CN107600455A - A kind of end effector apparatus and a kind of integrated drilling, the method for nail pressing - Google Patents
A kind of end effector apparatus and a kind of integrated drilling, the method for nail pressing Download PDFInfo
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- CN107600455A CN107600455A CN201710790977.1A CN201710790977A CN107600455A CN 107600455 A CN107600455 A CN 107600455A CN 201710790977 A CN201710790977 A CN 201710790977A CN 107600455 A CN107600455 A CN 107600455A
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- nail pressing
- modular converter
- presser feet
- module
- central axis
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Abstract
The present invention discloses a kind of end effector apparatus and a kind of integrated drilling, the method for nail pressing, and described device includes：Station modular converter, presser feet module, supporting module, transmission module, controller；Station modular converter includes：Punching device, nail pressing device, rotating-table apparatus；Punching device, treat drilling for being directed at aircraft target ship, the position of nail pressing is punched；Placed in nail pressing device and need to be pressed connector, for connector to be pressed to be pressed into the connecting hole of the aircraft target ship；Punching device, nail pressing device are separately positioned on rotating-table apparatus, and rotating-table apparatus rotation drives punching device and nail pressing device to rotate, and punching device or nail pressing device is directed at aircraft target ship and is treated drilling, the position of nail pressing.Punching device and nail pressing device are arranged in rotating-table apparatus same level by the present invention simultaneously, form " individual layer twin shaft " tactic pattern, in the case where ensureing that length and width is constant, are reduced the weight and volume of end effector, are made more compact structure.
Description
Technical field
The present invention relates to numeric terminal manufacture and automatic field, more particularly to a kind of end effector apparatus and system
Hole, stapling method.
Background technology
In Current Domestic aircraft target ship robot automation's assembling process, end effector is using articulated robot as load
Body, coordinated by PLC and robot control system, complete the assembly processes such as drilling, nail pressing, realize the pre-assembled of aircraft target ship.
To ensure drilling/nail pressing efficiency and pre-assembled quality, it is desirable to which Multifunctional multistage end effector must be realized accurate, efficient
Station is changed, i.e., it is accurate, efficiently, it is stable complete drilling main shaft and nail pressing main shaft in assembling process with pressure foot center sequentially
Overlap.
At present, the main shaft module that domestic robot automation is assembled in multi-functional end effector relies on presser feet module
Frame mode, i.e. end effector presser feet are arranged with main shaft two-stage feed system in " bilayer " structure, using this structure type
End effector volume and weight it is larger, for the industrial robot with limited load carrying capacity, reduce robot
The output loads scope of system, cause that robot hole system can not be applied to the occasion for having big load output to require, such as,
The occasion of high locked bolts interference connection is completed in integration after drilling.For the scalability of end effector, due to
The limitation of volume and weight, the poor-performing of other expansion modules is carried on end effector.
In view of the above-mentioned problems, how to reduce the volume and weight of end effector, the application of end effector is expanded,
It is current numeric terminal manufacture and the technical problem for being badly in need of solving in automatic field.
The content of the invention
It is an object of the invention to provide a kind of end effector apparatus and control method, is tied by fixation " individual layer-twin shaft "
Structure pattern, to reduce the volume and weight of end effector apparatus.
