CN103395066A - Quick-change drilling end effector with function of posture adjustment - Google Patents

Quick-change drilling end effector with function of posture adjustment Download PDF

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Publication number
CN103395066A
CN103395066A CN2013103011624A CN201310301162A CN103395066A CN 103395066 A CN103395066 A CN 103395066A CN 2013103011624 A CN2013103011624 A CN 2013103011624A CN 201310301162 A CN201310301162 A CN 201310301162A CN 103395066 A CN103395066 A CN 103395066A
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CN
China
Prior art keywords
quick change
posture adjustment
eccentricity
module
effector
Prior art date
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CN2013103011624A
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Chinese (zh)
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CN103395066B (en
Inventor
袁培江
王启申
汪承坤
宋博
马福存
任恒飞
陈冬冬
公茂震
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袁培江
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Priority to CN201310301162.4A priority Critical patent/CN103395066B/en
Publication of CN103395066A publication Critical patent/CN103395066A/en
Application granted granted Critical
Publication of CN103395066B publication Critical patent/CN103395066B/en

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Abstract

The manufacturing industry of large aircrafts is strategic to build the innovative country and boom the national economy. The process of large aircraft assembly in China has the defects of low automation level, low drilling precision and the like. Aiming at the problems of hole perpendicularity and frequent bit change in the drilling step of aircraft assembly process, the invention relates to a quick-change drilling end effector with a function of posture adjustment. The end effector comprises a spindle module, a posture adjustment module, and a quick change module. The spindle module comprises a spindle motor and the like and allows for the drilling function. The posture adjustment module comprises a posture adjustment motor, an eccentric disc, a ball pair and the like and allows for the function of bit posture adjustment. The quick change module comprises a quick change shaft, a quick change wedge ring, a drill chuck and the like and allows for the function of quick bit change. Through the posture adjustment module of the end effector, the precision of hole perpendicularity can be increased; through the quick change module, drilling efficiency can be improved.

Description

A kind of end effector of drilling with posture adjustment and quick change
Technical field
The present invention relates to a kind of end effector of the drilling with posture adjustment and quick change that is combined with the industrial machinery arm, this end effector is applicable to aircraft skin assembling drilling.
Background technology
Large aircraft industry is the strategic industry of building novelty country and pulling the national economy rapid growth.Development airliner project, it is the Major Strategic decision-making that the Party Central Committee, State Council make, being one of 16 definite major scientific and technological projects of " National Program for Medium-to Long-term Scientific and Technological Development (2006-2020) ", is the landmark project of construction in the new period innovation-oriented country.Yet have problems in the large aircraft manufacturing of China: assembling speed is slow, poor reliability; Precision is low; Automaticity is low, and the connected mode in the aircraft assembling is still take the hand drill riveting as main, and quality stability is poor, and needs a large amount of complete tailored version framves that adopt, and cost is high, and drilling efficiency is low, with the larger gap of external existence.This backward situation and China's aircraft are criticized particularly thorny between product, " four property " (security, economy, comfortableness and the feature of environmental protection) active demand.Therefore, in the urgent need to developing the punching system of robot.
Present generation aircraft is in order to alleviate aircraft weight, and light composite material and titanium alloy are more and more applied in aircraft.It is reported, the application of composite in Boeing 787, compare with Boeing 777 airplane, and the accounting of composite in Boeing 787 has very large lifting, reaches 50%, far surpass aluminium shared 20%.And in Boeing 777, composite accounts for 12%, and aluminium accounts for 50%.Boeing shows titanium alloy bolt test, when securing member tilts greater than 2 ° along the external load function direction, reduces approximately 47% fatigue life, while tilting greater than 5 °, reduces by 95% fatigue life.And composite and titanium alloy are all difficult-to-machine materials, and be higher to the quality requirement of drill bit.Nearly 150~2,000,000 riveted holes of large aircraft,, if adopt the high-quality drill bit, can increase production cost; If use general drill bit, need frequently more bit change, this can reduce drilling efficiency.
