CN111890374A - Automatic hole making system of omnidirectional mobile robot - Google Patents
Automatic hole making system of omnidirectional mobile robot Download PDFInfo
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- CN111890374A CN111890374A CN202010546341.4A CN202010546341A CN111890374A CN 111890374 A CN111890374 A CN 111890374A CN 202010546341 A CN202010546341 A CN 202010546341A CN 111890374 A CN111890374 A CN 111890374A
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- control cabinet
- vehicle body
- hole making
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic hole making system of an omnidirectional mobile robot, which comprises six industrial robots, an end effector, a robot omnidirectional mobile platform and a robot control cabinet, wherein the six industrial robots are arranged on the end effector; the six-axis industrial robot and the robot control cabinet are fixedly arranged on the upper end surface of the robot omnidirectional moving platform; the end effector is arranged on a flange plate of the six-axis industrial robot; the robot omnidirectional mobile platform comprises a vehicle body, a spiral lifting system, a grounding upright post and a vision sensor; the vision sensor is arranged on the side surface of the vehicle body; the spiral lifting systems are arranged on the front side and the rear side of the bottom surface of the vehicle body; the grounding upright post is arranged on the bottom surface of the vehicle body; the robot control cabinet is connected with the six-axis industrial robot. Through the arrangement, the robot can flexibly lift and move in a limited space, and the hole making range and the application range of the robot are expanded.
Description
Technical Field
The invention belongs to the technical field of digital assembly robots, and particularly relates to an automatic hole making system of an omnidirectional mobile robot.
Background
Under the promotion of digital technology, the aircraft assembly technology develops rapidly, has formed the digital assembly mode of modern aircraft, and concrete technology embodies: the automatic assembly method comprises the following steps of flexible automatic positioning technology of airplane parts, automatic drilling and riveting technology of connecting holes, digital on-line detection technology, automatic logistics technology and the like, wherein the technologies are integrated to form an automatic assembly production line, and automatic assembly of airplane products is completed. Because aircraft products are complicated and large in size, a large amount of work is occupied in the whole automatic assembly process in the hole making process, and the requirements of the new generation of aircraft on service life, stealth and high reliability cannot be met in the hole making precision and the hole making efficiency by the traditional manual hole making mode. In the production field, the manual hole making mode is mainly adopted, and some special hole making robot systems are adopted in an auxiliary mode. On the other hand, for a flexible assembly production line of a digital airplane, a traditional hole-making robot system mainly adopts a mode of fixing on a tool, transmitting external power traction or utilizing a linear guide rail to realize the movement of the robot, the working range of a joint arm of the hole-making robot system also can not reach the hole-making requirement of a large-sized component, and the modes not only increase the cost input, but also influence the production efficiency. Meanwhile, the hole making system of the robot mostly adopts a manual mode to complete a tool changing process, the hole making efficiency of the robot is influenced, and the potential safety hazard of a person can be increased. Furthermore, the large number of precision parts of the aircraft are fixed to special tools and are not allowed to move during the hole making, and the working space around them is very limited, which makes the traditional robotic hole making system difficult to serve in most situations.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic hole making system of an omnidirectional mobile robot, which is characterized in that six industrial robots are arranged on an omnidirectional mobile platform of the robot and are driven to be matched with a product mobile platform on a flexible assembly production line of a digital airplane, so that the flexible lifting and moving in a limited space are realized, the hole making range and the application range of the robot are expanded, the hole making precision and the hole making efficiency are not reduced by the use of the omnidirectional mobile platform of the robot, and the automatic hole making system of the omnidirectional mobile robot can better adapt to the conditions of multiple areas, multiple stations, limited space and the like in the automatic assembly production line of the airplane.
The specific implementation content of the invention is as follows:
the invention provides an automatic hole making system of an omnidirectional mobile robot, which is arranged on a flexible assembly production line of an airplane and is matched with a product moving platform for working; the automatic hole making system of the omnidirectional mobile robot comprises six-axis industrial robots, an end effector, a robot omnidirectional mobile platform and a robot control cabinet; the six-axis industrial robot and the robot control cabinet are fixedly arranged on the upper end surface of the robot omnidirectional moving platform; the end effector is arranged on a flange plate of the six-axis industrial robot;
the robot omnidirectional mobile platform comprises a vehicle body, a spiral lifting system, a grounding upright post and a vision sensor;
the vision sensor is arranged on the side surface of the vehicle body; the spiral lifting systems are arranged on the front side and the rear side of the bottom surface of the vehicle body; the grounding upright post is arranged on the bottom surface of the vehicle body;
the robot control cabinet is connected with the six-axis industrial robot and used for controlling the six-axis industrial robot to run.
In order to better implement the invention, further, the spiral lifting system comprises a spiral lifter which is installed in the vehicle body and a lifting main shaft penetrates through the upper end surface of the vehicle body, and a Mecanum wheel which is connected with the lower end of the lifting main shaft of the spiral lifter.
