, on the one hand, when the milling end of the workpiece is subjected to the action of the tool F lo When the workpiece is below the horizontal plane of the clamping end, the motion state of the tool can be equivalent to the machining effect of a left-hand spiral end mill. This is because the workpiece is subjected to a force F in the negative Z-axis direction of the left-hand spiral end mill. l This leads to burrs easily appearing on the lower surface layer; on the other hand, when the milled end of the workpiece is subjected to the action of the tool, F up When the workpiece is above the horizontal plane of the clamping end, the motion state of the tool can be equivalent to the machining effect of a right-hand spiral end mill. This is because the workpiece is subjected to a force F in the positive Z-axis direction of the right-hand spiral end mill. r This leads to burrs easily appearing on the upper surface. For multi-tooth micro-end mills, the machining effect of both left and right helical cutting edges can be taken into account simultaneously. On the one hand, the left helical micro-tooth offsets the upward lifting force F of the tool on the workpiece. r Simultaneously, it can shear burrs on the upper surface; on the other hand, the right-hand micro-tooth counteracts the downward pressure F exerted by the tool on the workpiece. l Simultaneously, it can shear burrs on the lower surface, and the combined effect of these two factors balances the Z-axis cutting force on the workpiece to a certain extent. A reasonable tooth arrangement allows the micro-tooth end mill to effectively suppress surface damage when milling workpieces at any axial position. Therefore, the structure of the micro-tooth end mill can effectively suppress burr damage on both the upper and lower surfaces of the workpiece, while achieving a low surface roughness Sa while meeting quality requirements, making it the preferred tool structure for CFRP milling.

[0205] 2.2 Visual Inspection Module

[0206] The vision inspection module is used to identify the machining datum and calculate the compensation amount for machining datum errors caused by clamping, ensuring the positional accuracy of trimming. It mainly includes an image acquisition unit and detection and recognition software.

[0207] 2.2.1 Image Acquisition Unit

[0208] (1) 3D contour scanner

[0209] The image acquisition unit, primarily composed of a 3D contour scanner, is used to capture and acquire images of the processing reference according to process requirements. The 3D contour scanner employs the principle of laser triangulation, such as... Figure 11As shown, a laser beam is magnified into a static laser line and projected onto the surface of the object being measured through a special lens group. The laser line causes diffuse reflection on the surface of the object, and the reflected light passes through a high-quality optical system and is projected onto a sensitive photosensitive matrix. In addition to the distance information from the sensor to the surface being measured (Z-axis), the controller can also calculate the position information along the laser line (X-axis) using image information. Within a two-dimensional coordinate system centered on the sensor, the profilometer measures and outputs a set of two-dimensional coordinate values. By moving the object being measured or the profilometer probe, a set of three-dimensional measurement values ​​can be obtained.

[0210] (2) Movement mechanism

[0211] This trimming end effector is compatible with two compensation technologies: offline compensation and online real-time compensation. Offline compensation refers to using a vision reference detection module to detect the machining reference before trimming, compensating for the robot's trajectory and pose before proceeding with the trimming process. Online real-time compensation refers to using a vision reference detection module to measure the workpiece's features in real time during the trimming process, calculating and compensating for the robot's pose.

[0212] The motion mechanism consists of a scanner bracket 202, a connecting plate 203, a miniature electric turntable 204, a slide table 205, and a guide rail 206. This motion mechanism is adaptable to both offline compensation and online real-time compensation processing modes, and can be adapted to different structural products using the same trimming end effector, effectively improving product adaptability.

[0213] The image acquisition unit works as follows: the detection and recognition software controls the 3D contour scanner 201 to acquire images. The host computer performs image preprocessing, reference recognition, and deviation calculation, and sends the reference position deviation value to the robot to complete the machining reference alignment and trimming end effector pose adjustment. Because the skin to be trimmed has different positions and working conditions, the vision inspection module 2 needs to be able to automatically adjust its position and accurately identify the graphics. Therefore, the vision inspection module 2 is equipped with a device that can translate and rotate. The 3D contour scanner 201 is fixed to the scanner bracket 202. The scanner bracket 202 is connected to the miniature electric turntable 204 and the slide table 205 via the connecting plate 203. The slide table 205 is mounted on the guide rail 206. The guide rail 206 is driven by a servo motor to rotate the lead screw, thereby moving the slide table 205 on the guide rail 206. Since the slide table 205 is connected to the connecting plate 203, it drives the 3D contour scanner 201 to complete the translational movement. The miniature electric turntable 204 consists of a servo motor, a worm gear, and bearings. When the 3D contour scanner 201 needs to be rotated, the miniature electric turntable 204 is connected to the scanner bracket 202. The servo motor drives the worm gear to rotate the scanner bracket 202, thereby driving the 3D contour scanner 201 to rotate.

