CN102513575A - Aviation hole-forming robot end effector capable of adjusting attitude - Google Patents

Aviation hole-forming robot end effector capable of adjusting attitude Download PDF

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Publication number
CN102513575A
CN102513575A CN201210006713XA CN201210006713A CN102513575A CN 102513575 A CN102513575 A CN 102513575A CN 201210006713X A CN201210006713X A CN 201210006713XA CN 201210006713 A CN201210006713 A CN 201210006713A CN 102513575 A CN102513575 A CN 102513575A
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CN
China
Prior art keywords
bearing
rolling bearing
ball
leading screw
screw
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CN201210006713XA
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Chinese (zh)
Inventor
袁培江
王田苗
公茂震
刘钦
张睿
马福存
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袁培江
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Priority to CN201210006713XA priority Critical patent/CN102513575A/en
Publication of CN102513575A publication Critical patent/CN102513575A/en

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Abstract

The invention provides an aviation hole-forming robot end effector which is suitable for plane skin drilling and can be used for automatically adjusting the attitude. The end effector comprises a leading screw feeding module, a binary angle adjusting mechanism, a compacting chip-absorbing module, a drilling module and a sensor module. The leading screw feeding module mainly comprises a leading screw driving motor, a synchronous transmission component and a dual-ball leading screw and is used for realizing feeding motion of drilling; the binary angle adjusting mechanism mainly comprises a stepping motor, a transmission gear, a wedge-shaped turn table and a spherical hinge and is used for realizing the automatic adjustment of the tail end attitude; the compacting chip-absorbing module mainly comprises a cylinder, a pressing cylinder, a cylinder connecting rod and a compacting head and is used for realizing compaction of a skin and the absorption of metal drill chips; the drilling module mainly comprises a drilling servo motor, a transmission shaft, a drill chuck and a drill bit and is used for realizing high-accuracy drilling; and the sensor module comprises a proximity sensor and a laser distance-measuring sensor and is used for realizing zero addressing and limiting of the movement of a main shaft, and the measurement of the normal line of a drilling point.

Description

A kind of aviation drilling end effector of robot that has the attitude adjustment
Technical field
The present invention relates to automatic hole fabrication techniques and attitude regulating technology, relate in particular to a kind of aircraft skin that is applicable to and adjust the aviation drilling end effector of robot of attitude and drilling automatically.
Background technology
Assembling is the key link of aircraft development process.Aircraft rigger accounts for 30%~45% of whole aircraft manufacturing workload as amount at present, and its connected mode is main to bore riveting (boring).Yet there are many deficiencies in conventional artificial boring, and its workload is big, and the efficient of boring is low, the difficult quality guarantee in hole, and man power and material's cost is high in the mass production.Therefore the automation hole fabrication techniques is important application and the research direction in the present generation aircraft assembling.Robot automation's drilling flexibility is good, and is high to the adaptability of workpiece, guaranteed the drilling quality, improves drilling efficient and precision.
Robot automation's hole fabrication techniques has obtained extensive studies and application abroad.Automatic drilling rate in the external military, civilian Aircraft Production process has reached respectively more than 17% and 75% at present.The U.S. is the country of studying and using the automation hole fabrication techniques the earliest, and in addition, Germany, France, Russia countries such as (former Soviet Unions) also study and use automatic hole fabrication techniques.In recent years, domestic air mail enterprise is accumulating certain technical foundation aspect the aircraft mounting technology, and technology such as robot drilling have had bigger progress.But on the whole; Domestic aircraft assembling also rests on the hand assembled stage of adopting traditional mostly; Digitlization boring and the still non-through overall aircraft assembling process of assembling; Parts butt joints automatic setup system also belongs to blank, also is in the exploratory stage based on the mobile production line technology of lean manufacturing philosophy.
End effector is as one of content is the highest in the entire machine people drilling systems technology essential elements module; Realize that in one is tried one's best little structure modularization, multi-functional machinery and control system have great challenge property; For high efficiency, high accuracy, automation and the greenization drilling that realizes present generation aircraft, the end effector of drilling system becomes the previous important research object of order automatically.
Summary of the invention
To above-mentioned technical problem of the prior art; The purpose of this invention is to provide a kind of aviation drilling end effector of robot; This end effector can realize that bits are inhaled in the adjustment of normal perpendicularity detection fast, terminal attitude, real-time compressing and the high accuracy number driving is holed; And form automatic drilling system with climbing robot and realize automatic drilling, to reach high accuracy, high efficiency, automation, greenization and intelligentized boring purpose to aircraft skin.
The present invention realizes through following technical scheme.
A kind of adjustment attitude and the end effector of carrying out processing automatically of being applicable on workpiece, it is characterized in that: this end effector comprises: leading screw feeding module, binary angle-adjusting mechanism, compress and inhale bits module, processing module and sensor assembly.