When drilling, require accurately to control the drilling depth of drill bit, particularly in the lamination drilling and system with the hole of counter boring, the drilling parameter of different materials is different, aircraft assembling drilling requirement, and the counter boring depth accuracy is 0.5mm, therefore, the accurate control of drilling depth is a difficult problem in the drilling process.
Summary of the invention
The present invention is directed to hole perpendicularity in the drilling process, frequently more bit change and drilling depth test problems, invented a kind of end effector of drilling with posture adjustment and quick change, with the industrial machinery arm, be combined, form the industrial robot punching system.
The present invention can be achieved through the following technical solutions.
A kind of end effector of drilling with posture adjustment and quick change, comprise main shaft module, posture adjustment module and Quick change module.
Described main shaft module comprises: spindle motor, spindle motor set casing, upper end cover, bottom end cover and pressure sensor;
Spindle motor is fixed by screws on bottom end cover; Upper end cover and bottom end cover are installed to respectively the two ends of spindle motor set casing with screw; Pressure sensor is arranged on bottom end cover by interference fit.
Described posture adjustment module comprises: large eccentricity dish, small eccentricity dish, ball pivot, large eccentricity try to get to the heart of a matter seat, posture adjustment motor, pinion, gear wheel, spherical pair-upper sphere, spherical pair-lower peripheral surface, spherical pair fixed cap, shell and keyset;
Ball pivot is arranged on the Under Asymmetrical of small eccentricity dish; The small eccentricity dish is arranged on the Under Asymmetrical of large eccentricity dish, between small eccentricity dish and large eccentricity dish, large eccentricity dish and the large eccentricity seat of trying to get to the heart of a matter coordinates by little steel ball respectively, form the mechanism of similar thrust bearing, the Under Asymmetrical line of small eccentricity coiling large eccentricity dish is freely rotated, and large eccentricity coils the central axis that large eccentricity tries to get to the heart of a matter and freely rotates; Gear wheel and pinion are arranged on respectively on the output shaft of posture adjustment motor, and gear wheel and pinion form gear engagement with small eccentricity dish and the large eccentricity seat of trying to get to the heart of a matter respectively; The posture adjustment motor is arranged on the large eccentricity dish; Spherical pair-upper sphere and spherical pair-lower peripheral surface form a spherical pair; Large eccentricity try to get to the heart of a matter seat and spherical pair-go up sphere to be arranged on the shell two ends by retainer ring respectively; Shell is connected with industrial machinery arm ring flange by keyset; Axle on upper end cover passes ball pivot, when small eccentricity dish and the rotation of large eccentricity dish, can drive spindle motor and rotate around the centre of sphere of spherical pair, realizes that the attitude of spindle motor is adjusted function.
Described Quick change module comprises: power transmission shaft, spring fixed seat, quick change retainer ring, quick change cambridge ring, spring, quick change axle, quick change steel ball, drill chuck head, quick change connecting rod, quick change connecting rod holder, deep groove ball bearing, bearing fixed seat, drill bit and thrust bearing;
Power transmission shaft is arranged on the output shaft of spindle motor, both between key connect; Spring fixed seat is arranged on power transmission shaft; The quick change retainer ring is arranged on spring fixed seat; Quick change axle one end is square, and with the square opening on power transmission shaft and spring fixed seat, coordinates, and realizes the rotating speed transmission of spindle motor; Thrust bearing is arranged on power transmission shaft inside, with pressure sensor, contacts; Drill chuck head is arranged on the other end bullet of quick change axle; The drill chuck head clamping drilling bit; The quick change steel ball is arranged on the half slot of quick change axle; The quick change cambridge ring is enclosed within on the quick change axle, and an end is fixed on spring fixed seat by spring; The quick change connecting rod is connected with the other end of quick change cambridge ring by screw thread; Quick change connecting rod holder is arranged on the spherical pair fixed cap; Deep groove ball bearing is arranged on power transmission shaft, and bearing fixed seat is arranged on bottom end cover, prevents the axial float of bearing.