[0214] Based on the layout of the reference front and reference back, image acquisition units can be divided into two main categories:

[0215] a) Reference in front, that is: relative to the trimming end effector, the trimming reference is located in front of the edge to be trimmed, corresponding to the following three working conditions (this is just an example and can be adapted to more working conditions):

[0216] Working Condition 1: Ensure the seam gap after trimming one or both sides of adjacent skins. Example working condition is as follows: Figure 12 As shown.

[0217] Working Condition 2: After trimming the skin, ensure the seam gap between it and the frame. Example working condition is as follows: Figure 13 As shown.

[0218] Working condition 3: Using a certain feature as a reference, after trimming, ensure the relative pose (e.g., parallelism) of the skin and the reference. Example working condition is as follows: Figure 14 As shown.

[0219] For pre-work conditions where the reference and the workpiece are at different relative positions, the image acquisition unit is configured with one translational and one rotational degree of freedom to meet the processing requirements under different conditions using the same trimming end effector in online real-time compensation mode. The basic structure includes guide rails, slides, servo motors, and adapter fixtures, etc. Figure 15 As shown. Its advantage lies in its adaptability to both offline compensation and online real-time compensation processing modes, and it can be adapted to different structural products through the same trimming end effector, effectively improving product adaptability.

[0220] The translational motion precession mechanism employs a servo motor to drive a lead screw, which in turn moves the slide table along the guide rail. The drive mechanism uses a compact, high-rigidity, high-precision, fully enclosed actuator, the structure of which is as follows: Figure 16 As shown.

[0221] This series of actuators is equipped with an internal slider, in which the LM slider and ball screw nut are integrally constructed on the inner side of the high-rigidity U-shaped cross-section outer track. Its main advantages are: four-way equal load, high precision, and high rigidity.

[0222] The accuracy of translational degrees of freedom is guaranteed by the linear grating ruler. There are no mechanical transmission parts during the measurement of the linear axis position by the linear grating ruler. The mechanical motion error of the slider is detected by the linear grating ruler in the slide plate and corrected by the control system circuit. Therefore, the application of the grating ruler can eliminate multiple potential error sources, including: reverse error; and motion characteristic error caused by ball screw pitch error.

[0223] The rotary motion drive mechanism uses a miniature electric turntable equipped with a servo motor, such as... Figure 17As shown, this electric rotary table adopts a worm gear transmission mode and undergoes special processing, resulting in high wear resistance, reliable precision, and a high-precision internal shaft system, ensuring high rotational accuracy, strong load-bearing capacity, and smooth movement.

[0224] b) Rear-mounted reference: The trimming reference is located behind the edge to be trimmed relative to the trimming end effector. This corresponds to the condition where the skin trimming ensures flush alignment with the underlying skeleton. Figure 18 As shown:

[0225] In this type of working condition, it is necessary to ensure that the tool end face is tangent to the reference and the edge to be repaired. Therefore, the spindle is parallel to the reference plane, and the reference position and posture are fixed relative to the tool, providing only one translational degree of freedom for the vision inspection module.

[0226] 2.2.2 Detection and Recognition Software

[0227] The detection and recognition software controls the 3D contour scanner to complete image acquisition. The host computer performs image preprocessing, benchmark recognition, and deviation calculation, and sends the benchmark position deviation value to the robot to complete the machining benchmark alignment and trimming end effector pose adjustment.

[0228] 2.3 Extension Module

[0229] To adapt to different product needs, the trimming end effector is equipped with a detachable expansion module at the front end. While achieving automatic tool changing, it can provide different functions such as chip suction and clamping according to customer needs. It can also be integrated to provide a quick response solution for different working conditions in the future.

[0230] The expansion module drive system uses two independent cylinders, each fixed to the adapter plate of the trimming end effector body, such as... Figure 19 As shown.

[0231] (1) Dust collection module

[0232] The chip suction module is a general-purpose module with a flexible, flared chip suction port at the front. In operation, a cylinder pushes a push rod to extend the module, allowing the flexible chip suction port to completely surround the tool and contact the product to be trimmed. Figure 20 As shown. Its main advantages are:

[0233] a) It achieves 360° surround of the tool and can continuously follow the tool during the trimming process. Therefore, it can provide the same effective suction force regardless of the relative position of the edge to be trimmed and the trimming end actuator.

[0234] b) The front end is made of flexible material, which allows the dust suction port to fit the product surface to the maximum extent without damaging the product surface, providing good suction;

[0235] c) The flared design makes the chip suction port turn outward, thus preventing the chip from getting caught in the tool during the trimming process and affecting the machining.