Preferably, said leading screw feeding module comprises: leading screw drive motors, synchronous band, belt wheel, rolling bearing, guide wheel axle, leading screw drive fixing frame, bearing gland, locking nut, rolling bearing, motion keyset, feed screw nut, ball-screw and leading screw holder;
The leading screw drive motors is fixed on the leading screw drive fixing frame, and the output shaft of leading screw drive motors is connected with belt wheel; First rolling bearing and second rolling bearing are installed on the first guide wheel axle; The 3rd rolling bearing and the 4th rolling bearing are installed on the second guide wheel axle; The 5th rolling bearing and the 6th rolling bearing are installed on the 3rd guide wheel axle; The 7th rolling bearing and the 8th rolling bearing are installed on the four guide idler axle; The 9th rolling bearing and the tenth rolling bearing are installed on the 5th guide wheel axle; The 11 rolling bearing and the 12 rolling bearing are installed on the 6th guide wheel axle, are installed on the leading screw drive fixing frame after these guide wheel axles and the bearing combination; First ball-screw passes first rolling bearing and second rolling bearing, and the top of bearing is locked by first locking nut, and leading screw and bearing utilize the clutch shaft bearing gland and second bearing gland to be fixed on the leading screw drive fixing frame; Equally, second ball-screw passes the 3rd rolling bearing and the 4th rolling bearing, and the top of bearing is locked by second locking nut, and leading screw and bearing utilize the 3rd bearing gland and the 4th bearing gland to be fixed on the leading screw drive fixing frame; The upper end of first ball-screw and second ball-screw is connected with second belt wheel with first belt wheel respectively; Band is walked around belt wheel and bearing synchronously, realizes gearing, and guarantees the synchronous rotation of first ball-screw and second ball-screw; First feed screw nut and second feed screw nut respectively with first ball-screw and the parallel cooperation of second ball-screw, will rotatablely move converts rectilinear motion into; Also be fixed with the motion keyset on the feed screw nut, make it drive the boring of boring module; The lower end of ball-screw is connected with the switching fixed cap of binary angle-adjusting mechanism with the second leading screw holder through the first leading screw holder, realizes the adjustment of terminal attitude.
Preferably, said binary angle-adjusting mechanism comprises: switching fixed cap, stepper motor, travelling gear, wedge shape turntable, mechanism base, central shaft, rolling bearing, gland, ball pivot shell, ball pivot and ball pivot locking nut;
The central shaft outside of said binary angle-adjusting mechanism is with a ball pivot, and the ball pivot outside is with a ball pivot shell again, and they are installed on the mechanism base together, and ball pivot reaches fixing purpose through a ball pivot locking nut; Gland is enclosed within the ball pivot enclosure, realizes fixing the hinge shell; In the gland outside clutch shaft bearing is installed, the first wedge shape turntable is installed in the outside of clutch shaft bearing; Identical and second a wedge shape turntable that match with it is installed on the first wedge shape turntable; At the second wedge shape turntable second bearing is housed; The switching fixed cap is in the top of binary angle-adjusting mechanism, fixing entire mechanism, and the switching fixed cap also is connected with second ball-screw with first ball-screw, and the attitude of realization drill bit is adjusted; End at the switching fixed cap is installed with first stepper motor; Second stepper motor is installed on the mechanism base; They are connected with second travelling gear with first travelling gear respectively, and first travelling gear and second travelling gear mesh with the first wedge shape turntable and the second wedge shape turntable respectively.
Preferably, the said suction bits module that compresses comprises: air cylinder fixed plate, cylinder, air cylinder connecting rod, following pressure cylinder and hold-down head;
First cylinder and second cylinder are fixed on the air cylinder fixed plate; The lower end of two cylinders connects first air cylinder connecting rod and second air cylinder connecting rod respectively; Two cylinder two bars again with two following press bonds of following pressure cylinder; In the following bottom of pressure cylinder hold-down head is installed, and has the bits of suction connector at its sidepiece; In addition, laser range sensor also is installed on air cylinder fixed plate.
Preferably, said processing module comprises: boring servomotor, bearing upper baffle ring, shaft coupling, rolling bearing, bearing lower baffle ring, oil sealing, locking nut, drill sleeve, power transmission shaft, drill chuck head and drill bit;
The boring servomotor of processing module is fixed on the motion keyset; Be connected with power transmission shaft through shaft coupling; Come supporting drive shaft by first rolling bearing, second rolling bearing and the 3rd rolling bearing; Rolling bearing prevents the rolling bearing play through bearing upper baffle ring and bearing lower baffle ring; The fixing of position realized by locking nut in bottom at the bearing lower baffle ring, and oil sealing is equipped with in the outside of bearing lower baffle ring, and it act as and prevents that silt, dust, aqueous vapor etc. from invading in the bearing certainly outward and the lubricating oil in the restriction bearing spills; Be with the drill sleeve in their outside, the drill sleeve also is fixed on the motion keyset; The other end of power transmission shaft is connected with drill chuck head, and drill bit is housed on the drill chuck head.
Preferably, said sensor assembly comprises: laser range sensor and proximity transducer;
Said laser range sensor is installed on the air cylinder fixed plate, and said proximity transducer is installed on the proximity transducer installing plate.
With respect to prior art, the invention has the advantages that:
(1) lightweight.In order to improve the lightweight of end effector, end effector adopts thin wall complex structure, to replace traditional build-up member structure.
(2) modularization.Modular interface is adopted in each modularization standardization design, can freely change different parts, adapts to various aviation manufacturings.
(3) intellectuality.The normal perpendicularity that adopts laser range sensor to hole a little detects, and utilizes two stepper motors that the end of actuator is carried out automatic attitude adjustment, has improved the efficient of drilling.
