A honeycomb surface automatic form-following machining system and method of using the same

Abstract

The application discloses a kind of honeycomb surface automatic conformal machining system and its use method, belong to the technical field of automatic processing equipment.It includes: ground rail moving device, including ground rail guide rail, robot base is set on ground rail guide rail, motor for driving robot base moves along ground rail guide rail transversely, and drag chain for cable protection;Collaborative robot is installed on robot base, end is configured with robot-camera-tool connector, 3D vision camera is fixed on the robot-camera-tool connector, special tool is fixed on the robot-camera-tool connector, for executing the surface conformal machining of honeycomb hole, detection platform is used to fix honeycomb plate.The application realizes full-process automatic conformal machining by the collaborative work of collaborative robot, 3D vision camera and ground rail, significantly improves work efficiency, especially suitable for large quantities of honeycomb plate processing scene, can reduce work time loss, reduce labor intensity.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic processing equipment, and particularly relates to a honeycomb surface automatic profiling processing system and a use method thereof. BACKGROUND

[0002] Honeycomb materials (such as aluminum honeycomb, aramid paper honeycomb, etc.) are widely used in the fields of aerospace, rail transportation, etc. due to their lightweight, high specific strength, impact resistance and other characteristics, such as aircraft skin, satellite fairing, high-speed train car sandwich structure, etc.

[0003] For honeycomb surface profiling processing operation, workers currently hold professional cutters, which is a large workload and easy to miss. The honeycomb holes are densely arranged in a hexagonal shape, and manual positioning is easily affected by visual fatigue, resulting in large processing position deviation, assembly interference, and small debris generated by honeycomb cutting, which is harmful to the health of operators in long-term operation, and the cutter tool is easy to damage the honeycomb structure due to angle deviation.

[0004] In view of the above shortcomings, the application provides a honeycomb surface automatic profiling processing system and a use method thereof to solve the above problems. SUMMARY

[0005] The application provides a honeycomb surface automatic profiling processing system and a use method thereof, which aims to realize full-process automatic profiling processing through the cooperative operation of a collaborative robot, a 3D vision camera and a ground rail, and significantly improve the operation efficiency.

[0006] The application provides a honeycomb surface automatic profiling processing system and a use method thereof, which adopts the technical scheme as follows, comprising:

[0007] The ground rail moving device comprises a ground rail guide rail, a robot base arranged on the ground rail guide rail, a motor for driving the robot base to move transversely along the ground rail guide rail, and a drag chain for protecting cables;

[0008] The collaborative robot is installed on the robot base, and the end is configured with a robot-camera-cutter connecting piece;

[0009] The 3D vision camera is fixed on the robot-camera-cutter connecting piece, and is used for scanning the positioning points of the honeycomb plate and the three-dimensional topography of the region to be processed;

[0010] The special cutter is fixed on the robot-camera-cutter connecting piece, and is used for performing honeycomb surface processing operation;

[0011] The detection platform is used for fixing the honeycomb plate and realizing spatial coordinate positioning in cooperation with the 3D vision camera.

[0012] Further, the ground rail is a linear guide rail, and the travel of the collaborative robot moving along the ground rail covers the maximum free-form machining area of the honeycomb plate surface.

[0013] Further, the installation position of the special tool is at a preset angle with the visual axis of the 3D vision camera, and the tool machining direction is aligned with the normal direction of the honeycomb plate surface.

[0014] A use method of a honeycomb surface automatic free-form machining system, comprising the following steps:

[0015] S1, positioning the honeycomb plate: driving the collaborative robot by the ground rail moving device to drive the 3D vision camera to scan at least three positioning measurement points on the honeycomb plate, fitting the spatial coordinates of the edge corner points, and completing the overall positioning of the honeycomb plate;

[0016] S2, scanning the free-form machining area: based on the positioning result of step S1, performing three-dimensional topography scanning on the to-be-machined area, and identifying the machining position and normal direction of each honeycomb hole end face;

[0017] S3, path planning: calculating the to-be-machined position coordinates and normal angle of each honeycomb hole according to the scanning data, and generating the collaborative robot operation path;

[0018] S4, executing free-form machining: the collaborative robot moves to the target position along the planned path, and completes the machining operation through the special tool.

[0019] Further, the scanning order of the positioning measurement points in step S1 is:

[0020] S1.1, sequentially scanning four corner points along the edge of the honeycomb plate;

[0021] S1.2, determining the attitude and position offset of the honeycomb plate through a spatial coordinate fitting algorithm.

[0022] The beneficial effects of the present application are:

[0023] 1. The present application realizes full-process automatic free-form machining through the collaborative operation of the collaborative robot, the 3D vision camera and the ground rail, significantly improves the operation efficiency, and is especially suitable for large-batch honeycomb plate machining scenarios. Compared with traditional manual operation, it can reduce the time loss and reduce the labor intensity.