[0236] d) The flexible chip suction port and the main body of the expansion module are designed separately, which makes them easy to install, remove and maintain.

[0237] When not in operation, the cylinder push rod retracts, causing the chip suction module to retract as follows: Figure 21 As shown, in this state, the chip suction module does not occupy the front-end space, and this state is also applicable to working conditions where there is interference around the cutting edge area.

[0238] Because the spindle has no degrees of freedom of movement, an automatic opening and closing mechanism is configured at the front end of the chip suction module to achieve automatic tool changing, such as... Figure 22 As shown, when a tool change is required, the cylinder push rod continues to retract, driving the opening and closing mechanism to open, causing the chip suction module to separate from the middle, thereby avoiding the tool change path.

[0239] (2) Independent clamping module

[0240] The independent clamping module is equipped with two clamping heads, each independently controlled by a cylinder, and each has two sets of plungers to ensure that the surface to be repaired is in close contact with the back support during processing. The independent clamping module is as follows: Figure 23 As shown, when using this expansion module, the chip suction port is fixed on the spindle base, and a universal joint is used to guide the chip suction port to the chip discharge position. This structure is suitable for working conditions where the surface to be repaired has poor rigidity, its back has an effective support structure, and the surface to be repaired does not fit well with the back support.

[0241] (3) Integrated chip suction and pressing module

[0242] The integrated chip suction and clamping module combines chip suction and clamping functions. Utilizing the full-circumference clamping end, it clamps the product while simultaneously delivering the chip suction port to the edge to be repaired. It also employs the same method as the chip suction module to achieve automatic tool changing. Its structure is as follows: Figure 24 As shown.

[0243] 2.4 Electrical and pneumatic control modules

[0244] The intelligent trimming end effector consists of one electric spindle, two motors, two cylinders, and one linear encoder. Based on this design and with allowances for future expansion, it is equipped with electronic and pneumatic control modules, such as... Figure 25 As shown.

[0245] 3. Management and Control Subsystem

[0246] The management and control system is the control center of the robotic intelligent trimming system, including the operation console, system control cabinet, integrated management software, and system control software.

[0247] 3.1 Operation Console

[0248] The control console is located outside the security system and is used for task management, monitoring, and data storage of the robotic intelligent trimming system.

[0249] The control console has a piano-style structure, a built-in computer workstation, and multiple touch screens for operating the assembly system. The console is equipped with buttons for emergency stop and other functions.

[0250] 3.2 System Control Cabinet

[0251] The system control cabinet houses the PLC and related modules, frequency converter, transformer, intelligent voltage regulator, switches, relays, etc.

[0252] It adopts anti-conductive and dustproof measures, with an IP54 protection rating. The control cabinet has an input voltage of 380V and an internal transformer to power 220V electrical equipment. The control cabinet is equipped with an intelligent voltage regulator for the equipment, featuring voltage stabilization, leakage protection, and power failure protection functions.

[0253] 3.3 Integrated Management Software

[0254] The integrated management software adopts a modular design, providing comprehensive basic functions for the system itself, including:

[0255] (1) User identity and permission management module;

[0256] (2) Equipment Management Module;

[0257] (3) Tooling Management Module;

[0258] (4) Program task management module;

[0259] (5) Data storage module;

[0260] (6) Toolchain management module, etc.;

[0261] The toolchain management module includes: a system detection and calibration module; a vision inspection module; a tool management module; a compensation module; and an automatic tool changer module. Users can customize and load the required modules according to their actual production needs.

[0262] 3.3.1 User Identity and Permission Management Module

[0263] The system uses a U-key for user authentication and access control. System administrators, process programmers, and equipment operators have different access permissions and can use different built-in function modules. The user identity and access control module software interface is as follows: Figure 26 As shown.

[0264] For equipment operators, the system is designed to use a barcode scanner to scan the tooling of the product being processed and perform one-click operations according to the task prompts, minimizing the difficulty of operation for the operator.

[0265] For process programmers and system administrators, the system grants them higher privileges, allowing them to unlock advanced functions such as parameter settings, system checks, and program updates.

[0266] 3.3.2 Self-testing module

[0267] The self-test and calibration module includes a self-test submodule and a calibration submodule.

[0268] The self-test submodule includes two submodules: power-on self-test and online monitoring. The power-on self-test submodule executes automatically after the system powers on and before starting any task, performing status checks on the robot, trimming end effector, tool magazine, etc., and promptly alarming if any problems are detected. The monitoring submodule executes continuously online, collecting and recording data from various systems in real time, analyzing and comparing the data, assessing the system's status, issuing warnings and providing emergency handling for abnormal situations, and promptly stopping any actions that may cause damage.

[0269] 3.3.3 Calibration Module

[0270] The calibration module is used to correct relevant parameters according to the system's status, so that the system's performance remains stable and meets the usage requirements.

