大型液体火箭喷管冷却通道机器人自动去毛刺系统

Large Liquid Rocket Nozzle Cooling Channel Robot Automatic Deburring System

针对液体火箭发动机喷管冷却通道铣槽毛刺难去除的问题,设计并开发了一套喷管冷却通道机器人自动去毛刺系统。构建了异构系统协同控制体系架构,设计了数据与指令信号可靠传递的接口函数,解决了工业机器人与数控机床的运动协调问题。基于李群李代数理论,建立了火箭喷管去毛刺系统的运动学模型,推导了喷管在机测量数据与去毛刺执行器位姿间的数学关系。使用喷管外廓在机测量数据进行机器人轨迹规划,满足复杂曲面微量去除的机器人轨迹规划要求。通过对某型号喷管进行去毛刺实验并进行打磨前后的关键尺寸测量,表明该系统满足液体火箭发动机喷管冷却通道自动去毛刺的需求。

Aiming at the problem that it is difficult to remove the milling groove burr in the liquid rocket engine nozzle cooling channel,a robot automatic deburring system for nozzle cooling channel is designed and developed.The cooperative control architecture of heterogeneous system is constructed,and the interface function of reliable transmission of data and command signal is designed,which solves the problem of motion coordination between industrial robot and CNC machine tool.Based on the Lie group Lie algebra theory,the kinematics model of the deburring system of the rocket nozzle is established,and the mathematical relationship between the on-machine measurement data of the nozzle and the pose of the deburring actuator is derived.The robot trajectory planning is carried out by using the on-machine measurement data of the nozzle profile,which meets the requirements of robot trajectory planning for micro removal of complex surfaces.Through the deburring experiment of a certain type of nozzle and the key size measurement before and after grinding,it shows that the system meets the need of automatic deburring of liquid rocket engine nozzle cooling channel.