To achieve the above object, the present invention provides a kind of end effector apparatus, and the end effector apparatus includes：Work
Position modular converter, presser feet module, supporting module, transmission module, controller；
The supporting module lifting suspension is arranged in fixed support body；
The station modular converter is arranged in the supporting module, and the station modular converter passes through rotation, selection system
Hole or nail pressing；
Wherein, the station modular converter includes：Punching device, nail pressing device, rotating-table apparatus；
The punching device, treat drilling for being directed at aircraft target ship, the position of nail pressing is punched；
Placed in the nail pressing device and need to be pressed connector, for connector to be pressed to be pressed into the connection of the aircraft target ship
In hole；
The punching device, the nail pressing device are separately positioned on the rotating-table apparatus, and in the punching device
The central axis of mandrel line, the central axis of the nail pressing device respectively with the rotating-table apparatus intersects, the rotating-table apparatus rotation
Turn to drive the punching device and the nail pressing device to rotate, the punching device or the nail pressing device is directed at the aircraft
Wallboard treats drilling, the position of nail pressing；
The presser feet module is arranged in the supporting module, is correspondingly arranged with the station modular converter, the presser feet
Simultaneously fastening aircraft wallboard treats drilling, the position of nail pressing to module alignment；
The transmission module is arranged in the supporting module, is connected respectively with the station modular converter, presser feet module,
The transmission module controls the station modular converter, presser feet module movement；
The controller is connected with the transmission module, and the controller controls the station to turn by the transmission module
Change the mold block, presser feet module movement.
Optionally, the station modular converter also includes：Indexable roller unit and sliding panel；
The indexable roller unit is connected with the rotating-table apparatus, and the indexable roller unit drives the rotating-table apparatus to turn
It is dynamic, the punching device or the nail pressing device is directed at the aircraft target ship and is treated drilling, the position of nail pressing；
The sliding panel is connected with the rotating-table apparatus, the rotating-table apparatus is rotated relative to the sliding panel；It is described
Sliding panel is connected with the indexable roller unit, the indexable roller unit is rotated relative to the sliding panel；The slip
Plate is arranged in the supporting module, and the sliding panel moves in the supporting module, and drives the punching device, described
Nail pressing device, the rotating-table apparatus, the indexable roller unit motion.
Optionally, the indexable roller unit includes：Nut seat, bearing block, screw mandrel, nut, ball bearing；
Nut, nut seat, ball bearing, bearing block are set gradually on the screw mandrel；The nut, the bearing block point
The both ends of the screw mandrel are not arranged on；
The nut seat is in close contact with the nut and set, and the nut promotes the nut seat to be moved along the screw mandrel
It is dynamic；
The bearing block is in close contact with the ball bearing and set；
The nut seat is connected with the rotating-table apparatus, the rotating-table apparatus is rotated relative to the nut seat.
Optionally, the transmission module includes：First servomotor, the second servomotor, the 3rd servomotor, first
Bar transmission device, the second spindle gear；
First servomotor, second servomotor, the 3rd servomotor, first screw rod transmission dress
Put, second spindle gear is separately fixed in the supporting module；
First servomotor is connected with first spindle gear, first spindle gear with it is described
Presser feet module is connected, and first servomotor adjusts the presser feet module by first spindle gear and fed forward
Or retract backward；
Second servomotor is connected with second spindle gear, second spindle gear with it is described
Station modular converter is connected, and second servomotor adjusts the station modular converter by second spindle gear
Feed forward or retract backward；
3rd servomotor is connected with the screw mandrel in the indexable roller unit, the 3rd servomotor control
System states indexable roller unit and drives the rotating-table apparatus left rotation and right rotation, selects the punching device or the nail pressing device.
Optionally, the end effector apparatus also includes：Sensor assembly；The sensor assembly and the controller
It is connected, the controller is used to be controlled the transmission module according to the data that the sensor assembly detects；
The sensor assembly includes：At least one in pressure sensor, laser sensor, relative displacement transducer device
Person；
The pressure sensor is arranged in the presser feet module, and the pressure sensor is connected with the controller, institute
State pressure sensor to be used to detect the presser feet module relative to the pressure between wallboard, and the pressure is sent to the control
Device processed；
The laser sensor is arranged on the presser feet module front end surrounding, the laser sensor and the controller phase
Even, the laser sensor is used to detect the central axis for adjusting the rotating-table apparatus and the number of degrees at aircraft target ship method arrow angle, and
The number of degrees at aircraft target ship method arrow angle are sent to the controller；
The relative displacement transducer device includes relative displacement transducer and relative displacement transducer matching component；It is described
Relative displacement transducer is arranged on the sliding panel of the station modular converter, the relative displacement transducer matching component
It is arranged in the presser feet module；The relative displacement transducer is connected with the controller, and the relative displacement transducer is used
Sent in detection axis feeding distance, and by axis feeding distance to the controller.