[0271] The calibration module is mainly responsible for calibrating the parameters of the 3D contour scanner and compensating for robot positioning accuracy.

[0272] The calibration module provides an automated calibration process, which greatly saves system debugging time and reduces debugging difficulty.

[0273] 3.3.4 Visual Inspection Module

[0274] The vision inspection module acquires images of reference features through a 3D laser scanner and performs real-time image processing, feature extraction and recognition. It measures the offset of the machining reference on the actual workpiece and calculates the real-time compensation value of the edge to be repaired.

[0275] 3.3.5 Real-time tool monitoring module

[0276] The real-time tool monitoring module detects, monitors, and evaluates tool wear, breakage, and detachment online, and performs emergency measures such as timely tool replacement and alarms.

[0277] The tool monitoring system detects and judges tool wear, breakage, and detachment by collecting radial force during the milling process in real time and comparing the monitored values ​​with a known set model.

[0278] The monitoring system first learns the energy consumption status of the milling process and establishes a reference model of a typical milling process. When the tool wears, the machining process will consume more energy. When the tool breaks, the energy consumption will briefly fluctuate. If the tool is detached during machining, the energy consumption will be zero. When the monitoring system detects tool breakage or detachment, it will issue a fault message, and the system will immediately stop operating.

[0279] 3.3.6 Tool Management Module

[0280] The tool management module is used to manage tools. It includes a tool database and corresponding processing modules, and can record, query status, and predict life of tools from the time they are shipped out and installed until the tool holder is scrapped.

[0281] The management process for a new knife, from when the staff receives the material to when it is scrapped, is as follows:

[0282] (1) Each knife has a unique ID. New knives are registered in the knife management system database before being put into storage, and corresponding records are established.

[0283] (2) The cutting tool is installed onto the tool holder using a tool mounting device to form a tool assembly. The tool assembly is measured and set by a tool pre-setting instrument, and the data (including tool length, diameter, step angle, etc.) is written into the RFID storage chip on the tool holder (the existing information on the tool holder chip is erased first).

[0284] (3) Tool assembly storage: The system automatically reads the tool ID and compares it with the tool management system. For registered tools, the system reads the data stored in the RFID chip of the tool holder assembly and writes it into the database. The operator places the tool assembly into the slot of the automatic tool changer arm in the tool magazine. The automatic tool changer arm moves, transporting the tool assembly into the tool magazine and placing it in the tool position assigned by the system.

[0285] (4) Tool usage and release: The robot intelligent trimming system selects the correct tool and releases the tool assembly through the tool changing process and installs it on the spindle.

[0286] (5) Tool Use and Storage: During tool use, historical data is written to the database. The real-time tool monitoring system monitors tool wear in real time to determine whether the tool has reached its service life. After use, the tool is returned to storage through the tool replacement process.

[0287] (6) Tool Disposal and Removal: When a tool reaches the end of its service life, a notification will be displayed on the control panel. The operator should follow the notification to remove the corresponding tool assembly from the warehouse. During removal, the data from the RFID chip on the tool holder will be read to ensure the tool information is correct.

[0288] (7) Tool Disposal: Use a tool-loading device to remove the tool from the tool holder. The tool holder can be fitted with a new tool for reuse. Mark the tool as obsolescence and place it in the disposal area.

[0289] 3.3.7 Data Acquisition and Storage Module

[0290] The data acquisition and storage module is used to collect and record the required data, including tooling and workpiece data (identification code, category, status, etc.), system operation status data (system operation log data, etc.).

[0291] 3.3.8 User Customization Module

[0292] The integrated management software can be customized to meet customer needs, enabling functions such as connecting information from other equipment in the workshop and providing data services to all node equipment. It can also connect system data to the existing plant-level information system to solve the problem of information silos among grassroots equipment, realize equipment networking and service modularization, thereby providing conditions for subsequent big data applications (such as process parameter optimization based on big data and deep learning) and intelligent management.

[0293] 3.4 System Control Software

[0294] 3.4.1 PLC Control Software

[0295] The system control software is PLC control software, which collects data from various sensors and controls various actuators according to the processing flow to realize functions such as machining datum alignment, trimming, and tool changing.

[0296] 3.4.2 Interactive Software

[0297] The interactive operation software is the human-machine interface of the PLC, such as... Figure 27 As shown. The system can switch between operating modes; in debugging mode, parameters can be set and actions controlled for each actuator; the system can display the real-time operating status of the assembly system, data from each sensor, and the progress of the work.

[0298] 4. Subsystems

[0299] 4.1 Vacuum dust removal device

[0300] Vacuum dust removal equipment has a chip removal function and is used for chip removal from aluminum, titanium, composite materials, etc., as well as dust removal and purification of composite materials.

