3D Surface Machining Path Planning for Unknown Components
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Solution Overview
Problem
Existing methods for robot-assisted machining of unknown component surfaces, particularly for decontaminating radioactively contaminated components, face challenges such as time-consuming path planning to avoid collisions and inefficiencies in manual or chemical treatments, which are hazardous and environmentally harmful.
Innovation Solution
A method involving three-dimensional scanning to create a virtual representation of the component's geometry, allowing for the planning of a collision-free and efficient virtual trajectory for the machining tool, which is then executed autonomously without user intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If autonomous path planning is performed to avoid collisions on unknown component surfaces, then reliability of surface treatment is improved, but processing time increases significantly
Solution Approach 1:
The system performs preliminary three-dimensional scanning to create a complete geometric model of the component surface before machining begins. This advance knowledge of the surface geometry allows the path planning algorithm to pre-calculate optimal tool trajectories that avoid collisions, eliminating the need for time-consuming real-time adjustments during actual machining operations.
Solution Approach 2:
The invention creates a digital copy or virtual model of the component's surface geometry through 3D scanning. This virtual representation is then used for simulation and path planning, allowing the system to test and optimize tool paths in a virtual environment before executing them on the actual component, thereby reducing real-world processing time while maintaining reliability.
2Adaptability or versatility
If manual surface treatment is performed by personnel with protective gear, then flexibility in handling unknown geometries is improved, but safety risks and operational efficiency deteriorate
Solution Approach 1:
The system enables the machining process to be fully autonomous, with the robot automatically adapting to unknown component geometries through real-time 3D scanning and dynamic path recalculation. The robot serves itself by independently navigating complex surfaces without human intervention, eliminating safety risks to personnel while maintaining the flexibility to handle diverse geometries.
Solution Approach 2:
The invention replaces manual mechanical operations with an automated robotic system equipped with sensors and intelligent control. The robot uses 3D scanning data to automatically adjust its tool paths and avoid collisions, substituting human operators with an autonomous system that provides both safety and adaptability to unknown geometries.
3Ease of operation
If chemical baths are used for decontamination, then ease of operation is improved, but harmful environmental effects and health risks increase
Solution Approach 1:
The invention replaces chemical decontamination methods with mechanical removal using a robotic tool that physically removes contaminants through controlled machining or abrasion. This mechanical approach eliminates the need for harmful chemicals while maintaining ease of operation through automated control, and prevents environmental contamination from chemical waste.
4Productivity
If sandblasting is used for surface treatment, then productivity is improved, but harmful waste generation increases requiring proper disposal
Solution Approach 1:
The system extracts and removes only the necessary surface material or contaminants through precise robotic machining, rather than using sandblasting that generates large amounts of contaminated media. This selective removal approach maintains productivity by directly achieving the desired surface treatment while minimizing waste generation, eliminating the need for disposal of contaminated blasting material.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables reliable, efficient, and autonomous surface processing of components with unknown geometries, reducing time and risk, while avoiding collisions and environmental harm.
Implementation Method 1
One known method is water jet treatment for decontamination, in which the surface is subjected to a high-pressure water jet, cleaning and/or removing contaminants.
Implementation Method 2
In particular, but not exclusively, the tool can be a waterjet tool or a laser ablation tool, with these tools being particularly suitable for forming or separating the surface.
Data Source
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AI summary
The invention relates to a method and a system (1) for machining the surface of a component (2), comprising the steps: a. three-dimensional acquisition of a geometry of the component (2), b. providing a virtual environment in which at least one positioning device (8, 16) for a tool (9) for machining the surface or for the component (2), the tool (9) and the component (2) are represented in virtual form, c. planning at least one virtual trajectory (11) of the tool (9) relative to the component (2) in the virtual environment, d. transmitting information about the virtual trajectory (11) to a control device (13) of the at least one positioning device (8, 16), e. controlling the at least one positioning device (8, 16) according to the information about the virtual trajectory (11) for machining the surface of the component (2).