Honeycomb surface automatic shape follow-up processing system and using method thereof

Abstract

The invention discloses an automatic shape follow-up machining system for a honeycomb surface and a using method thereof, and belongs to the technical field of automatic machining equipment. Comprising a ground rail moving device which comprises a ground rail guide rail, a robot base arranged on the ground rail guide rail, a motor for driving the robot base to transversely move along the ground rail guide rail, and a drag chain for protecting a cable; the collaborative robot is installed on the robot base, the tail end of the collaborative robot is provided with a robot-camera-cutter connecting piece, the 3D vision camera is fixed to the robot-camera-cutter connecting piece, and the special cutter is fixed to the robot-camera-cutter connecting piece and used for executing honeycomb hole surface shape follow-up machining operation. The detection platform is used for fixing cellular boards. Through collaborative operation of the collaborative robot, the 3D vision camera and the ground rail, full-process automatic shape follow-up machining is achieved, the operation efficiency is remarkably improved, the method is particularly suitable for a large-batch cellular board machining scene, working hour loss can be reduced, and the labor intensity can be reduced.

Description

Technical Field

[0001] This application belongs to the technical field of automated processing equipment, and particularly relates to a honeycomb surface automatic profiling processing system and its usage method. Background Art

[0002] Honeycomb materials (such as aluminum honeycomb, aramid paper honeycomb, etc.) are widely used in fields such as aerospace and rail transit due to their lightweight, high specific strength, impact resistance, etc. For example, aircraft skins, satellite fairings, and the sandwich structures of high-speed rail carriages.

[0003] For the profiling processing operation on the honeycomb surface, currently, workers hold professional tools, resulting in a large workload and being prone to omissions. The honeycomb holes are densely arranged in a hexagonal pattern, and manual positioning is easily affected by visual fatigue, leading to large processing position deviations, resulting in assembly interference. Moreover, honeycomb cutting will generate fine debris, which is harmful to the health of operators during long-term operations, and tool-like tools are likely to damage the honeycomb structure due to angle deviation.

[0004] In view of these drawbacks, this application proposes a honeycomb surface automatic profiling processing system and its usage method to solve the above problems. Summary of the Invention

[0005] This application provides a honeycomb surface automatic profiling processing system and its usage method, aiming to achieve fully automated profiling processing through the collaborative operation of a collaborative robot, a 3D vision camera, and a ground rail, significantly improving the operation efficiency.

[0006] This application provides a honeycomb surface automatic profiling processing system and its usage method, and the technical solutions adopted are as follows, including: A ground rail moving device, including a ground rail guide, a robot base arranged on the ground rail guide, a motor for driving the robot base to move horizontally along the ground rail guide, and a drag chain for protecting cables; A collaborative robot, installed on the robot base, with a robot-camera-tool connector configured at its end; A 3D vision camera, fixed on the robot-camera-tool connector, for scanning the positioning measurement points of the honeycomb panel and the three-dimensional topography of the area to be processed; A special tool, fixed on the robot-camera-tool connector, for performing honeycomb surface processing operations; A detection platform, for fixing the honeycomb panel and cooperating with the 3D vision camera to achieve spatial coordinate positioning.

[0007] Further, the ground rail guide is a linear guide, and the moving stroke of the collaborative robot along the ground rail guide covers the maximum profiling processing area on the surface of the honeycomb panel.

[0008] Furthermore, the installation position of the special tool forms a preset angle with the field of view axis of the 3D vision camera, and the tool processing direction is aligned with the normal direction of the honeycomb panel surface.

[0009] A method for using an automatic contour following processing system for honeycomb surfaces, comprising the following steps: S1. Position the honeycomb panel: Drive the collaborative robot through the ground rail moving device to drive the 3D vision camera to scan at least 3 positioning measurement points on the honeycomb panel, fit the spatial coordinates of the edge corner points, and complete the overall positioning of the honeycomb panel; S2. Scan the contour following processing area: Based on the positioning result of step S1, perform three-dimensional topography scanning on the area to be processed, and identify the processing position and normal direction of each honeycomb hole end face; S3. Path planning: Calculate the coordinates and normal angles of the positions to be processed for each honeycomb hole according to the scanned data, and generate the operation path of the collaborative robot; S4. Perform contour following processing: The collaborative robot moves along the planned path to the target position and completes the processing operation through a special tool.