[0301] Considering the presence of carbon fiber dust in the chips, an explosion-proof and anti-static pneumatic vacuum cleaner is configured. The following design features contribute to the vacuum cleaner's excellent explosion-proof performance:

[0302] (1) Configure a static-dissipating flexible tube to avoid the generation of static sparks.

[0303] (2) Configure an antistatic explosion-proof filter.

[0304] (3) Powered by compressed air, it requires no power source, has no moving parts, and does not overheat.

[0305] The vacuum dust removal system is compact, easy to integrate, and can operate continuously for extended periods with minimal maintenance. It features a powerful back-flushing system that automatically blows air to clean dust from the filters, protecting the machine and improving work efficiency.

[0306] The vacuum dust removal device has a whole-machine explosion-proof certification certificate issued by a third-party international certification body (EU), which can guarantee that the dust pollution level in the space is lower than the Class 0 requirement of the national standard GB5817-2009. The dust suction port has a diameter of 50mm, and the explosion-proof level meets the requirements of Zone 20. The dust collection system has smoke and dust adsorption or recovery devices to prevent secondary pollution.

[0307] 4.2 Cooling device

[0308] The electric spindle is cooled by a water chiller. A mature water chiller product is selected from the market. This water chiller can ensure that the water temperature is precisely controlled within the optimal operating temperature range of the spindle, so that the spindle can be well protected by temperature control in different room temperature environments.

[0309] 4.3 Tool Magazine

[0310] The external hole system achieves automatic tool changing through the cooperation of the end effector and tool magazine.

[0311] knife magazine Figure 28 As shown, a disc-type tool magazine is used to store tool assemblies, and the tool changing function and tool management are realized under the control of the management and control subsystem.

[0312] The tool magazine includes a tool assembly, a rotary tool head, a tool changing module, an information reading module, and a tool magazine control cabinet.

[0313] 4.3.1 Tool Assembly

[0314] The tool assembly includes a tool holder and a cutting tool, with an integrated RFID storage chip on the tool holder. Different specifications of cutting tools are installed according to the type of rivet on the workpiece. Identification codes are placed on the cutting tools for identification and management.

[0315] The incoming tool assemblies are measured by a tool pre-setting instrument, and the measurement data is written into the RFID storage chip on the tool holder.

[0316] 4.3.2 Information Reading Module

[0317] The main function of the information reading module is to read the tool information stored in the RFID chip of the tool holder assembly, which facilitates tool management and compensation.

[0318] The information reading module and the RFID chip of the tool holder assembly are matched. When the tool assembly is put into storage, the operator holds the tool assembly and aligns the chip with and attaches it to the read / write head installed on the side of the tool magazine. The system automatically reads the stored information.

[0319] 4.3.3 Rotary cutterhead

[0320] The rotary cutter head can be configured with tool assembly positions as needed, such as... Figure 29 As shown.

[0321] 4.3.4 Tool Changer Module

[0322] The tool changing module mainly consists of an automatic tool changing arm and a tool position switching mechanism, such as... Figure 30 As shown.

[0323] 4.3.5 Tool Magazine Control Cabinet

[0324] The tool magazine control cabinet is used to control the tool magazine and complete operations such as tool changing, tool assembly loading, and tool assembly unloading. Operators are strictly prohibited from directly opening the tool magazine door and placing tool assemblies into the tool positions on the rotating tool disc.

[0325] The tool magazine control cabinet and tool magazine are integrated into one unit, which is compact and easy to maintain.

[0326] 4.3.6 Automatic Tool Changer Process

[0327] like Figure 31 As shown, the automatic tool changing process of the drilling system is as follows:

[0328] (1) The system receives the tool change signal and the tool magazine performs a self-check.

[0329] (2) The tool magazine door opens automatically, and the automatic tool changer rotates to the tool change position.

[0330] (3) The robot moves the end effector to the tool change position, inserts the tool assembly into the slot, and then moves it away.

[0331] (4) Rotate the cutter head to reach the tool position assigned to the tool.

[0332] (5) The automatic tool changer moves to send the tool assembly into the tool magazine and into the assigned slot.

[0333] (6) Rotate the cutter head to position the corresponding tool position of the tool assembly to be replaced.

[0334] (7) The automatic tool changer arm moves to send the tool assembly out of the tool magazine and to the tool change position.

[0335] (8) The robot moves with the end effector to the tool change position, loads the tool assembly into the spindle, and pulls the tool away.

[0336] (9) The automatic tool changer rotates to the initial state and the tool magazine door closes automatically.

[0337] 4.4 Test Tool Holder

[0338] like Figure 32 As shown, the system achieves three functions through the test tool holder: automatic test tool, test piece process experiment, and tool calibration.