There is following characteristics in the present invention:
(1) posture adjustment.Can adjust the drill bit attitude, guarantee the perpendicularity in hole.
(2) quick change.With the quick change part of module, can realize fast the replacing of drill bit, improved drilling efficiency.
(3) axial force detects.According to the difference of drill bit axial force, while realizing the drilling different materials, in time change drilling parameter, guarantee the drilling quality, and axial force also can be applicable to the control of counter boring precision.
Description of drawings
Fig. 1 is the overall structure figure of end effector of the present invention;
Fig. 2 is the main shaft modular structure figure of end effector of the present invention;
Fig. 3 is the posture adjustment modular structure figure of end effector of the present invention;
Fig. 4 is the Quick change module structure chart of end effector of the present invention;
Fig. 5 is the quick change axle construction figure of end effector of the present invention.
In figure:
1. main shaft module, 101. spindle motors, 102. spindle motor set casings, 103. upper end covers, 104. bottom end covers, 105. pressure sensors;
2. posture adjustment module, 201. large eccentricity dishes, 202. small eccentricity dishes, the seat 203. ball pivot, 204. large eccentricities are tried to get to the heart of a matter, 2051,2052. posture adjustment motors, 206. pinion, 207. gear wheel, 208. pair-upper spheres, 209. spherical pairs-lower peripheral surface, 210. spherical pair fixed cap, 211. shell, 212. keysets, 2131,2132. retainer rings;
3. Quick change module, 301. power transmission shafts, 302. spring fixed seats, 303. the quick change retainer ring, 304. quick change cambridge rings, 3051,3052. springs, 306. the quick change axle, 3071,3072. quick change steel balls, 308. drill chuck head, 3091,3092. quick change connecting rods, 3101,3102. quick change connecting rod holders, 311. deep groove ball bearings, 312. bearing fixed seats, 313. drill bit, 314 thrust bearings.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Shown in Figure 1, the present invention relates to a kind of end effector of drilling with posture adjustment and quick change, this end effector comprises main shaft module 1, posture adjustment module 2, Quick change module 3.Posture adjustment module 2 is supports of whole end effector.Main shaft module 1 is arranged on posture adjustment module 2 inside; Quick change module 3 is installed on the motor output shaft of main shaft module.
Shown in Figure 2, described main shaft module 1 comprises: spindle motor 101, spindle motor set casing 102, upper end cover 103, bottom end cover 104 and pressure sensor 105;
Spindle motor 101 is fixed by screws on bottom end cover 104; Upper end cover 103 and bottom end cover 104 are installed to respectively the two ends of spindle motor set casing 102 with screw; Pressure sensor 105 is arranged on bottom end cover 104 by interference fit.
In main shaft module 1, spindle motor 101 is selected the motor of Austrian Bei Jialai company.Spindle motor 101 models are 8LSA44, and rated speed can reach 3000rpm, and output torque 3Nm, pressure sensor select the micro pressure sensor PLD204D-13 of roc Li Da company, and range can reach 1000N, response time 10ms.
