航空结构件机器人磨抛离线编程技术研究  

Research on programming technology for robot grinding of aerospace structural parts

作　　者：李仁政 宋戈 高鑫 秦枭品 刘少睿 赵国波 LI Renzheng;SONG Ge;GAO Xin;QIN Xiaopin;LIU Shaorui;ZHAO Guobo(AVIC Chengdu Aircraft Industrial(Group)Co.,Ltd.,Chengdu 610092,CHN)

机构地区：[1]航空工业成都飞机工业(集团)有限责任公司,四川成都610092

出　　处：《制造技术与机床》2024年第9期43-51,共9页Manufacturing Technology & Machine Tool

摘　　要：针对航空结构件机器人打磨中存在的离线编程过程复杂问题,提出一种基于Catia离线编程的机器人打磨轨迹规划方法,利用自主开发的后置处理软件快速生成打磨程序,通过Vericut开发搭建机器人磨抛仿真环境,通过3D视觉粗标定和探头精确标定的组合标定策略提高工件坐标系的标定精度,并基于标定结果实现磨抛程序和仿真环境的快速调整。将该方法可用于框类航空结构件腹板抛光打磨,试验结果表明,该方法生成的程序能够快速精确完成结构件打磨作业,具有一定的实用性,打磨后零件表面粗糙度Ra为3.2μm,满足打磨要求。In response to the complex offline programming process in robot polishing of aviation structural components,a robot polishing trajectory planning method based on Catia offline programming is proposed,and self-developed post-processing software is used to quickly generate polishing programs.The robot polishing simulation environment is built through Vericut development.The calibration accuracy of the workpiece coordinate system is improved through a combination calibration strategy of 3D visual coarse calibration and probe precise calibration.Based on the calibration results,the polishing program and simulation environment are quickly adjusted.The method was applied to the polishing and polishing of the web plate of frame type aviation structural components.The experimental results showed that the program generated by this method can quickly and accurately complete the polishing operation of structural components,and has a certain practicality.The surface roughness of the polished parts Ra is 3.2μm,which meets the polishing requirements.

关 键 词：机器人打磨 离线编程 后置处理 仿真 标定 

分 类 号：TH164[机械工程—机械制造及自动化]