[0010] Furthermore, the scanning order of the positioning measurement points in step S1 is as follows: S1.1. Scan 4 corner points in sequence along the edge of the honeycomb panel; S1.2. Determine the attitude and position offset of the honeycomb panel through a spatial coordinate fitting algorithm.

[0011] Advantages of the present application: 1. Through the collaborative operation of the collaborative robot, 3D vision camera and ground rail, the present application realizes full-process automatic contour following processing, significantly improves the operation efficiency, and is especially suitable for large-batch honeycomb panel processing scenarios. Compared with traditional manual operations, it can reduce man-hour losses and labor intensity.

[0012] 2. The present application uses the high-resolution scanning of the 3D vision camera (supporting laser level 2 / 3R) and the collaborative robot, which can accurately identify the three-dimensional topography and normal direction of the honeycomb holes, ensure the accuracy of the contour following processing position and angle, and avoid the problems of missing or incorrect opening.

[0013] 3. By scanning and fitting the spatial coordinates of the honeycomb panel and dynamically planning the robot path, the present application can adapt to honeycomb panels of different sizes and shapes, support the production requirements of multiple varieties and small batches. In addition, the ground rail expands the working range of the robot and improves the space utilization rate.

[0014] 4. The present application adopts a modular design (such as separating the ground rail moving device and the vision positioning device), which is convenient for maintenance and upgrade. The 3D vision camera supports the GigE Vision / GenICam protocol and is easy to integrate with other industrial equipment, and can be extended to more automated scenarios in the future.

[0015] 5. By integrating 3D vision positioning, dynamic path planning, and robot collaborative control technologies, this application proposes a new type of solution for contour machining of honeycomb panels. The unique spatial coordinate fitting algorithm and point cloud data processing method enhance the intelligence level of the system.

[0016] 6. The device of this application reduces the dependence on skilled workers, lowers labor costs, and the automated operation reduces material waste and improves the qualified product rate. Long-term use can significantly reduce the comprehensive production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] For ease of explanation, this application is described in detail by the following specific embodiments and the accompanying drawings.

[0018] Figure 1 is the structural schematic diagram of this application; Figure 2 is the schematic diagram of the device scanning and positioning measurement 1 of this application; Figure 3 is the schematic diagram of the device scanning and positioning measurement 2 of this application; Figure 4 is the schematic diagram of the device scanning and positioning measurement 3 of this application; Figure 5 is the schematic diagram of the device scanning and positioning measurement 4 of this application; Figure 6 is the schematic diagram of the device scanning the contour machining area of this application; Figure 7 is the 3D scanning test effect diagram of the honeycomb surface of this application; Figure 8 is the schematic diagram of the robot contour machining operation of the device of this application.

[0019] In the figure: 1. Ground rail guide; 2. Drag chain; 3. Motor; 4. Robot base; 5. Collaborative robot; 6. Robot-camera-tool connector; 7. Detection platform; 8. Honeycomb panel; 9. Special tool; 10. 3D vision camera. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following are the specific embodiments of this application in combination with the accompanying drawings to further describe the technical solutions of this application, but this application is not limited to these embodiments; in the following description, providing specific details such as specific configurations and components is only to help comprehensively understand the embodiments of this application. Therefore, those skilled in the art should clearly understand that various changes and modifications can be made to the embodiments described here without departing from the scope and spirit of this application. In addition, for clarity and conciseness, the description of known functions and structures is omitted.

[0021] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other.

[0022] As Figure 1 shown in a specific embodiment of an automatic conformal machining system for a honeycomb surface, including: A ground rail moving device, including a ground rail guide 1, a robot base 4 arranged on the ground rail guide 1, a motor 3 for driving the robot base 4 to move horizontally along the ground rail guide 1, and a drag chain 2 for protecting cables; A collaborative robot 5, installed on the robot base 4, with a robot-camera-tool connector 6 configured at the end; A 3D vision camera 10, fixed on the robot-camera-tool connector 6, for scanning the positioning measurement points of the honeycomb panel 8 and the three-dimensional topography of the area to be conformally machined; A special tool 9, fixed on the robot-camera-tool connector 6, for performing the machining operation of the honeycomb holes 8; A detection platform 7, for fixing the honeycomb panel 8 and cooperating with the 3D vision camera 10 to achieve spatial coordinate positioning.