Shown in Figure 3, described posture adjustment module 2 comprises: large eccentricity dish 201, small eccentricity dish 202, ball pivot 203, large eccentricity try to get to the heart of a matter seat 204, posture adjustment motor 2051 and 2052, pinion 206, gear wheel 207, spherical pair-upper sphere 208, spherical pair-lower peripheral surface 209, spherical pair fixed cap 210, shell 211, keyset 212 and retainer ring 2131 and 2132;
Ball pivot 203 is arranged on the Under Asymmetrical of small eccentricity dish 202; Small eccentricity dish 202 is arranged on the Under Asymmetrical of large eccentricity dish 201, between small eccentricity dish 202 and large eccentricity dish 201, large eccentricity dish 201 and the large eccentricity seat 204 of trying to get to the heart of a matter coordinates by little steel ball respectively, form the mechanism of similar thrust bearing, small eccentricity dish 202 is freely rotated around the Under Asymmetrical line of large eccentricity dish 201, and large eccentricity dish 201 freely rotates around large eccentricity seat 204 the central axis of trying to get to the heart of a matter; Gear wheel 207 and pinion 206 are arranged on respectively on the output shaft of posture adjustment motor 2051 and 2052, and gear wheel 207 and pinion 206 form gears engagement with small eccentricity dish 202 and the large eccentricity seat 204 of trying to get to the heart of a matter respectively; Posture adjustment motor 2051 and 2052 is arranged on large eccentricity dish 201; Spherical pair-upper sphere 208 and spherical pair-lower peripheral surface 209 form a spherical pair; Large eccentricity the seat 204 and spherical pair-upper sphere 208 of trying to get to the heart of a matter is arranged on shell 211 two ends by retainer ring 2131 and 2132 respectively; Shell 211 is connected with industrial machinery arm ring flange by keyset 212; Axle on upper end cover 103 passes ball pivot 203, when small eccentricity dish 202 rotates with large eccentricity dish 201, can drive spindle motor 101 and rotate around the centre of sphere of spherical pair, realizes that the attitude of spindle motor 101 is adjusted function.
In posture adjustment module 2, posture adjustment motor 2051 and 2052 adopts maxon DC servo motor RE25, and output torque is 20.6mNm.
Referring to Fig. 4, shown in Figure 5, Quick change module 3 comprises: power transmission shaft 301, spring fixed seat 302, quick change retainer ring 303, quick change cambridge ring 304, spring 3051 and 3052, quick change axle 306, quick change steel ball 3071 and 3072, drill chuck head 308, quick change connecting rod 3091 and 3092, quick change connecting rod holder 3101 and 3102, deep groove ball bearing 311, bearing fixed seat 312, drill bit 313 and thrust bearing 314;
Power transmission shaft 301 is arranged on the output shaft of spindle motor 101, connects by key between both; Spring fixed seat 302 is arranged on power transmission shaft 301; Quick change retainer ring 303 is arranged on spring fixed seat 302; Quick change axle 306 1 ends are square, and with the square opening on power transmission shaft 301 and spring fixed seat 302, coordinate, and realize the rotating speed transmission of spindle motor 101; Thrust bearing 314 is arranged on power transmission shaft 301 inside, with pressure sensor 105, contacts; Drill chuck head 308 is arranged on the other end bullet of quick change axle 306; Drill chuck head 308 clamping drilling bit 313; Quick change steel ball 3071 and 3072 is arranged on the half slot of quick change axle 306; Quick change cambridge ring 304 is enclosed within on quick change axle 306, and an end is fixed on spring fixed seat 302 by spring 3051 and 3052; Quick change connecting rod 3091 is connected with the other end of quick change cambridge ring 304 by screw thread with 3092; Quick change connecting rod holder 3101 and 3102 is arranged on spherical pair fixed cap 210; Deep groove ball bearing 311 is arranged on power transmission shaft 301, and bearing fixed seat 312 is arranged on bottom end cover 104, prevents the axial float of bearing.Be processed with half slot on quick change axle 306, be processed with through hole on quick change retainer ring 303, when drilling, the inwall of quick change cambridge ring 304 contacts with quick change retainer ring 303 is seamless, quick change steel ball 3071 and 3072 is pressed in half slot on quick change axle 306, realizes the transmission of rotating, drill bit is rotated; When the needs bit change, quick change connecting rod 3091 and 3092 is taken out respectively from quick change connecting rod holder 3101 and 3102, cambridge ring 304 is shifted out a segment distance to the drill bit direction, due to wedged hole being arranged, quick change steel ball 3071 and 3072 can shift out from half slot, can take off quick change axle 306 like this, change the quick change axle 306 with green bit.
