摘要
移动机器人加工技术为大型航天器舱体的研制提供了一种全新的技术手段。传统的基于数控机床的研制流程,缺乏一种系统性的加工工艺规划框架与方法。为此,文章以大型航天器舱体加工为例,提出了一种移动机器人系统加工过程工艺架构,基于大型舱体研制工艺总流程梳理了面向移动机器人的任务流程,并结合生产现场刀具配送等要求对机器人加工工艺要素进行全面地总结与优化。同时,面向移动机器人加工中精度控制与任务分配等现实需求,对工艺规划过程中的分级精度控制、站位规划及加工空间分区拼接等3个典型问题进行了详细的介绍并给出了具体的解决方案。最终,以某舱体模拟件为加工对象,完成面向移动机器人的加工过程工艺规划的案例验证。结果表明,基于移动机器人的加工工艺能够对大型航天器舱体的高精、高效加工提供技术指导。
Mobile robot processing technology provides a new technical means for the manufacture of large spacecraft capsule.Compared with the traditional manufacturing process based on CNC machine tools,there is a lack of a systematic framework and method for machining process planning.For this reason,taking the processing of large spacecraft capsule as an example,a process architecture of mobile robot system processing is proposed.Based on the overall process flow of large spacecraft capsule manufacturing,the task flow for mobile robots is combed,and the robot processing process elements are comprehensively summarized and optimized according to the requirements of tool distribution at the production site.At the same time,facing the practical needs of precision control and task allocation in mobile robot processing,three typical problems in process planning process,including hierarchical precision control,station planning and processing space partition splicing,are introduced in detail and specific solutions are given.Finally,taking a capsule as the processing object,the case verification of processing planning for mobile robot is completed.The results show that it can provide technical guidance for high-precision and high-efficiency machining of large spacecraft cabin using mobile robots.
作者
刘保荣
杨继之
李海欧
王云鹏
文科
周莹皓
何雨晴
LIU Baorong;YANG Jizhi;LI Haiou;WANG Yunpeng;WEN Ke;ZHOU Yinghao;HE Yuqing(Beijing Spacecrafts,Beijing 100094,CHN;Key Laboratory of Precision/Special Processing and Micro Manufacturing Technology of the Ministry of Education,Dalian University of Technology,Dalian 116024,CHN)
出处
《制造技术与机床》
北大核心
2023年第8期146-154,共9页
Manufacturing Technology & Machine Tool
基金
国家重点研发计划(2019YFA0706700)
精密/特种加工及微制造技术教育部重点实验室开发课题项目(B202201)
国家自然科学基金资助项目(52075533、62003346)。
关键词
大型航天器舱体
移动机器人
工艺架构
工艺规划
large spacecraft capsule
mobile robotic system
process architecture
process planning
