by Project Leader: Liu Xinjun guide direction: 3.7 large structure movable multi robot collaborative in-situ processing system project No.: 2018yfb1306800 project name: large cabin complex thin-walled components multi robot collaborative in-situ processing technology and system recently, Professor Liu Xinjun of the Department of mechanical engineering of Tsinghua University served as the project leader Breakthrough progress has been made in the national key R & D plan “intelligent robot” special project “multi mobile robot collaborative in-situ processing technology and system for complex thin-walled components of large cabins” led by Beijing satellite manufacturing factory Co., Ltd.
The mobile hybrid processing robot, the key equipment of the innovative research and development of the project, has been applied in the manufacturing of Tianzhou cargo spacecraft products through repeated demonstration, commissioning and reliability verification, and realized the rough machining and final finishing of products.
In order to ensure the overall dimensional tolerance and weld joint accuracy requirements of the cabin section of Tianzhou cargo spacecraft, the front cone section needs to be processed as a whole.
The project team tackles key problems through the integration of software and hardware of the mobile hybrid machining robot system, the optimization of NC machining function, the accuracy compensation of robot real-time working space and other technologies, and goes deep into the front line to fully communicate with the process and operators, Identify the processing risk points one by one, test the state of the equipment and process, repeatedly check the NC processing program, check the detection data, and adjust the optimal cutting parameters in real time, so as to finally ensure the rationality and feasibility of the processing scheme, meet the accuracy requirements of the product after combined processing, and improve the actual processing efficiency.
Compared with the scheme of using large five axis gantry machining center, the mobile hybrid robot does not need to transfer the cabin between machining and welding stations, and the actual cutting time after each inspection is shortened from 30 minutes to 10 minutes, which greatly improves the product processing efficiency.
The effectiveness of this application verification has been affirmed by relevant leaders and model chief engineer.
Subsequently, the project team will continue to carry out various tests and verification experiments of important indicators according to the predetermined plan, steadily promote the smooth implementation of the project and ensure that all development tasks are completed with high quality and on schedule.
“Multi mobile robot collaborative in-situ processing technology and system for complex thin-walled components of large cabins” is combined with the manufacturing needs of medium and large structural components of major national projects such as “manned spaceflight” and “lunar exploration project”.
It is composed of Beijing satellite manufacturing factory Co., Ltd., Tsinghua University, Shanghai Jiaotong University, Harbin University of technology, Nanjing University of Aeronautics and Astronautics, Shenzhen University Wuxi Research Institute of Huazhong University of science and technology, Nanjing Easton robot Engineering Technology Co., Ltd.
and other universities, scientific research institutes, enterprises and institutions cooperate to jointly develop robot processing technology and system, solve the problems of accuracy and efficiency of on-site manufacturing of large structural parts, and boost the ability and level of spacecraft processing and manufacturing in China…
