火箭燃料贮箱零件焊接前处理机器人自动打磨技术研究  

Research on Robot Automatic Grinding Technology for Welding Pretreatment of Rocket Fuel Tank Components

作　　者：丁一 董吉义 李明洋 彭祺擘[3] 董为[1] 吴冬梅[1] 高永卓 DING Yi;DONG Jiyi;LI Mingyang;PENG Qibo;DONG Wei;WU Dongmei;GAO Yongzhuo(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China;Shanghai Aerospace Equipment Manufacturing General Factory Co.,Ltd.,Shanghai 200245,China;China Astronaut Research and Training Center,Beijing 100094,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001 [2]上海航天设备制造总厂有限公司,上海200245 [3]中国航天员科研训练中心,北京100094

出　　处：《航空制造技术》2025年第4期103-111,共9页Aeronautical Manufacturing Technology

基　　金：军委装备发展部“慧眼行动”项目(A06AB525)。

摘　　要：随着科学技术的迭代进步,传统制造业逐渐以工业机器人为核心开展智能制造。由于火箭贮箱零件具有大型薄壁、结构多样、尺寸不一等特点,目前的生产方式大多采用工人手动加工的方式,其效率较为低下。为解决以上难点,以火箭燃料贮箱零件焊接前处理方法为研究对象,设计了从扫描、规划到执行的机器人自动打磨技术方案。借助手眼标定与坐标变换方法得到加工区域点云与机器人基坐标系的位姿关系,提出了一种边缘包围盒提取的点云拼接方法,采用基于边缘曲度的窗口算法进行角点检测,最终根据加工轨迹规划结果完成零件焊前处理的机器人自动打磨试验,保证了打磨质量与效率,取得了较好的应用效果。With the iterative progress of science and technology,the traditional manufacturing industry is gradually shifting to centering on industrial robots as the core to carry out intelligent manufacturing.Due to the characteristics of large thin-walled,diverse structures,and varying sizes of rocket storage tank parts,most of the current production methods are manual processing,which is relatively inefficient.In order to solve the above difficulties,taking the pre-welding treatment method of rocket fuel storage tank parts as the research object,a robot automatic grinding technology scheme from scanning,planning to execution is designed.The pose relationship between the point cloud in the machining area and the robot base coordinate system was obtained by means of hand–eye calibration and coordinate transformation.A point cloud splicing method was proposed to extract the edge surrounding box,and corner detection was carried out using the window algorithm based on the edge curvature.Finally,the robot automatic grinding experiment of pre-welding processing of parts was completed according to the machining trajectory planning results,ensuring the grinding quality and efficiency.It has obtained a good application effect.

关 键 词：火箭贮箱 焊接前处理 机器人打磨 点云处理 轨迹规划 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]