Pressure sensor 105 is arranged on bottom end cover 104 by interference fit; Thrust bearing 314 is arranged on power transmission shaft 301 inside, with pressure sensor 105, contacts.When drill bit contact workpiece, drill bit can be subject to axial force, and this moment, whole Quick change module 3 will be to 101 1 axial forces of spindle motor, and this axial force passes to pressure sensor 105 surfaces after thrust bearing 314, and pressure sensor will detect the axial force size.When the strong value mutation of pressure sensor, when being namely drill bit contact workpiece.Bit location is designated as 0 this moment, can control the counter boring degree of depth.And in the lamination drilling, during the drilling different materials, the suffered axial force of drill bit is different, therefore can judge according to the difference of axial force the drilling material.When the pressure sensor axial force changes, illustrate that variation has occurred the material of drill bit drilling, can in time change the drilling parameter accordingly, guarantee the drilling quality.
In Quick change module 3, deep groove ball bearing 311 is selected domestic standard bearing 61809, and thrust bearing selects 51106.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (4)

1. end effector of the drilling with posture adjustment and quick change, it is characterized in that: this end effector comprises main shaft module (1), posture adjustment module (2) and Quick change module (3).
2. end effector according to claim 1, is characterized in that, described main shaft module (1) comprising: spindle motor (101), spindle motor set casing (102), upper end cover (103), bottom end cover (104) and pressure sensor (105);
Spindle motor (101) is fixed by screws on bottom end cover (104); Upper end cover (103) and bottom end cover (104) are installed to respectively the two ends of spindle motor set casing (102) with screw; Pressure sensor (105) is arranged on bottom end cover (104) by interference fit.
3. end effector according to claim 1, it is characterized in that, posture adjustment module (2) comprising: large eccentricity dish (201), small eccentricity dish (202), ball pivot (203), large eccentricity try to get to the heart of a matter seat (204), a posture adjustment motor (2051 and 2052), pinion (206), gear wheel (207), spherical pair-upper sphere (208), spherical pair-lower peripheral surface (209), spherical pair fixed cap (210), shell (211), keyset (212), retainer ring (2131 and 2132);
Ball pivot (203) is arranged on the Under Asymmetrical of small eccentricity dish (202); Small eccentricity dish (202) is arranged on the Under Asymmetrical of large eccentricity dish (201), between small eccentricity dish (202) and large eccentricity dish (201), large eccentricity dish (201) and the large eccentricity seat (204) of trying to get to the heart of a matter coordinates by little steel ball respectively, form the mechanism of similar thrust bearing, small eccentricity dish (202) is freely rotated around the Under Asymmetrical line of large eccentricity dish (201), large eccentricity dish (201) around large eccentricity try to get to the heart of a matter the seat (204) central axis freely rotate; Gear wheel (207) and pinion (206) are arranged on respectively on the output shaft of posture adjustment motor (2051) and posture adjustment motor (2052), and gear wheel (207) and pinion (206) form gear engagement with small eccentricity dish (202) and the large eccentricity seat (204) of trying to get to the heart of a matter respectively; Posture adjustment motor (2051) and posture adjustment motor (2052) are arranged on large eccentricity dish (201); Spherical pair-upper sphere (208) and spherical pair-lower peripheral surface (209) form a spherical pair; Large eccentricity is tried to get to the heart of a matter, and seat (204) and spherical pair-upward sphere (208) is arranged on shell (211) two ends by retainer ring (2131) and retainer ring (2132) respectively; Shell (211) is connected with industrial machinery arm ring flange by keyset (212); Axle on upper end cover (103) passes ball pivot (203), when small eccentricity dish (202) rotates with large eccentricity dish (201), can drive spindle motor (101) and rotate around the centre of sphere of spherical pair, realizes that the attitude of spindle motor (101) is adjusted function.