[0024] 2. The present application adopts high-resolution scanning (supporting laser level 2 / 3R) of the 3D vision camera and the collaborative robot, which can accurately identify the three-dimensional topography and normal direction of the honeycomb hole, ensure the accuracy of the free-form machining position and angle, and avoid the problems of missing opening or mistaken opening.

[0025] 3, The application can adapt to honeycomb plates of different sizes and shapes by scanning and fitting the spatial coordinates of the honeycomb plate and dynamically planning the robot path, supporting multi-variety and small-batch production requirements. In addition, the ground rail expands the working range of the robot and improves the space utilization.

[0026] 4, The application adopts modular design (such as separating the ground rail moving device and the visual positioning device), which is convenient for maintenance and upgrading. The 3D vision camera supports GigE Vision / GenICam protocol, which is easy to integrate with other industrial equipment, and can be extended to more automation scenarios in the future.

[0027] 5, The application proposes a new honeycomb plate conformal machining solution by integrating 3D visual positioning, dynamic path planning and robot collaborative control technology, and a unique spatial coordinate fitting algorithm and point cloud data processing method, which improves the intelligent level of the system.

[0028] 6, The device of the application reduces the dependence on skilled workers, reduces labor costs, and reduces material waste through automatic operation, improves the yield, and significantly reduces the comprehensive production cost in the long run. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to facilitate the description, the application is described in detail by the following specific implementation and drawings.

[0030] Figure 1 is a structural schematic diagram of the application;

[0031] Figure 2 is a schematic diagram of the device scanning positioning measurement 1 of the application;

[0032] Figure 3 is a schematic diagram of the device scanning positioning measurement 2 of the application;

[0033] Figure 4 is a schematic diagram of the device scanning positioning measurement 3 of the application;

[0034] Figure 5 is a schematic diagram of the device scanning positioning measurement 4 of the application;

[0035] Figure 6 is a schematic diagram of the device scanning conformal machining area of the application;

[0036] Figure 7 is a honeycomb surface 3D scanning test effect diagram of the application;

[0037] Figure 8 is a schematic diagram of the device robot conformal machining operation of the application.

[0038] In the figure: 1, ground rail; 2, drag chain; 3, motor; 4, robot base; 5, collaborative robot; 6, robot-camera-tool connecting piece; 7, detection platform; 8, honeycomb plate; 9, special tool; 10, 3D vision camera. DETAILED DESCRIPTION

[0039] The following is a specific embodiment of the present application and further describes the technical solutions of the present application in conjunction with the drawings, but the present application is not limited to these embodiments; in the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of the embodiments of the present application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, in order to be clear and concise, the description of known functions and structures is omitted.

[0040] It should be noted that the embodiments and features in the embodiments can be combined with each other without conflict.

[0041] As shown in a specific embodiment of a honeycomb surface automatic contour machining system, comprising: Figure 1 Ground rail moving device, including ground rail 1, robot base 4 arranged on ground rail 1, motor 3 driving robot base 4 to move transversely along ground rail 1, and drag chain 2 for protecting cables;

[0042] Collaborative robot 5, mounted on robot base 4, with robot-camera-tool connecting piece 6 at the end;

[0043] 3D vision camera 10, fixed on the robot-camera-tool connecting piece 6, used for scanning the positioning points of the honeycomb plate 8 and the three-dimensional topography of the area to be contoured machined;

[0044] Special tool 9, fixed on the robot-camera-tool connecting piece 6, used for performing honeycomb hole 8 machining;

[0045] Detection platform 7, used for fixing honeycomb plate 8 and cooperating with 3D vision camera 10 to realize spatial coordinate positioning.

[0046] Specifically, the collaborative robot 5 is a long-arm collaborative robot CRX-10iA / L, with a maximum load of 10 kg, an action reachable radius of 1418 mm, and a maximum motion speed of 1000 mm / s.

[0047]

[0048] ​Specifically, the 3D vision camera 10 model is RulerXR 200, and its specific features are as follows: it has a unique CMOS sensor that can increase processing throughput through high-speed 3D measurement; the effective field of view simplifies debugging; it can perform reliable and efficient measurements on dark and shiny surfaces; 3D inspection with laser levels 2 and 3R has high light sensitivity; standardized and cost-effective software integration with GigEVision and GenICam; and scalability is achieved by sharing software and functions with the Ranger3 3D vision camera.

[0049] Specifically, the ground rail moving device consists 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 laterally along the ground rail guide 1, thereby increasing the robot's working space; the visual positioning processing device consists 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 operation, the collaborative robot 5 drives the 3D vision camera 10 to a fixed point to scan the corners of the honeycomb panel 8 on the workbench 7, obtain the spatial coordinates of its four measured points, and then fit the spatial position and posture of the honeycomb panel 8, and then calculate the spatial coordinates of the area to be processed and scan it. According to the scanning results, the spatial position and normal phase of each honeycomb hole to be processed are positioned, and finally the processing work is completed by the special tool 9.