In order to better realize the invention, the robot control system further comprises a main control cabinet and a hanging screen, wherein the main control cabinet is connected with the robot control cabinet, is arranged on the upper end surface of the vehicle body and is used for controlling the robot control cabinet to control the six-axis industrial robot, and the hanging screen is connected with the main control cabinet and is used for manually inputting instructions to the main control cabinet and displaying the working condition of the main control cabinet; the main control cabinet is also connected with the spiral lifter and is used for controlling the lifting of a main shaft of the spiral lifter.
In order to better realize the invention, the dust collector also comprises a dust collector, wherein the dust collector is arranged on the upper end surface of the vehicle body and is connected with the main control cabinet, and a dust collection pipe of the dust collector is connected with the end effector and is used for cleaning dust generated during absorption operation.
In order to better realize the six-axis industrial robot cooling system, the six-axis industrial robot cooling system further comprises a spindle cooling system, wherein the spindle cooling system is installed on the upper end face of the vehicle body and is connected with the main control cabinet, and the spindle cooling system is used for cooling the six-axis industrial robot.
In order to better implement the invention, the six-axis industrial robot lubricating device further comprises a lubricating device, wherein the lubricating device is installed on the upper end face of the vehicle body and is connected with the main control cabinet, and the lubricating device is used for lubricating the six-axis industrial robot.
In order to better implement the invention, the six-axis industrial robot further comprises a tool storage device which is arranged on the upper end face of the vehicle body and is used for storing various tools provided for the six-axis industrial robot.
In order to better realize the invention, three grounding upright columns are further arranged, the three grounding upright columns are respectively arranged on the left side and the right side of the bottom surface of the vehicle body in a triangular shape, two grounding upright columns are symmetrically arranged on one side, and one grounding upright column is arranged on the other side.
In order to better implement the invention, the vehicle body further comprises a winder, wherein the winder is mounted on the upper end face of the vehicle body and used for tidying the overlong wires of each module.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) flexible lifting and moving in a limited space are realized;
(2) the hole making range and the application range of the robot are expanded;
(3) the hole drilling precision and the hole drilling efficiency are realized, and the hole drilling precision and the hole drilling efficiency are not reduced due to the use of the omnidirectional mobile platform of the robot.
Drawings
FIG. 1 is a schematic perspective view of the system of the present invention;
FIG. 2 is a left side view of the system of the present invention;
fig. 3 is a schematic perspective view of the omnidirectional mobile robot platform of the system of the present invention.
Wherein: : 1. the robot comprises six industrial robots, 2, an end effector, 3, a robot omnidirectional moving platform, 4, a cutter storage device, 5, a main shaft cooling system, 6, a robot control cabinet, 7, a lubricating device, 8, a dust collector, 9, a hanging screen, 10, a winder, 11, a main control cabinet, 12, a vehicle body, 13, a spiral lifting system, 14, a grounding upright post, 15, a visual sensor, 301, a Mecanum wheel, 302 and a spiral lifter.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
the invention provides an automatic hole making system of an omnidirectional mobile robot, which is arranged on a flexible assembly production line of an airplane and is matched with a product moving platform for working; as shown in fig. 1, 2 and 3, the omnidirectional moving robot automatic hole making system comprises a six-axis industrial robot 1, an end effector 2, a robot omnidirectional moving platform 3 and a robot control cabinet 6; the six-axis industrial robot 1 and the robot control cabinet 6 are fixedly arranged on the upper end surface of the robot omnidirectional moving platform 3; the end effector 2 is arranged on a flange of the six-axis industrial robot 1;
the robot omnidirectional moving platform 3 comprises a vehicle body 12, a spiral lifting system 13, a grounding upright post 14 and a vision sensor 15;
the vision sensor 15 is mounted on the side surface of the vehicle body 12; the spiral lifting systems 13 are arranged on the front side and the rear side of the bottom surface of the vehicle body 12; the grounding upright 14 is arranged on the bottom surface of the vehicle body 12;
the robot control cabinet 6 is connected with the six-axis industrial robot 1 and used for controlling the operation of the six-axis industrial robot 1.
In order to better implement the present invention, further, the spiral lifting system 13 includes a spiral lifter 302 installed in the car body 12 and having a lifting spindle penetrating through an upper end surface of the car body 12, and a mecanum wheel 301 connected to a lower end of the lifting spindle of the spiral lifter 302.
In order to better realize the invention, the robot control system further comprises a main control cabinet 11 and a hanging screen 9, wherein the main control cabinet 11 is connected with the robot control cabinet 6, is installed on the upper end surface of the vehicle body 12 and is used for controlling the robot control cabinet 6 to control the six-axis industrial robot 1, and the hanging screen 9 is connected with the main control cabinet 11 and is used for manually inputting instructions to the main control cabinet 11 and displaying the working condition of the main control cabinet 11; the main control cabinet 11 is further connected to the screw elevator 302, and is configured to control the main shaft of the screw elevator 302 to ascend and descend.