[0339] Automatic tool testing: The intelligent trimming system verifies the functions, performance, and process flow on the tool testing stand to ensure that the system is working properly; tool testing is also performed on the tool testing stand after installing new tools.

[0340] Test piece process experiment: Before trimming a workpiece made of new material, the intelligent trimming system generally needs to conduct a trimming experiment on a test piece made of the same material to determine the processing parameters.

[0341] Tool calibration: To ensure that the skin is flush with the underlying skeleton after trimming, the intelligent trimming system performs tool calibration on the test tool holder before trimming after tool change, thereby determining the tool tip compensation value, eliminating tool and installation errors, ensuring trimming accuracy, and avoiding damage to the reference.

[0342] 4.5 Tool setter

[0343] To ensure that the skin is flush with the underlying skeleton after trimming, the intelligent trimming system is equipped with an external tool setter to ensure the accurate position of the tool tip during the trimming process, thereby avoiding damage to the reference.

[0344] The core components of a tool setter consist of a high-precision switch (probe), a high-hardness, high-wear-resistant cemented carbide tetrahedron (tool setting probe), and a signal transmission interface. The tetrahedron probe is used to contact the tool and transmits force to the high-precision switch via a flexible support rod mounted beneath it. The on / off signals emitted by the switch are transmitted to the CNC system through the signal transmission interface for tool orientation identification, calculation, compensation, and storage.

[0345] 4.6 Tool Loading Device

[0346] The tool loading device is used for quick manual loading and unloading of tools. It can be manually pressurized according to the pressure specified by the tool holder and the pressure indicator on the device. It is simple and safe to operate.

[0347] By using a general-purpose tool, different sleeves can be replaced to adapt to other specifications of stress-clamping tool holders.

[0348] 4.7 Offline Programming and Simulation Software

[0349] The offline programming and simulation software used is SK-Simulator, an offline programming software independently developed by Shenggong.

[0350] The software consists of a robot parameter interface, a robot simulation simulator, and a post-processor for generating offline programs that can be executed by the robot. It can perform functions such as reading the 3D digital model of the workpiece, extracting and converting model data, converting coordinate systems, automatically generating robot program code, trajectory planning, interference checking, process simulation and optimization, and generating executable code.

[0351] The interactive graphical user interface automatically extracts point information and generates machining path points; it automatically generates the vector direction of path points by calculating the surface features of the parts; it can sort the selected path points according to different sorting rules to generate machining sequences; it can simulate the programming path and loop process in tooling, workpiece, robot, and end effector models, provide warnings for interference and other problems, and provide suggestions for optimizing the system's motion trajectory.

[0352] 4.8 Safety Protection Module

[0353] 4.8.1 Robot Safety Protection Module

[0354] This trimming robot can simultaneously set up to 8 Cartesian and 8 axis-related workspaces. These workspaces can be stacked. The robot only moves within the set and activated workspace range. Its actual position is continuously calculated and monitored according to the pre-set safety parameters. If the monitoring limit or safety parameters are exceeded, the monitoring will respond and the robot will automatically stop, thus providing safety for the equipment and personnel.

[0355] 4.8.2 Safety Controller

[0356] The Flexi Soft safety controller can be configured to read sensor data, receive warning signals, or switch the protected area of ​​a safety laser scanner via an EFI interface. Furthermore, Flexi Soft is suitable for controlling and monitoring a wide range of contact and non-contact safety sensors and actuators, safety door switches, emergency stop devices, two-hand controllers, safety photoelectric switches, safety light curtains, and safety laser scanners.