[0023] Specifically, the collaborative robot 5 is a long-arm collaborative robot CRX-10iA / L, with a maximum load of 10 kg, an action reach radius of 1418 mm, and a maximum movement speed of 1000 mm / s.

[0024] Specifically, the 3D vision camera 10 is of the model RulerXR 200, with the following specific features: having a unique CMOS sensor, which can improve the throughput through high-speed 3D measurement; the effective field of view simplifies debugging; reliable and efficient measurement can be carried out on dark and bright surfaces; 3D inspection with laser levels 2 and 3R has high photosensitivity; standardized and cost-effective software integration with GigEVision and GenICam; scalability is achieved through software and function sharing with the Ranger3 3D vision camera.

[0025] Specifically, the ground rail moving device is composed of a ground rail guide 1, a drag chain 2, a motor 3 and a robot base 4. Driven by the motor 3, the robot base 4 can move horizontally along the ground rail guide 1, increasing the working space of the robot; the vision positioning machining device is composed of a collaborative robot 5, a robot-camera-tool connector 6, a detection platform 7, a special tool 9 and a 3D vision camera 10. During the working process, the collaborative robot 5 drives the 3D vision camera 10 to go to a fixed point to scan the corners of the honeycomb panel 8 on the workbench 7, obtain the spatial coordinates of its four measurement points to be measured, and then fit the spatial position and attitude of the honeycomb panel 8, and then calculate the spatial coordinates of the area to be machined and scan it. According to the scanning results, the spatial position and normal of each honeycomb hole to be machined are positioned, and finally the machining work is completed by the special tool 9.

[0026] In other preferred embodiments, the ground rail guide 1 is a linear guide, and the travel of the collaborative robot 5 along the ground rail guide 1 covers the maximum processing area on the surface of the honeycomb panel 8.

[0027] Specifically, compared with multi-axis or curved guides, the linear guide has the characteristics of simple structure and convenient installation, reducing the complexity of the mechanical system and the number of components, thereby reducing the equipment manufacturing cost and maintenance difficulty.

[0028] Specifically, the guide rail travel covers the maximum processing area on the surface of the honeycomb panel. The collaborative robot 5 can cover the full processing area by linear movement without frequent turning back or repositioning.

[0029] In other preferred embodiments, the installation position of the special tool 9 forms a preset angle with the field of view axis of the 3D vision camera 10. The preset angle design allows the robot to synchronously complete the scanning and cutting actions through a single pose adjustment, reducing redundant movement. And the tool processing direction is aligned with the normal direction of the honeycomb panel surface. The normal alignment combined with the robot attitude control ensures that the processing depth and shape meet the preset parameters each time.

[0030] Specifically, the preset angle design between the special tool 9 and the 3D vision camera 10 can ensure that the camera field of view completely covers the target area, avoiding the tool body from blocking the scanning light and ensuring the accurate acquisition of three-dimensional topography data.

[0031] Specifically, the processing direction of the special tool 9 is aligned with the normal direction of the surface of the honeycomb panel 8, making the cutting force perpendicular to the honeycomb surface and avoiding material deformation or edge slip caused by lateral component forces.

[0032] As Figures 2 - 8 shown, a method for using an automatic conformal processing system for honeycomb surfaces includes the following steps: S1. Position the honeycomb panel 8: As Figures 2 to 5 shown, drive the collaborative robot 5 through the ground rail moving device to drive the 3D vision camera 10 to scan at least 4 positioning measurement points on the honeycomb panel 8, and fit the spatial coordinates of the edge corner points to complete the overall positioning of the honeycomb panel 8; Specifically, by scanning more than 4 edge corner points of the honeycomb panel and fitting the spatial coordinates, the spatial attitude and position offset of the honeycomb panel 8 can be accurately obtained. Compared with the traditional manual visual positioning, this algorithm can eliminate the systematic error caused by the tilting or position deviation of the honeycomb panel 8.