In order to better implement the invention, the dust collector 8 is further included, the dust collector 8 is mounted on the upper end surface of the vehicle body 12 and connected with the main control cabinet 11, and a dust collection pipe of the dust collector 8 is connected with the end effector 2 and used for cleaning dust generated during absorption operation.
In order to better implement the present invention, the six-axis industrial robot further includes a spindle cooling system 5, wherein the spindle cooling system 5 is installed on an upper end surface of the vehicle body 12 and connected to the main control cabinet 11, and the spindle cooling system 5 is used for cooling the six-axis industrial robot 1.
In order to better implement the invention, the six-axis industrial robot further comprises a lubricating device 7, wherein the lubricating device 7 is installed on the upper end face of the vehicle body 12 and is connected with the main control cabinet 11, and the lubricating device 7 is used for lubricating the six-axis industrial robot 1.
In order to better implement the present invention, further, a tool storage device 4 is further included, and the tool storage device 4 is installed on the upper end surface of the vehicle body 12 and is used for storing various tools provided for the six-axis industrial robot 1.
In order to better implement the present invention, three grounding pillars 14 are further provided, the three grounding pillars 14 are respectively installed at the left and right sides of the bottom surface of the vehicle body 12 in a triangular shape, two grounding pillars 14 are symmetrically installed at one side, and one grounding pillar 14 is installed at the other side.
In order to better implement the invention, the invention further comprises a winder 10, wherein the winder 10 is arranged on the upper end face of the vehicle body 12 and is used for arranging the overlong electric wires of each module.
The working principle is as follows: the automatic hole making system of the omnidirectional moving type robot comprises a six-axis industrial robot 1, an end effector 2, a robot omnidirectional moving platform 3, a cutter storage device 4, a main shaft cooling system 5, a robot control cabinet 6, a lubricating device 7, a dust collector 8, a hanging screen 9, a winder 10 and a main control cabinet 11. The robot omnidirectional moving platform 3 is composed of a vehicle body 12, a spiral lifting system 13, a grounding upright post 14 and a vision sensor 15. The spiral lifting system 13 is composed of Mecanum wheels 301, spiral lifters 302, a servo motor and a storage battery, the vision sensor 15 is installed in the middle of the side face of the vehicle body 12, and the grounding upright 14 is installed at the bottom of the vehicle body. The six-axis industrial robot 1, the tool storage device 4, the main shaft cooling system 5, the robot control cabinet 6, the lubricating device 7, the dust collector 8, the hanging screen 9, the winder 10 and the control cabinet 11 are arranged on the robot omnidirectional moving platform 3. The end effector 2 is mounted on a flange of the six-axis industrial robot 1.
When the robot omnidirectional moving platform 3 is used for bearing the robot automatic hole making system and moves to a designated working position, the whole omnidirectional moving type robot automatic hole making system is supported by the four Mecanum wheels 301, the Mecanum wheels 301 descend under the action of the spiral lifter 302, tracking belts laid on the ground are identified through the vision sensor 15, and the robot omnidirectional moving platform moves according to a planned path. Meanwhile, in the moving process, the robot omnidirectional moving platform 3 reaches a designated working position according to a positioning point on a tracking belt and is fixed by the three grounding upright posts 14, so that the influences caused by uneven ground on site and working vibration of the robot are overcome, and the working posture of a vehicle body is not influenced.
After the omni-directional mobile robot automatic hole making system reaches a designated position and is fixed, the mecanum wheel 301 is raised by the screw elevator 302. And the six-axis industrial robot 1 drives the end effector 2 to move to the calibration test component by using a control instruction, a tool TCP point and a system origin are calibrated, and a coordinate relation between a product and the system is established. And then moving to the drilling position according to the processing program, measuring and adjusting the normal vector of the hole position, and driving the pressure foot to compress the product. And finally, drilling, and simultaneously extracting scraps generated by processing until the drilling on the product at the station is completely finished. After the drilling work is finished, the six-axis industrial robot 1 returns to a non-working state, the control system 11 sends a corresponding signal to the robot omnidirectional moving platform control system to control the robot omnidirectional moving platform control system to move to a process and a station analyzed according to an application occasion, and therefore the cross-region multi-station automatic precise hole drilling of the airplane can be finished. The invention greatly improves the hole making efficiency and the assembling quality, enlarges the application range of hole making work, can better adapt to an automatic assembling production line and realizes the automatic assembly of airplane products.
