The invention belongs to the technical field of aircraft assembly and discloses a robot edge milling path planning system and method based on global measurement. Through global measurement of the workpiece, the actual three-dimensional digital model is obtained, the actual three-dimensional digital model and the theoretical digital model are subjected to Boolean intersection to calculate a to-be-machined area or two workpieces needing to be assembled are scanned for virtual assembly, and the to-be-machined area is calculated; a robot path in the to-be-machined area is planned to obtain an edge milling path of the robot machining workpiece. The method does not depend on a theoretical digital model to plan a robot machining track, a problem that the machining allowance of a wallboard assembly or a large skin assembled into a box section is uncertain can be solved, calibration machining is conducted on a machining area through global measurement, final machining allowance precision is guaranteed, and therefore final high-precision assembly is achieved.

    本发明属于飞机装配技术领域,公开了一种基于全局测量的机器人铣边路径规划系统及方法,通过全局测量对工件进行测量得出实际三维数模,并将实际三维数模与理论数模布尔求交计算出待加工区域或者对两个需要装配的工件进行扫描进行虚拟装配,计算出待加工区域。通过对待加工区域进行机器人路径的规划得到机器人加工工件的铣边路径。该方法不依赖理论数模进行机器人加工轨迹的规划,能够解决已装配成盒段的壁板类组件或者大型蒙皮的加工余量不确定的问题,通过采用全局测量对加工区域进行校准加工,保证最终的加工余量精度,从而实现最终的高精度装配。


    Access

    Download


    Export, share and cite



    Title :

    Robot edge milling path planning system and method based on global measurement


    Additional title:

    一种基于全局测量的机器人铣边路径规划系统及方法


    Contributors:
    GAN ZHICHAO (author) / CUI JINGJING (author) / ZHANG MINGHUA (author) / YANG XINPENG (author) / LI MING (author) / HE XIPENG (author) / ZHANG YURU (author)

    Publication date :

    2021-04-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



    Aircraft skin feature recognition and edge milling path planning method and system

    WANG SIJIA / WU NAN / QU XINGYU et al. | European Patent Office | 2023

    Free access

    Automatic Path Planning for Door-Milling Application Using an Industrial Robot

    Berntsen, Kai Egil / Bertheussen, André Bleie | BASE | 2018

    Free access

    Global Path Planning for Ability Storm Robot

    Chen, J. / Shen, J. / Ying, J. | British Library Online Contents | 2012



    Robot Global Path Planning Based on Improved Second-Order PSO Algorithm

    Li, Juan / Su, Jinyu | British Library Conference Proceedings | 2022