[0033] S2. Scan the surface processing area: As Figures 6 - 7 shown, based on the positioning result of step S1, perform three-dimensional topography scanning on the area to be processed, and identify the processing position and normal direction of each honeycomb hole; Specifically, by performing three-dimensional topography scanning to identify the machining positions and normal directions of each honeycomb hole, it can dynamically adapt to the irregularities of the honeycomb surface.

[0034] S3. Path planning: Calculate the machining coordinates and normal angles of each honeycomb hole based on the scanning data, and generate the operation path for the collaborative robot 5. Specifically, generate the optimal operation path based on the scanning data to reduce the robot's idle travel and repeated adjustments.

[0035] S4. Perform conformal machining: As Figure 8 shown, the collaborative robot 5 moves along the planned path to the target position and completes the machining operation through the special tool 9.

[0036] Specifically, the normal alignment design of the special tool 9 combined with the high-precision movement of the robot ensures that the machining depths and widths of each honeycomb hole are consistent.

[0037] Specifically, the scanning order of the positioning measurement points described in step S1 is as follows: S1.1. Scan 4 corner points along the edge of the honeycomb panel 8 in sequence, and enhance the fault tolerance of the system to local occlusion or surface contamination through redundant data (4-point fitting plane). If the scanning of a certain corner point fails, the algorithm can interpolate and recover through the remaining 3 points to avoid the interruption of the overall positioning caused by the failure of a single point.

[0038] S1.2. Determine the attitude and position offset of the honeycomb panel 8 through the spatial coordinate fitting algorithm to support the rapid adaptation of honeycomb panels 8 of multiple sizes.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0040] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0042] Those skilled in the art to which the present application pertains may make various modifications or supplements to the described specific embodiments or use similar means for substitution, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

Claims

1. A honeycomb surface automatic conformal processing system, characterized in that: include: A ground rail moving device, comprising a ground rail guide (1), a robot base (4) arranged on the ground rail guide, a motor (3) for driving the robot base (4) to move laterally along the ground rail guide (1), and a drag chain (2) for protecting cables; A collaborative robot (5) is mounted on a robot base (4) and is provided with a robot-camera-tool connector (6) at the end; A 3D vision camera (10) is fixed on the robot-camera-tool connection member (6) and is used to scan the positioning points of the honeycomb panel (8) and the three-dimensional topography of the area to be processed; A special tool (9) fixed to the robot-camera-tool connection member (6) for performing honeycomb surface processing operations; The detection platform (7) is used to fix the honeycomb panel (8) and cooperate with the 3D vision camera (10) to achieve spatial coordinate positioning.

2. The honeycomb surface automatic conformal processing system according to claim 1, characterized in that: The floor rail guide (1) is a linear guide rail, and the travel of the collaborative robot (5) along the floor rail guide (1) covers the maximum conformal processing area of ​​the surface of the honeycomb panel (8).

3. The honeycomb surface automatic conformal processing system according to claim 1, characterized in that: The installation position of the special tool (9) forms a preset angle with the visual field axis of the 3D vision camera (10), and the tool processing direction is aligned with the surface normal of the honeycomb panel (8).

4. A method for using a honeycomb surface automatic conformal processing system according to any one of claims 1 to 3, characterized in that: The following steps are involved: S1, positioning the honeycomb panel (8): driving the collaborative robot (5) through the ground rail moving device to drive the 3D vision camera (10) to scan at least three positioning measurement points on the honeycomb panel (8), fitting the spatial coordinates of the edge corner points, and completing the overall positioning of the honeycomb panel (8); S2, scanning the conformal processing area: based on the positioning result of step S1, a three-dimensional topography scan is performed on the processing area to identify the processing position and normal direction of each honeycomb hole end face; S3, path planning: Calculate the coordinates of the position to be processed and the normal angle of each honeycomb hole according to the scanning data, and generate the working path of the collaborative robot (5); S4, performing conformal processing: the collaborative robot (5) moves to the target position along the planned path and completes the processing operation using a dedicated tool (9).

5. The method for using the honeycomb surface automatic conformal processing system according to claim 4, characterized in that: The scanning order of the positioning measuring points in step S1 is: S1.1, scanning four corner points along the edge of the honeycomb panel (8) in sequence; S1.

2. Determine the posture and position offset of the honeycomb panel (8) by using a spatial coordinate fitting algorithm.

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