Specifically, the six-axis industrial robot 1 is a KUKA model KR480R3330MT robot; the dust collector 8 is a Z-22 dust collector with a brand G-Winner model; the lubricating device 7 is selected from a model of which the brand is Dupusai and is PN: 3135097 minimal lubrication means; the main shaft cooling system 5 adopts a cooler which is manufactured by the same-flight refrigeration and is MCW-10C/X-01-1225 in model.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. An automatic hole making system of an omnidirectional mobile robot is arranged on an airplane flexible assembly production line and is matched with a product moving platform to work, and is characterized by comprising six industrial robots (1), an end effector (2), a robot omnidirectional moving platform (3) and a robot control cabinet (6); the six-axis industrial robot (1) and the robot control cabinet (6) are fixedly arranged on the upper end surface of the robot omnidirectional moving platform (3); the end effector (2) is arranged on a flange of the six-axis industrial robot (1);
the robot omnidirectional moving platform (3) comprises a vehicle body (12), a spiral lifting system (13), a grounding upright post (14) and a vision sensor (15);
the vision sensor (15) is arranged on the side surface of the vehicle body (12); the spiral lifting systems (13) are arranged on the front side and the rear side of the bottom surface of the vehicle body (12); the grounding upright post (14) is arranged on the bottom surface of the vehicle body (12);
the robot control cabinet (6) is connected with the six-axis industrial robot (1) and used for controlling the six-axis industrial robot (1) to run.
2. The omnidirectional mobile robot automatic hole making system according to claim 1, wherein the spiral elevating system (13) comprises a spiral elevator (302) installed in the car body (12) and having an elevating main shaft penetrating through an upper end surface of the car body (12), and a mecanum wheel (301) connected to a lower end of the elevating main shaft of the spiral elevator (302).
3. The automatic hole making system of the omnidirectional moving robot as claimed in claim 2, further comprising a main control cabinet (11) and a hanging screen (9), wherein the main control cabinet (11) is connected with the robot control cabinet (6) and is installed on the upper end surface of the vehicle body (12) for controlling the robot control cabinet (6) to control the six-axis industrial robot (1), and the hanging screen (9) is connected with the main control cabinet (11) for manually inputting instructions to the main control cabinet (11) and displaying the working condition of the main control cabinet (11); the main control cabinet (11) is also connected with the spiral lifter (302) and is used for controlling the lifting of the main shaft of the spiral lifter (302).
4. The omni-directional mobile robot automatic hole making system according to claim 3, further comprising a dust collector (8), wherein the dust collector (8) is installed on the upper end surface of the vehicle body (12) and connected with the main control cabinet (11), and a dust collecting pipe of the dust collector (8) is connected with the end effector (2) for cleaning dust generated during absorption operation.
5. The omnidirectional moving robot automatic hole making system according to claim 3, further comprising a spindle cooling system (5), wherein the spindle cooling system (5) is installed on the upper end surface of the vehicle body (12) and connected with the main control cabinet (11), and the spindle cooling system (5) is used for cooling the six-axis industrial robot (1).
6. An omnidirectional moving robot automatic hole making system according to claim 3, further comprising a lubricating device (7), wherein said lubricating device (7) is installed on the upper end surface of the vehicle body (12) and connected with said main control cabinet (11), said lubricating device (7) is used for lubricating said six-axis industrial robot (1).
7. The omnidirectional mobile robot automatic hole making system according to claim 1, further comprising a tool storage device (4), wherein said tool storage device (4) is installed on an upper end surface of said vehicle body (12) for storing various tools provided to said six-axis industrial robot (1).
8. The omnidirectional mobile robot automatic hole making system according to claim 1, wherein three grounding upright posts (14) are provided, the three grounding upright posts (14) are respectively installed at the left side and the right side of the bottom surface of the vehicle body (12) in a triangular shape, two grounding upright posts (14) are symmetrically installed at one side, and one grounding upright post (14) is installed at the other side.
9. An omnidirectional moving robot automatic hole making system according to any one of claims 1 to 8, further comprising a winder (10), wherein the winder (10) is installed on the upper end face of the vehicle body (12) for arranging the overlong wires of each module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546341.4A CN111890374A (en) | 2020-06-15 | 2020-06-15 | Automatic hole making system of omnidirectional mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546341.4A CN111890374A (en) | 2020-06-15 | 2020-06-15 | Automatic hole making system of omnidirectional mobile robot |
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| CN111890374A true CN111890374A (en) | 2020-11-06 |
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| CN202010546341.4A Pending CN111890374A (en) | 2020-06-15 | 2020-06-15 | Automatic hole making system of omnidirectional mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113414589A (en) * | 2021-05-31 | 2021-09-21 | 中铁工程服务有限公司 | Anchoring robot |
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| EP2946875A2 (en) * | 2014-04-30 | 2015-11-25 | The Boeing Company | Crawler robot and supporting platform |
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Application publication date: 20201106 |