(4) greenization.Under the prerequisite that satisfies the key property design requirement, take into full account no burr drill process, adopt laser measurement and green manufacture technology, reduce the cooling fluid environmental pollution, improved the greenization of boring.
(5) high-quality and high efficiency.The present invention adopts pneumatic clamping and inhales bits technology, laser measuring technique, binary angle automatic adjustment technology, has guaranteed the quality and the precision of drilling, has also improved the efficient of drilling.
The normal direction perpendicularity detection that robot boring has been merged in the present invention and compensation technique, robot boring technology, end effector light-weight design technology, green processing technology (no cooling fluid processing realizes the energy-saving clean drilling), robot FUSION WITH MULTISENSOR DETECTION integrated technology, high accuracy number servo-drive are technological, robot autonomous mobilely keeps away barrier technique, has realized high accuracy, high efficiency, automation, greenization and the intellectuality of aviation drilling.
Description of drawings
Figure 1A is the overall structure figure of end effector of the present invention.
Figure 1B is another angle topology view of end effector of the present invention.
Fig. 2 A is the structure chart of leading screw feeding module in the end effector of the present invention.
Fig. 2 B is the exploded view of leading screw feeding module in the end effector of the present invention
Fig. 3 A is the structure chart of binary angle-adjusting mechanism in the end effector of the present invention.
Fig. 3 B is the exploded view of binary angle-adjusting mechanism in the end effector of the present invention.
Fig. 3 C is the structure chart of the wedge shape turntable in the binary angle-adjusting mechanism of the present invention.
Fig. 4 A compresses the structure chart of inhaling the bits module in the end effector of the present invention.
Fig. 4 B compresses the exploded view of inhaling the bits module in the end effector of the present invention.
Fig. 4 C is that the present invention compresses the structure chart that descends pressure cylinder and hold-down head in the suction bits module.
Fig. 5 A is the structure chart of boring module in the end effector of the present invention.
Fig. 5 B be in the end effector of the present invention boring module exploded view.
Among the figure: 1. leading screw feeding module 101. leading screw drive motors 102. are with synchronously
103A~C. belt wheel 104A~L. rolling bearing 105A~F. guide wheel axle 106. leading screw drive fixing framves
107A~D. bearing gland 108A~B. locking nut 109A~D. rolling bearing 110. motion keysets
111A~B. feed screw nut 112A~B. ball-screw 113A~B. leading screw holder
2. binary angle adjusting mechanism 201. switching fixed cap 202A~B. stepper motor 203A~B. travelling gears
204A~B. wedge shape turntable 205. mechanism bases 206. central shafts 207A~B. rolling bearing
208. gland 209. ball pivot shells 210. ball pivots 211. ball pivot locking nuts
3. compress and inhale bits module 301. air cylinder fixed plate 302A~B. cylinder 303A~B. air cylinder connecting rod
304. following pressure cylinder 305. hold-down heads
4. the module of holing 401. boring servomotors 402. bearing baffle rings 403. shaft couplings
404A~C. rolling bearing 405. bearing lower baffle rings 406. oil sealings 407. locking nuts
408. drill sleeve 409. power transmission shafts 410. drill chuck head 411. drill bits
51A~C. laser range sensor 52A~B. proximity transducer
61. installing plate 62A~B. side shield 63. proximity transducer installing plates
The specific embodiment
To combine accompanying drawing that the present invention is done further detailed description below.
Referring to Figure 1A, Figure 1B the present invention by leading screw feeding module 1, binary angle-adjusting mechanism 2, compress and inhale bits module 3, boring module 4,5 five modules of sensor assembly and form.System needs to return earlier zero before implementing boring; Laser range sensor in the sensor assembly 5 carries out the normal vertical survey to the drilling point then; The attitude of binary angle adjusting mechanism 2 adjustment executor tail ends; Compress suction bits module 3 and compress aircraft skin, bits-suction device is opened; Leading screw feeding module 1 drives 4 pairs of aircraft skins of boring module and implements drilling.
(1) leading screw feeding module
Shown in Fig. 2 A and Fig. 2 B, leading screw feeding module 1 comprises: leading screw drive motors 101, be with 102 synchronously, belt wheel 103A~C, rolling bearing 104A~L, guide wheel axle 105A~F, leading screw drive fixing frame 106, bearing gland 107A~D, locking nut 108A~B, rolling bearing 109A~D, motion keyset 110, feed screw nut 111A~B, ball-screw 112A~B, leading screw holder 113A~B.