[0357] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to obtain equivalent embodiments without departing from the scope of the technical solution of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the technical solution of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A robotic intelligent trimming system, characterized by, The robotic intelligent trimming system includes a robot subsystem, a trimming end effector, a management and control subsystem, and auxiliary subsystems, wherein: The robot subsystem includes a robot, a positioning accuracy compensation module, and a quick-change module; The robot includes a robot body, a control cabinet, and a teach pendant; The positioning accuracy compensation module measures the end-effector positioning error under multiple joint configurations within the robot's workspace, establishes a robot kinematic error model, identifies robot kinematic parameter errors, or establishes an error mapping in the robot's Cartesian space or joint space; then, through training with a deep neural network, it establishes an intelligent error compensation model between spatial pose and error, and pre-sets the obtained intelligent error compensation model into the robot compensation algorithm to achieve the estimation and compensation of target point positioning error, thereby improving the robot's absolute positioning accuracy; The quick-change module provides the ability to automatically change the trimming end effector. It consists of two parts: a main side and a tool side. The main side is mounted on the robot, and the tool side is mounted on the trimming end effector. The main side and the tool side are automatically locked together and simultaneously transmit electrical signals, gas, and water. The trimming end effector includes a trimming module, a vision inspection module, an expansion module, and electronic and pneumatic control modules; wherein... The vision inspection module is used to identify the processing datum and calculate the compensation amount for the processing datum error caused by clamping, so as to ensure the positional accuracy of trimming. The vision inspection module includes an image acquisition unit and detection and recognition software. The image acquisition unit is used to capture and acquire images of the processing datum according to process requirements. The image acquisition unit includes a 3D contour scanner and a motion mechanism. The 3D contour scanner uses the laser triangular reflection principle for measurement. The motion mechanism includes a scanner bracket, a connecting plate, a miniature electric turntable, a slide table, and a guide rail. The detection and recognition software controls the 3D contour scanner to complete image acquisition. The host computer performs image preprocessing, reference recognition and deviation calculation, and sends the reference position deviation value to the robot to complete the machining reference alignment and trimming end effector pose adjustment. The image acquisition unit is compatible with the following two compensation methods: (1) Offline compensation: Before trimming, the processing reference is detected by the visual reference detection module, and the trajectory and pose of the robot are compensated according to the processing reference before trimming. (2) Online real-time compensation: During the trimming process, the visual reference detection module measures the features of the workpiece in real time, calculates the trajectory pose compensation value and performs robot pose compensation; The image acquisition unit is divided into two layout methods: reference front and reference rear. Reference in front: The trimming reference is located in front of the edge to be trimmed relative to the trimming end effector; for reference in front working condition, the image acquisition unit is configured with two degrees of freedom, one translation and one rotation, to adapt to two processing modes: offline compensation and online real-time compensation. Rear reference: Relative to the trimming end effector, the trimming reference is located behind the edge to be trimmed; For the rear reference working condition, it is necessary to ensure that the tool end face is tangent to the reference and the edge to be trimmed. Therefore, the spindle is parallel to the reference plane, and the reference position and attitude are fixed relative to the tool. At this time, the image acquisition unit is only configured with one translational degree of freedom. The translational degrees of freedom are implemented as follows: The translational motion precession mechanism uses a servo motor to drive the lead screw to rotate, which in turn drives the slide to move on the guide rail; its drive mechanism is a fully enclosed actuator; the accuracy of the translational degree of freedom is measured by a linear grating ruler and corrected by the control system circuit; The rotational degree of freedom is implemented as follows: The rotational motion drive mechanism is a miniature electric turntable equipped with a servo motor. The miniature electric turntable adopts a worm gear transmission mode, and the rotational freedom is realized under the rotational drive of the miniature electric turntable. The trimming end effector is mounted on the robot via a quick-change module; the trimming end effector is fixed to the spindle; the expansion module provides automatic tool changing, chip suction, and clamping functions; all wires, cables, and pipes are concealed. The management and control subsystem includes an operation console, a system control cabinet, integrated management software, and system control software; The auxiliary subsystems include a vacuum dust removal device, a cooling device, a tool magazine, a test tool holder, a tool setting device, a tool loading device, offline programming and simulation software, and a safety protection module.

2. The robotic intelligent trimming system according to claim 1, characterized in that, The visual inspection module is configured with one or more degrees of freedom to adapt to different benchmarks.

3. The robotic intelligent trimming system according to claim 1, characterized in that, In the trimming end effector: (a) The trimming module includes an electric spindle, a tool clamping device, and a tool, wherein: The electric spindle provides power for the rotation of the tool, and the electric spindle has a closed structure; The tool holder is a high-speed short conical tool holder with a simultaneous positioning method using both the conical surface and the end face. The tool holder is hollow with a taper of 1 / 10. The tool holder is equipped with a forward movement balance adjustment to ensure the dynamic balance of the tool holder. The tool holder has an embedded chip as a storage carrier for tool information to achieve tool management. The cutting tool is an alloy multi-bladed micro-tooth end mill; (ii) The front end of the trimming end effector is equipped with a detachable expansion module, which is used to realize automatic tool changing, chip suction and clamping functions; The drive system of the expansion module uses two independent cylinders, which are respectively fixed to the main body adapter plate of the trimming end effector; The expansion module includes a chip suction module and an independent clamping module; wherein: The chip suction module is equipped with a detachable flexible flared chip suction port at the front end, which can achieve 360° surround of the tool. In the working state, the cylinder pushes the push rod to push out the extension module, and the chip suction port surrounds the tool all around and contacts the product to be trimmed. The chip suction port continuously moves with the tool during the trimming process. In the non-working state, the cylinder push rod retracts, which drives the chip suction module to retract. At this time, the chip suction module does not occupy the front end space. The chip suction module is equipped with an automatic opening and closing mechanism at the front end. When a tool change is required, the cylinder push rod continues to retract, driving the opening and closing mechanism to open, so that the chip suction module separates from the middle, thereby avoiding the tool change path and realizing the automatic tool change function. The independent clamping module is equipped with two clamping heads, each controlled independently by two cylinders. It is equipped with two sets of plungers to keep the surface to be repaired in close contact with the back support during the processing. When the independent clamping module is working, the chip suction port is fixed on the spindle base and a universal tube is used to guide the chip suction port to the chip discharge position.