[0050] In other preferred embodiments, the floor rail guide 1 is a linear guide rail, and the movement stroke of the collaborative robot 5 along the floor rail guide 1 covers the maximum processing area of ​​the surface of the honeycomb panel 8.

[0051] Specifically, compared with multi-axis or curved guides, linear guides have the characteristics of simple structure and easy installation, reducing the complexity and number of parts of the mechanical system, thereby reducing the manufacturing cost and maintenance difficulty of the equipment.

[0052] Specifically, the guide rail travel covers the maximum processing area of ​​the honeycomb panel surface, and the collaborative robot 5 can cover the entire processing area through linear movement without frequent turning back or repositioning.

[0053] In other preferred embodiments, the dedicated tool 9 is mounted at a preset angle to the field of view of the 3D vision camera 10. This angle allows the robot to simultaneously complete scanning and cutting actions with a single position adjustment, reducing redundant motion. Furthermore, the tool's machining direction is aligned with the normal to the honeycomb panel surface. This normal alignment, combined with the robot's posture control, ensures that each machining depth and shape meets preset parameters.

[0054] Specifically, the preset angle design between the special tool 9 and the 3D vision camera 10 can ensure that the camera's field of view completely covers the target area, avoid the tool body blocking the scanning light, and ensure the accurate acquisition of three-dimensional morphology data.

[0055] Specifically, the processing direction of the special tool 9 is aligned with the surface normal of the honeycomb panel 8, so that the cutting force is perpendicular to the honeycomb surface, avoiding material deformation or edge slippage caused by lateral force components.

[0056] like Figure 2-Figure 8 As shown, a method for using a honeycomb surface automatic conformal processing system includes the following steps:

[0057] S1, positioning the honeycomb panel 8: Figures 2 to 5 As shown, the collaborative robot 5 is driven by 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, fit the spatial coordinates of the edge corner points, and complete the overall positioning of the honeycomb panel 8;

[0058] Specifically, by scanning more than four edge corner points of the honeycomb panel and fitting the spatial coordinates, the spatial posture and position offset of the honeycomb panel 8 can be accurately obtained. Compared with traditional manual visual positioning, this algorithm can eliminate the systematic errors caused by the tilt or position deviation of the honeycomb panel 8.

[0059] S2, Scan the surface processing area: Figure 6-7 As shown, 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;

[0060] Specifically, the processing position and normal direction of each honeycomb hole are identified through three-dimensional topography scanning, which can dynamically adapt to the irregularities of the honeycomb surface.

[0061] S3, path planning: Calculate the processing coordinates and normal angles of each honeycomb hole based on the scan data, and generate the working path of the collaborative robot 5;

[0062] Specifically, the optimal working path is generated based on the scanning data to reduce the robot's idle travel and repeated adjustments.

[0063] S4, perform conformal processing: Figure 8 As shown, the collaborative robot 5 moves to the target position along the planned path and completes the processing operation through the dedicated tool 9.

[0064] Specifically, the normal alignment design of the special tool 9 is combined with the high-precision movement of the robot to ensure that the processing depth and width of each honeycomb hole are consistent.

[0065] Specifically, the scanning order of the positioning measurement points in step S1 is:

[0066] S1.1. Scan four corner points along the edge of the honeycomb panel 8 in sequence. Redundant data (a four-point fitted plane) enhances the system's tolerance to local occlusion or surface contamination. If a corner point fails to be scanned, the algorithm recovers by interpolating the remaining three points, avoiding overall positioning interruptions caused by a single point failure.

[0067] S1.2. Determine the posture and position offset of the honeycomb panel 8 through a spatial coordinate fitting algorithm, and support rapid adaptation of honeycomb panels 8 of multiple sizes.

[0068] 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 "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0069] In the description of this application, it should be understood that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this 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 understood as a limitation on this application.

[0070] Furthermore, 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 number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0071] Those skilled in the art may make various modifications or additions to the described embodiments or replace them with similar methods without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A method for using a honeycomb surface automatic conformal processing system, characterized in that: include: A ground rail moving device comprises 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 its end; A 3D vision camera (10) is fixed on the robot-camera-tool connector (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 connector (6) for performing honeycomb surface processing operations; A detection platform (7) is used to fix the honeycomb panel (8) and cooperate with the 3D vision camera (10) to achieve spatial coordinate positioning; The installation position of the special tool (9) is at a preset angle to 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); The method of use comprises the following steps: 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); The scanning order of the positioning measurement points in step S1 is: S1.1, scan four corner points along the edge of the honeycomb panel (8) in sequence; S1.2, determining the posture and position offset of the honeycomb panel (8) by a spatial coordinate fitting algorithm; 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 based on the scan data, and generate the collaborative robot (5) operation path; S4. Perform 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).

2. The method for using 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 movement stroke of the collaborative robot (5) along the floor rail guide (1) covers the maximum conformal processing area of ​​the honeycomb panel (8) surface.

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