Leading screw drive motors 101 is fixed on the leading screw drive fixing frame 106, and the output shaft of leading screw drive motors 101 is connected with belt wheel 103C.Rolling bearing 104A and rolling bearing 104B are installed on the guide wheel axle 105A; Rolling bearing 104C and rolling bearing 104D are installed on the guide wheel axle 105B; Rolling bearing 104E and rolling bearing 104F are installed on the guide wheel axle 105C; Rolling bearing 104G and rolling bearing 104H are installed on the guide wheel axle 105D; Rolling bearing 104I and rolling bearing 104J are installed on the guide wheel axle 105E; Rolling bearing 104K and rolling bearing 104L are installed on the guide wheel axle 105F, are installed on the leading screw drive fixing frame 106 after these guide wheel axles and the bearing combination.Ball-screw 112A passes rolling bearing 109A and rolling bearing 109B, and the top of bearing is locked by locking nut 108A, and leading screw and bearing utilize bearing gland 107A and bearing gland 107B to be fixed on the leading screw drive fixing frame 106.Equally, ball-screw 112B passes rolling bearing 109C and rolling bearing 109D, and the top of bearing is locked by locking nut 108B, and leading screw and bearing utilize bearing gland 107C and bearing gland 107D to be fixed on the leading screw drive fixing frame 106.The upper end of ball-screw 112A and ball-screw 112B is connected with belt wheel 103B with belt wheel 103A respectively.Be with 102 to walk around belt wheel 103A~C and bearing 104A~L synchronously, realize gearing, and guarantee the synchronous rotation of ball-screw 112A and ball-screw 112B.Feed screw nut 111A and feed screw nut 111B respectively with ball-screw 112A and the parallel cooperation of ball-screw 112B, will rotatablely move converts rectilinear motion into.Also be fixed with motion keyset 110 on the feed screw nut, make it drive the boring of boring module.The lower end of ball-screw is connected with the switching fixed cap of binary angle-adjusting mechanism with leading screw holder 113B through leading screw holder 113A, realizes the adjustment of terminal attitude.
In boring procedure, 101 work of leading screw drive motors rotate ball-screw 112A and ball-screw 112B through being with 102 synchronously simultaneously.Feed screw nut 111A and feed screw nut 111B change rotatablely moving of ball-screw into the feed screw nut rectilinear motion, drive the motion keyset 110 that is fixed with the boring module and move up and down.
In leading screw feeding module 1, it is the AC servo motor of 8LSA34 that the leading screw drive motors adopts the model of Austrian Bei Jialai company, and its rated power is 440W, and rotating speed is 2200r/min, and moment of torsion reaches the torque of 1.5Nm under the rated speed; The rolling bearing 628 of rolling bearing 104A~L selection standard spare GB276-94, it is of a size of overall diameter 24mm interior diameter 8mm thickness 8mm; The rolling bearing S7002 of rolling bearing 109A~D selection standard spare GB292-94, it is of a size of overall diameter 32mm interior diameter 15mm thickness 9mm; It is the ball screw of R20-5T3-FSI-393-0.05 that ball-screw 112A~B adopts the model of Taiwan HIWIN, and external diameter is 20mm, and helical pitch is 5mm, and total length is 393mm, and precision is 0.05mm; With the supporting feed screw nut 111A~Type B of ball-screw number be R20-5T3-FSI-0.05.
(2) binary angle-adjusting mechanism
Shown in Fig. 3 A and Fig. 3 B, binary angle-adjusting mechanism 2 comprises: switching fixed cap 201, stepper motor 202A~B, travelling gear 203A~B, wedge shape turntable 204A~B, mechanism base 205, central shaft 206, rolling bearing 207A~B, gland 208, ball pivot shell 209, ball pivot 210, ball pivot locking nut 211.
206 is the central shaft of binary angle adjusting mechanism, and its outside is with a ball pivot 210, and ball pivot 210 outsides are with a ball pivot shell 209 again, and they are installed on the mechanism base 205 together, and ball pivot 210 reaches fixing purpose through a ball pivot locking nut 211.Gland 208 is enclosed within ball pivot shell 209 outsides, realizes fixing hinge shell 209.In gland 208 outsides rolling bearing 207A is installed, wedge shape turntable 204A is installed in the outside of bearing 207A.An identical and wedge shape turntable 204B that match with it is installed on wedge shape turntable 204A.204B is equipped with rolling bearing 207B at the wedge shape turntable.Switching fixed cap 201 is in the top of binary angle-adjusting mechanism 2, fixing entire mechanism, and moreover, switching fixed cap 201 also is connected with ball-screw 112B with ball-screw 112A, and the attitude of realization drill bit is adjusted.End at switching fixed cap 201 is installed with stepper motor 202A; Another stepper motor 202B is installed on the mechanism base 205; They are connected with travelling gear 203B with travelling gear 203A respectively; Travelling gear 203A and travelling gear 203B mesh with wedge shape turntable 204A and wedge shape turntable 204B (referring to Fig. 3 C, its inclination angle is α) respectively, play transmission.
In executor tail end attitude adjustment process; Stepper motor 202A and stepper motor 202B are according to the metrical information to boring point normal vector of laser range sensor feedback; Through travelling gear 203A and travelling gear 203B wedge shape turntable 204A and wedge shape turntable 204B are rotated respectively; Utilize their difference in height can make wellbore part integral body according to the whole deflection of set angle; Thereby make the drill bit of end effector realize three-dimensional space motion, promptly realize a conical motion, thereby reach the adjusting purpose of deciding angle around the fixed center line.Binary angle-adjusting mechanism 2 can drive the angular deflection that lead plug mechanism makes 2 α degree, as long as wedge shape turntable 204A and wedge shape turntable 204B rotate the adjustment that suitable angle just can realize drill bit normal direction angle respectively.
