移动机器人铣削制孔系统基准检测

结合航空大部件的数字化对接装配需求,设计了一套用于对接面铣削制孔的移动机器人加工系统,并提出具体的加工工艺流程。研究了基于激光轮廓扫描仪的大量散乱点云数据的预处理算法,提出基于栅格法和迭代拟合法的对接面特征提取算法。针对移动机器人加工系统在大场景下的高精度定位问题,提出基于扫描线法和最小二乘法原理的对接基准孔坐标找正算法。通过产品的加工实验验证,对接面铣削和制孔精度满足系统要求的各项技术指标,证明了本文提出的移动机器人铣削制孔系统的装配对接面加工方法能够精确地完成大部件数字化装配任务,对提高装配质量和效率具有重要意义。

Datum Detection of Mobile Robot Milling and Drilling System

According to the requirement of digital assembly for large aeronautical components, a mobile robot machining system for milling and drilling on the docking surface is designed, and the specific machining process is proposed. The preprocessing algorithm of large amount of scattered point cloud data based on laser scanner is studied. A feature extraction algorithm of docking surface based on raster method and iterative fitting method is proposed. Aiming at the problem of high precision positioning of mobile robot machining system in large scene, a coordinate alignment algorithm of docking reference hole based on scanning line method and least square method is proposed. Through the machining experiment verification of aeronautical component, the accuracy of milling and drilling meets all the technical indicators of the system requirements, and proves that the mobile robot milling and drilling system proposed in the paper can accurately complete the digital assembly task of large aeronautical components, and has important significance for improving assembly quality and efficiency.