4. end effector according to claim 1, it is characterized in that, Quick change module (3) comprising: power transmission shaft (301), spring fixed seat (302), quick change retainer ring (303), quick change cambridge ring (304), spring (3051 and 3052), quick change axle (306), quick change steel ball (3071 and 3072), drill chuck head (308), quick change connecting rod (3091 and 3092), quick change connecting rod holder (3101 and 3102), deep groove ball bearing (311), bearing fixed seat (312), drill bit (313) and thrust bearing (314);
Power transmission shaft (301) is arranged on the output shaft of spindle motor (101), connects by key between both; Spring fixed seat (302) is arranged on power transmission shaft (301); Quick change retainer ring (303) is arranged on spring fixed seat (302); Quick change axle (306) one ends are square, and with the square opening on power transmission shaft (301) and spring fixed seat (302), coordinate, and realize the rotating speed transmission of spindle motor (101); Thrust bearing (314) is arranged on power transmission shaft (301) inside, with pressure sensor (105), contacts; Drill chuck head (308) is arranged on the other end bullet of quick change axle (306); Drill chuck head (308) clamping drilling bit (313); Quick change steel ball (3071) and quick change steel ball (3072) are arranged on the half slot of quick change axle (306); Quick change cambridge ring (304) is enclosed within on quick change axle (306), and an end is fixed on spring fixed seat (302) by spring (3051) and spring (3052); Quick change connecting rod (3091) is connected with the other end of quick change cambridge ring (304) by screw thread with quick change connecting rod (3092); Quick change connecting rod holder (3101) and quick change connecting rod holder (3102) are arranged on spherical pair fixed cap (210); Deep groove ball bearing (311) is arranged on power transmission shaft (301), and bearing fixed seat (312) is arranged on bottom end cover (104), prevents the axial float of bearing.
CN201310301162.4A 2013-07-17 2013-07-17 Quick-change drilling end effector with function of posture adjustment CN103395066B (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN103639477A (en) * 2013-12-05 2014-03-19 重庆大学 Drilling power head capable of measuring axial force
CN103639471A (en) * 2013-12-05 2014-03-19 郑州大学 Drilling end actuator for robot
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
CN105415362A (en) * 2015-12-22 2016-03-23 北京大成高科机器人技术有限公司 Drilling end effector posture adjusting mechanism
CN105965072A (en) * 2016-06-30 2016-09-28 桂林电子科技大学 Automatic assembling and disassembling device for twist bit
CN107378631A (en) * 2017-08-30 2017-11-24 张家港华翊电工有限公司 A kind of metallic article processing drilling equipment
CN111086028A (en) * 2019-12-14 2020-05-01 西安交通大学 Industrial robot tail end motion sensing device and identification method

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Cited By (12)

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Publication number Priority date Publication date Assignee Title
CN103639477A (en) * 2013-12-05 2014-03-19 重庆大学 Drilling power head capable of measuring axial force
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
CN103639477B (en) * 2013-12-05 2016-04-06 重庆大学 A kind of brill unit head surveying axial force
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
CN105415362A (en) * 2015-12-22 2016-03-23 北京大成高科机器人技术有限公司 Drilling end effector posture adjusting mechanism
CN105415362B (en) * 2015-12-22 2017-02-15 北京大成高科机器人技术有限公司 Drilling end effector posture adjusting mechanism
CN105965072A (en) * 2016-06-30 2016-09-28 桂林电子科技大学 Automatic assembling and disassembling device for twist bit
CN105965072B (en) * 2016-06-30 2018-03-06 桂林电子科技大学 A kind of spiral bit automatic handling device
CN107378631A (en) * 2017-08-30 2017-11-24 张家港华翊电工有限公司 A kind of metallic article processing drilling equipment
CN111086028A (en) * 2019-12-14 2020-05-01 西安交通大学 Industrial robot tail end motion sensing device and identification method
CN111086028B (en) * 2019-12-14 2021-01-19 西安交通大学 Industrial robot tail end motion sensing device and identification method

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