In binary angle-adjusting mechanism 2, it is the stepper motor of 80MPD5 that stepper motor 202A and stepper motor 202B adopt the model of Austrian Bei Jialai company, and step angle is 1.8 °; It is the rolling bearing of 71821-ACD that rolling bearing 207A~B adopts German FAG model, and it is of a size of overall diameter 130mm interior diameter 105mm thickness 13mm; The internal diameter of ball pivot 210 is 50mm; The reference radius of travelling gear 203A~B is 17mm, and the reference radius of wedge shape turntable 204A~B is 170mm, and their gearratio is 1: 10, and the wedge shape inclination angle of wedge shape turntable 204A~B is 2 °, so the adjustable-angle of drill bit is 4 °.
(3) compress suction bits module
Shown in Fig. 4 A and Fig. 4 B, compress suction bits module 3 and comprise: air cylinder fixed plate 301, cylinder 302A~B, air cylinder connecting rod 303A~B, following pressure cylinder 304, hold-down head 305.
Cylinder 302A and cylinder 302B are fixed on the air cylinder fixed plate 301; The lower end of two cylinders connects air cylinder connecting rod 303A and air cylinder connecting rod 303B respectively; Two cylinder two bars again with two following press bonds of following pressure cylinder 304; In the following bottom of pressure cylinder 304 hold-down head 305 is installed, and has the bits of suction connector at its sidepiece.In addition, three laser range sensor 51A~C also are installed on air cylinder fixed plate 301.
Cylinder 303A and 303B go up gas simultaneously before beginning boring; Effect lower cylinder connecting rod 303A and air cylinder connecting rod 303B at air pressure receive to compel motion down simultaneously; Make 304 times motions of following pressure cylinder that hold-down head 305 is housed; Realize compressing of 305 pairs of aircraft skins of hold-down head, the structure of following pressure cylinder 304 and hold-down head 305 is referring to Fig. 4 C.Completion compresses the back bits-suction device and starts, and absorbs the metal fillings that produces through inhaling the bits connector.
The cylinder that in compressing suction bits module, uses is selected the four-pull-rod cylinder of Ya De visitor's (AIRTAC) model as SC40X75-S for use, and working pressure is 1-9bar.The material selection red copper of hold-down head 305, matter is soft, not easy damaged aircraft skin surface.
(4) boring module
Shown in Fig. 5 A and Fig. 5 B, boring module 4 comprises: boring servomotor 401, bearing upper baffle ring 402, shaft coupling 403, rolling bearing 404A~C, bearing lower baffle ring 405, oil sealing 406, locking nut 407, drill sleeve 408, power transmission shaft 409, drill chuck head 410, drill bit 411.
The boring servomotor 401 of boring module 4 is fixed on the motion keyset 110; Be connected with power transmission shaft 409 through shaft coupling 403; Come supporting drive shaft 409 by rolling bearing 404A, rolling bearing 404B and rolling bearing 404C; Rolling bearing prevents the rolling bearing play through bearing upper baffle ring 402 and bearing lower baffle ring 405; Fixing in the bottom of bearing lower baffle ring 405 by locking nut 407 realization positions, oil sealing 406 is equipped with in the outside of bearing lower baffle ring 405, its act as prevent silt, dust, aqueous vapor etc. from outer invade in the bearing and the restriction bearing in lubricating oil spill.Be with drill sleeve 408 in their outside, drill sleeve 408 also is fixed on the motion keyset 110.The other end of power transmission shaft 409 is connected with drill chuck head 410, and drill bit 411 is housed on the drill chuck head 410.
When boring, power is provided, drives drill chuck head 410 rotations that drill bit 411 is housed, under the cooperation of feed motion, realize boring aircraft skin through power transmission shaft 409 by boring servomotor 401.
To select the model of Austrian Bei Jialai company for use be the AC servo motor of 8LSA36 to boring servomotor 401 in the boring module, and its rated power is 750W, and rotating speed is 6000r/min, and moment of torsion reaches the torque of 3Nm under the rated speed; It is the clamping screw fixed shaft coupling of LK8-C14S that shaft coupling adopts model; The rolling bearing S7024 of bearing selection standard spare GB292-94, it is of a size of overall diameter 47mm interior diameter 20mm thickness 14mm; It is HSK32-WTE08 that drill chuck head is selected model for use; Drill bit is decided according to boring requirement.
(5) sensor assembly
Shown in Figure 1A and Figure 1B, sensor assembly 5 comprises: laser range sensor 51A~C and proximity transducer 52A~B.
Three laser range sensor 51A~C are installed on the air cylinder fixed plate 301, and two proximity transducer 52A~B are installed on the proximity transducer installing plate 63.
Three laser range sensor 51A~C have the effect of measuring boring point normal vector, and its metrical information feeds back to binary angle adjusting mechanism 2 and uses.Proximity transducer 52A is as the zero-bit switch, when boring as the zero-bit of leading screw feeding module 1.And proximity transducer 52B is as limit switch, and it plays the motion of restriction leading screw feeding module 1, avoids bumping.
To adopt the model of German SICK company be the laser range sensor of OD2-P85W2010 to laser range sensor 51A~C in sensor assembly 5, and measurement category is 75mm~105mm, and certainty of measurement is ± 100 μ m; The model that proximity transducer 52A~B selects for use Otto Buddhist nun gram (Autonics) Electronics Co., Ltd. to produce is the high frequency oscillation type proimity sensor of PRL18-5DN, and distance sensing is 2mm.
