公开(公告)号：US20160349730A1

公开(公告)日：2016-12-01

申请号：US15166447

申请日：2016-05-27

Applicant: CESSNA AIRCRAFT COMPANY

Inventor： DARREN FAIR ,  AUSTIN GARBERS

IPC: G05B19/402

CPC classification number: B25J9/1687 ,  B25J9/1612 ,  B25J9/1697 ,  G05B2219/31068 ,  Y02P90/04 ,  Y10S901/09 ,  Y10S901/31 ,  Y10S901/47

Abstract: Embodiments of the present disclosure include a robotic method for processing an aircraft component that includes determining feature positions by illuminating with light, imaging the reflected light with a camera, and processing images from the camera. The method further includes determining a position offset of the features by comparing to a model of the aircraft component, determining a path offset for movement by a robot arm, and modifying the aircraft component using a processing tool coupled to the robot arm. A robotic system for processing an aircraft component includes a light emitting device and a camera configured for respectively illuminating and imaging features of an aircraft component, a gripper tool for gripping and moving the aircraft component to a workstation, a processing tool for modifying the aircraft component, and a controller to control the light emitting device, camera, gripper tool, workstation, and processing tool to modify the aircraft component.

Abstract translation: 本公开的实施例包括用于处理飞行器部件的机器人方法，其包括通过用光照射确定特征位置，用相机对反射光成像，以及处理来自相机的图像。 该方法还包括通过与飞行器部件的模型进行比较来确定特征的位置偏移，确定由机器人手臂移动的路径偏移，以及使用耦合到机器人手臂的处理工具来修改飞行器部件。 用于处理飞机部件的机器人系统包括：发光装置和被配置为分别照射和成像飞行器部件的特征的照相机，用于将飞行器部件夹持并移动到工作站的夹持器工具，用于修改飞行器部件的处理工具 以及用于控制发光装置，照相机，夹具工具，工作站和加工工具的控制器来修改飞行器部件。