4. The robotic intelligent trimming system according to claim 1, characterized in that, The offline compensation automated trimming process of the robotic intelligent trimming system is as follows: (1) The vision inspection module adjusts the 3D contour scanner to the corresponding position, and the robot moves along the vision inspection path with the trimming end effector. The 3D contour scanner scans the complete contour of the tooling reference. (2) The algorithm processes and analyzes the contour point cloud obtained by the sensor scanning to obtain the reference surface position and shape information, and performs error detection and compensation. (3) Adjust the end effector posture based on the results of graphic analysis and the kinematic model of the trimming end effector; (4) Complete the current milling task according to the trimming process requirements and cutting allowance; (5) The robot continues to move with the trimming end effector to the starting point of the next milling path, repeating steps (3) and (4) until all milling allowance is removed; (6) The robot carrying the trimming end effector moves along the visual inspection path, and the 3D contour scanner scans the complete contour of the product reference to complete the reference inspection and alignment; (7) Repeat steps (2) to (4) until the chamfering is completed.

5. The robotic intelligent trimming system according to claim 1, characterized in that, The online real-time compensation automated trimming process of the robotic intelligent trimming system is as follows: (1) The vision inspection module adjusts the 3D contour scanner to the corresponding position, the robot moves along the preset path with the trimming end effector, the 3D contour scanner scans the complete contour of the tooling reference, and feeds the data back to the host computer in real time; (2) The algorithm processes and analyzes the contour point cloud obtained by the sensor scanning to obtain the reference surface position and shape information, and performs error detection and compensation. (3) Based on the results of graphic analysis and the kinematic model of the trimming end effector, adjust the end attitude in real time and complete the trimming at the current position while the 3D contour scanner scans the previous reference. (4) Complete the current milling task according to the trimming process requirements and cutting allowance; (5) The robot continues to move with the trimming end effector to the starting point of the next milling path, repeating steps (1) to (4) until all milling allowance is removed; (6) The robot carrying the trimming end effector moves along the visual inspection path, and the 3D contour scanner scans the complete contour of the product reference to complete the reference inspection and alignment; (7) Repeat steps (2) to (4) until the chamfering is completed.

6. The robotic intelligent trimming system according to claim 1, characterized in that, The management and control subsystem is the control center of the robot intelligent trimming system, wherein: The operation console is used for task management, monitoring, and data storage of the robot intelligent trimming system; The system control cabinet is equipped with a PLC module, frequency converter, transformer, intelligent voltage regulator, switch, and relay. The integrated management software includes a user identity and permission management module, an equipment management module, a tooling management module, a program task management module, a data acquisition and storage module, and a toolchain management module; the toolchain management module includes a self-testing and calibration processing module, a calibration module, a vision inspection module, a tool management module, a real-time tool monitoring module, a compensation module, and an automatic tool changer module. The system control software includes PLC control software and interactive operation software.

7. The robotic intelligent trimming system according to claim 1, characterized in that, In the attached subsystem: The vacuum dust removal device has a chip removal function and is used for chip removal from aluminum, titanium, and composite materials, as well as dust removal and purification of composite materials. The cooling device is a water chiller; The tool magazine is used to store tool assemblies and adopts a disc-type tool magazine design. Under the control of the management and control subsystem, it realizes tool changing and tool management functions. The tool magazine includes tool assemblies, a rotating tool disc, a tool changing module, an information reading module, and a tool magazine control cabinet. The test tool holder is used for automatic test tool testing, sample piece process testing, and tool calibration. The tool setting device consists of a probe, a tool setting probe and a signal transmission interface, and is used to identify, calculate, compensate and store the tool direction during the trimming process to ensure the accuracy of the tool tip position and avoid damage to the reference. The tool loading device is used for quick manual loading and unloading of tools; The offline programming and simulation software consists of a robot parameter interface, a robot simulation simulator, and a post-processor for generating offline programs that can be executed by the robot. It is used to complete tasks such as reading the three-dimensional digital model of the workpiece, extracting and converting model data, converting coordinate systems, automatically generating robot program code, trajectory planning, interference checking, process simulation and optimization, and generating executable code. The safety protection module includes a robot safety protection module and a safety controller.

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