In addition, installing plate 61 and side shield 62A~B are installed also on mechanism base 205,61 of installing plates are connected with climbing robot, and side shield 62A~B has the effect of protection binary angle-adjusting mechanism 2; On leading screw drive fixing frame 106, proximity transducer installing plate 63 is installed, its effect is fixing proximity transducer 52A~B.
The above is merely several kinds of specific embodiments of the present invention, and above embodiment only is used for technical scheme of the present invention and inventive concept are done explanation and unrestricted claim scope of the present invention.All technical staff in the art combine prior art on the inventive concept basis of this patent, through the available other technologies scheme of logic analysis, reasoning or limited experiment, also should be considered to drop within the claim protection domain of the present invention.

Claims (10)

1. one kind is applicable on workpiece adjustment attitude and the end effector of carrying out processing automatically, and it is characterized in that: this end effector comprises: leading screw feeding module (1), binary angle-adjusting mechanism (2), compress and inhale bits module (3), processing module (4) and sensor assembly (5).
2. end effector according to claim 1; It is characterized in that said leading screw feeding module (1) comprising: leading screw drive motors (101), synchronous band (102), belt wheel (103A~C), rolling bearing (104A~L), guide wheel axle (105A~F), leading screw drive fixing frame (106), bearing gland (107A~D), locking nut (108A~B), rolling bearing (109A~D), motion keyset (110), feed screw nut (111A~B), ball-screw (112A~B) and leading screw holder (113A~B);
Leading screw drive motors (101) is fixed on the leading screw drive fixing frame (106), and the output shaft of leading screw drive motors (101) is connected with belt wheel (103C); First rolling bearing (104A) and second rolling bearing (104B) are installed on the first guide wheel axle (105A); The 3rd rolling bearing (104C) and the 4th rolling bearing (104D) are installed on the second guide wheel axle (105B); The 5th rolling bearing (104E) and the 6th rolling bearing (104F) are installed on the 3rd guide wheel axle (105C); The 7th rolling bearing (104G) and the 8th rolling bearing (104H) are installed on the four guide idler axle (105D); The 9th rolling bearing (104I) and the tenth rolling bearing (104J) are installed on the 5th guide wheel axle (105E); The 11 rolling bearing (104K) and the 12 rolling bearing (104L) are installed on the 6th guide wheel axle (105F), are installed on the leading screw drive fixing frame (106) after these guide wheel axles and the bearing combination; First ball-screw (112A) passes first rolling bearing (109A) and second rolling bearing (109B); The top of bearing is locked by first locking nut (108A), and leading screw and bearing utilize clutch shaft bearing gland (107A) and second bearing gland (107B) to be fixed on the leading screw drive fixing frame (106); Equally; Second ball-screw (112B) passes the 3rd rolling bearing (109C) and the 4th rolling bearing (109D); The top of bearing is locked by second locking nut (108B), and leading screw and bearing utilize the 3rd bearing gland (107C) and the 4th bearing gland (107D) to be fixed on the leading screw drive fixing frame (106); The upper end of first ball-screw (112A) and second ball-screw (112B) is connected with second belt wheel (103B) with first belt wheel (103A) respectively; Synchronously band (102) is walked around belt wheel (103A~C) and bearing (104A~L), realization gearing, and guarantee the synchronous rotation of first ball-screw (112A) and second ball-screw (112B); First feed screw nut (111A) and second feed screw nut (111B) respectively with first ball-screw (112A) and the parallel cooperation of second ball-screw (112B), will rotatablely move converts rectilinear motion into; Also be fixed with motion keyset (110) on the feed screw nut, make it drive the boring of boring module; The lower end of ball-screw is connected with the switching fixed cap of binary angle-adjusting mechanism with the second leading screw holder (113B) through the first leading screw holder (113A), realizes the adjustment of terminal attitude.
3. end effector according to claim 1; It is characterized in that said binary angle-adjusting mechanism (2) comprising: switching fixed cap (201), stepper motor (202A~B), travelling gear (203A~B), wedge shape turntable (204A~B), mechanism base (205), central shaft (206), rolling bearing (207A~B), gland (208), ball pivot shell (209), ball pivot (210) and ball pivot locking nut (211);
The central shaft of said binary angle-adjusting mechanism (206) outside is with a ball pivot (210); Ball pivot (210) outside is with a ball pivot shell (209) again; They are installed on the mechanism base (205) together, and ball pivot (210) reaches fixing purpose through a ball pivot locking nut (211); Gland (208) is enclosed within ball pivot shell (209) outside, realizes fixing hinge shell (209); In gland (208) outside clutch shaft bearing (207A) is installed, the first wedge shape turntable (204A) is installed in the outside of clutch shaft bearing (207A); Identical and second a wedge shape turntable (204B) that match with it is installed on the first wedge shape turntable (204A); At the second wedge shape turntable (204B) second bearing (207B) is housed; Switching fixed cap (201) is in the top of binary angle-adjusting mechanism (2), fixing entire mechanism, and switching fixed cap (201) also is connected with second ball-screw (112B) with first ball-screw (112A), and the attitude of realization drill bit is adjusted; End at switching fixed cap (201) is installed with first stepper motor (202A); Second stepper motor (202B) is installed on the mechanism base (205); They are connected with second travelling gear (203B) with first travelling gear (203A) respectively, and first travelling gear (203A) and second travelling gear (203B) mesh with the first wedge shape turntable (204A) and the second wedge shape turntable (204B) respectively.
4. end effector according to claim 1 is characterized in that, said compressing inhaled bits modules (3) and being comprised: air cylinder fixed plate (301), cylinder (302A~B), air cylinder connecting rod (303A~B), pressure cylinder (304) and hold-down head (305) down;
First cylinder (302A) and second cylinder (302B) are fixed on the air cylinder fixed plate (301); The lower end of two cylinders connects first air cylinder connecting rod (303A) and second air cylinder connecting rod (303B) respectively; Two cylinder two bars again with two following press bonds of following pressure cylinder (304); In the following bottom of pressure cylinder (304) hold-down head (305) is installed, and has the bits of suction connector at its sidepiece; In addition, laser range sensor (51A~C) also is installed on air cylinder fixed plate (301).
5. end effector according to claim 1; It is characterized in that said processing module (4) comprising: boring servomotor (401), bearing upper baffle ring (402), shaft coupling (403), rolling bearing (404A~C), bearing lower baffle ring (405), oil sealing (406), locking nut (407), drill sleeve (408), power transmission shaft (409), drill chuck head (410) and drill bit (411);
The boring servomotor (401) of processing module (4) is fixed on the motion keyset (110); Be connected with power transmission shaft (409) through shaft coupling (403); Come supporting drive shaft (409) by first rolling bearing (404A), second rolling bearing (404B) and the 3rd rolling bearing (404C); Rolling bearing prevents the rolling bearing play through bearing upper baffle ring (402) and bearing lower baffle ring (405); The fixing of position realized by locking nut (407) in bottom at bearing lower baffle ring (405), and oil sealing (406) is equipped with in the outside of bearing lower baffle ring (405), and it act as and prevents that silt, dust, aqueous vapor etc. from invading in the bearing certainly outward and the lubricating oil in the restriction bearing spills; Be with drill sleeve (408) in their outside, drill sleeve (408) also is fixed on the motion keyset (110); The other end of power transmission shaft (409) is connected with drill chuck head (410), and drill bit (411) is housed on the drill chuck head (410).
6. end effector according to claim 1 is characterized in that, said sensor assembly (5) comprising: and laser range sensor (51A~C) and proximity transducer (52A~B);
Said laser range sensor (51A~C) be installed on the air cylinder fixed plate (301), said proximity transducer (52A~B) be installed on the proximity transducer installing plate (63).
7. end effector according to claim 2 is characterized in that: in process, leading screw drive motors (101) work rotates first ball-screw (112A) and second ball-screw (112B) through synchronous band (102) simultaneously; First feed screw nut (111A) and second feed screw nut (111B) change rotatablely moving of ball-screw into the feed screw nut rectilinear motion, drive the motion keyset (110) that is fixed with the boring module and move up and down.
8. end effector according to claim 3; It is characterized in that: in executor tail end attitude adjustment process; First stepper motor (202A) and second stepper motor (202B) are according to the metrical information to boring point normal vector of laser range sensor feedback; Through first travelling gear (203A) and second travelling gear (203B) the first wedge shape turntable (204A) and the second wedge shape turntable (204B) are rotated respectively; Utilize their difference in height can make wellbore part integral body according to the whole deflection of set angle; Thereby make the drill bit of end effector realize three-dimensional space motion, promptly realize a conical motion, thereby reach the adjusting purpose of deciding angle around the fixed center line; Said binary angle-adjusting mechanism (2) can drive the angular deflection that organisation of working is made 2 α degree, as long as the first wedge shape turntable (204A) and the second wedge shape turntable (204B) rotate the adjustment that suitable angle just can realize drill bit normal direction angle respectively.
9. a kind of end effector according to claim 4; It is characterized in that: go up gas simultaneously at beginning first being processed first cylinder (303A) and second cylinder (303B); First air cylinder connecting rod (303A) receives to compel motion down simultaneously with second air cylinder connecting rod (303B) under the effect of air pressure; Make following pressure cylinder (304) motion down that hold-down head (305) is housed, realize hold-down head (305) compressing workpiece; Completion compresses the back bits-suction device and starts, and absorbs the chip that produces through inhaling the bits connector.
10. end effector according to claim 6 is characterized in that: and said laser range sensor (51A~C), have the effect of measuring boring point normal vector, its metrical information feeds back to said binary angle adjusting mechanism (2); First proximity transducer (52A) is adding the zero-bit of man-hour as leading screw feeding module (1) as the zero-bit switch; And second proximity transducer (52B) is as limit switch, and it plays the motion of restriction leading screw feeding module (1), avoids bumping.
CN201210006713XA 2012-01-10 2012-01-10 Aviation hole-forming robot end effector capable of adjusting attitude CN102513575A (en)

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CN103962847A (en) * 2014-04-08 2014-08-06 南京航空航天大学 Double-direction crawling light moving type parallel normal-direction hole forming device
CN103990829A (en) * 2014-05-29 2014-08-20 上海飞机制造有限公司 End effector for forming holes for aircraft assembly and using method thereof
CN104759939A (en) * 2015-02-15 2015-07-08 南京航空航天大学 Normal alignment gesture adjusting mechanism and gesture adjusting method thereof
CN105033688A (en) * 2015-09-14 2015-11-11 袁培江 Drilling tail end executor and drilling system
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CN105302067A (en) * 2015-11-03 2016-02-03 清华大学 Perforation normal adjustment method
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CN108482705A (en) * 2018-03-12 2018-09-04 无锡贝斯特精机股份有限公司 Eight foot crawling robot pressure angle attitude coutrol mechanisms
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CN110103115A (en) * 2019-05-23 2019-08-09 华中科技大学 A kind of Three Degree Of Freedom telecentricity that curved surface is complied with fixed point flexible force control grinding and polishing actuator
CN110281037A (en) * 2019-06-28 2019-09-27 航天神舟飞行器有限公司 A kind of measurement processing execution head suitable for aircraft skin drilling
GB2579762A (en) * 2017-09-05 2020-07-08 Univ Northwestern Polytechnical Device and method for integrating hole drilling and interference-fit bolt insertion

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CN102765088A (en) * 2012-07-16 2012-11-07 上海飞机制造有限公司 Single side soft absorption type automatic drilling robot
CN102756138B (en) * 2012-08-01 2014-03-12 西北工业大学 High-accuracy hole forming method for aircraft wall panel
CN102756138A (en) * 2012-08-01 2012-10-31 西北工业大学 High-accuracy hole forming device for aircraft wall panel and a method of high-accuracy hole forming device
CN103231250A (en) * 2013-05-03 2013-08-07 西北工业大学 Multi-functional drilling-riveting actuator
CN103231250B (en) * 2013-05-03 2015-08-12 西北工业大学 A kind of multi-functional drill riveting actuator
CN103395066A (en) * 2013-07-17 2013-11-20 袁培江 Quick-change drilling end effector with function of posture adjustment
CN103395066B (en) * 2013-07-17 2015-05-20 袁培江 Quick-change drilling end effector with function of posture adjustment
CN103522083A (en) * 2013-10-14 2014-01-22 吴江市博众精工科技有限公司 Adjusting mechanism
CN103538081B (en) * 2013-10-21 2018-05-29 中国航空工业集团公司北京长城航空测控技术研究所 Normal direction angle measurement unit
CN103538081A (en) * 2013-10-21 2014-01-29 中国航空工业集团公司北京长城航空测控技术研究所 Normal angle measuring unit
CN103639471A (en) * 2013-12-05 2014-03-19 郑州大学 Drilling end actuator for robot
CN103639471B (en) * 2013-12-05 2016-01-20 郑州大学 Robot hole end effector
CN103894796B (en) * 2014-03-25 2016-03-09 浙江大学 A kind of method of aircraft wing laminated material assembling drilling
CN103894796A (en) * 2014-03-25 2014-07-02 浙江大学 Method for assembly perforation of laminated materials of aircraft wings
CN103894678A (en) * 2014-03-25 2014-07-02 浙江大学 Elliptical recess reaming device
CN103962847A (en) * 2014-04-08 2014-08-06 南京航空航天大学 Double-direction crawling light moving type parallel normal-direction hole forming device
CN103990829A (en) * 2014-05-29 2014-08-20 上海飞机制造有限公司 End effector for forming holes for aircraft assembly and using method thereof
CN104759939A (en) * 2015-02-15 2015-07-08 南京航空航天大学 Normal alignment gesture adjusting mechanism and gesture adjusting method thereof
CN104759939B (en) * 2015-02-15 2016-09-14 南京航空航天大学 A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof
CN105108819A (en) * 2015-08-28 2015-12-02 苏州骏发精密机械有限公司 Automatic punching device
CN105033688A (en) * 2015-09-14 2015-11-11 袁培江 Drilling tail end executor and drilling system
CN105302067A (en) * 2015-11-03 2016-02-03 清华大学 Perforation normal adjustment method
CN105414604A (en) * 2015-12-18 2016-03-23 宁波高新区夏远科技有限公司 Safe electric drill capable of rapidly feeding
CN107378061A (en) * 2015-12-18 2017-11-24 陈建欢 A kind of method of work of the safe electric drill of fast feed
CN107378061B (en) * 2015-12-18 2018-12-11 永康市奇磨电动工具有限公司 A kind of working method of the safe electric drill of fast feed
WO2019047394A1 (en) * 2017-09-05 2019-03-14 西北工业大学 Device and method for integrating hole drilling and interference-fit bolt insertion
GB2579762A (en) * 2017-09-05 2020-07-08 Univ Northwestern Polytechnical Device and method for integrating hole drilling and interference-fit bolt insertion
CN108482705A (en) * 2018-03-12 2018-09-04 无锡贝斯特精机股份有限公司 Eight foot crawling robot pressure angle attitude coutrol mechanisms
CN108482705B (en) * 2018-03-12 2021-02-26 无锡贝斯特精机股份有限公司 Eight-foot crawling robot pressure angle posture control mechanism
CN110103115A (en) * 2019-05-23 2019-08-09 华中科技大学 A kind of Three Degree Of Freedom telecentricity that curved surface is complied with fixed point flexible force control grinding and polishing actuator
CN110103115B (en) * 2019-05-23 2020-07-10 华中科技大学 Three-degree-of-freedom telecentric fixed-point flexible force-controlled grinding and polishing actuator with compliant curved surface
CN110281037A (en) * 2019-06-28 2019-09-27 航天神舟飞行器有限公司 A kind of measurement processing execution head suitable for aircraft skin drilling

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Application publication date: 20120627