Optionally, the central axis of the punching device, the central axis of the nail pressing device fill with the rotating disk respectively
The central axis put, which intersects at a point, to be specifically included：
The central axis of the punching device, the central axis of the nail pressing device are located in the rotating-table apparatus respectively
Mandrel line both sides, and in the central axis of the central axis of the punching device, the nail pressing device and the rotating-table apparatus
Mandrel line intersects at a point；
The central axis of the punching device, the central axis of the nail pressing device are located at the central shaft of the rotating-table apparatus
Line the same side, and the center of the central axis of the central axis of the punching device, the nail pressing device and the rotating-table apparatus
Axis intersects at a point, and the angle between the central axis of the central axis of the punching device and the rotating-table apparatus is first
Set angle, the angle between the central axis of the nail pressing device and the central axis of the rotating-table apparatus are the second set angle,
First set angle and second set angle.
The present invention also provides a kind of integrated drilling, the method for nail pressing, and methods described is applied to according to claim 1 to power
Profit requires the end effector apparatus described in 6 any one, and methods described includes：
In the station modular converter drilling, judge whether the station modular converter is in zero point；If the work
Position modular converter is in zero point, then adjusts the central axis of the punching device and the presser feet module centers axis, Zhi Daosuo
State punching device central axis overlapped with the presser feet module centers axis untill, and control the station modular converter forward
Feed drilling；Otherwise, the station modular converter is controlled to return to zero point；During drilling is fed, the relative position is judged
Whether the value of displacement sensor is equal with predetermined threshold value；If the value of the relative displacement transducer is equal with predetermined threshold value, control
Make the station modular converter to stop drilling and retract, otherwise, continuation feeds forward drilling；
During the station modular converter stops drilling and retracts, judge whether the station modular converter is in
Zero point；If the station modular converter is in zero point, the central axis of the nail pressing device and the presser feet module are adjusted
Central axis, untill the central axis of the nail pressing device overlaps with the presser feet module centers axis, and described in control
Station modular converter feeds forward nail pressing；Otherwise, the station modular converter is controlled to return to zero point；In the process of nail pressing feeding
In, judge whether the value of the relative displacement transducer is equal with predetermined threshold value；If the value of the relative displacement transducer with
Predetermined threshold value is equal, then controls the station modular converter to stop nail pressing and retract；Otherwise, continue to feed nail pressing forward；
During the station modular converter stops nail pressing and retracts, judge whether the station modular converter is retracted
To zero point, if the station modular converter is retracted into zero point, control the presser feet module to be retracted into zero point, otherwise, continue
The station modular converter is controlled to be back to zero point.
Optionally, before the station modular converter drilling step, in addition to：
Drilling, the position of nail pressing are treated in acquisition, adjust the central shaft of presser feet module with treat drilling, nail pressing position it is corresponding；
The method adjusted according to the laser sensor between the central shaft of the presser feet module and aircraft target ship swears angle, until
The method swears angle in the range of set angle；
Judge whether the presser feet module is in zero point；If the presser feet module is in zero point, the presser feet is controlled
Module is fed forward；Otherwise, the presser feet module is controlled to be retracted into zero point；During presser feet feeding, judge that the pressure passes
Whether sensor pressure reaches preset pressure value, if the value of the pressure sensor is equal with the preset pressure value, controls
The first servomotor braking, the locked presser feet module；Otherwise, continue to feed the presser feet module.
Optionally, it is described acquisition treat drilling, nail pressing position, adjust presser feet module central shaft and treat drilling, nail pressing
The corresponding step in position before, in addition to：
The threshold library of relative displacement transducer is established according to counter boring depth；
The predetermined threshold value of the relative displacement transducer corresponding with counter boring depth is chosen from the threshold library.
Optionally, during the control station modular converter feeds forward drilling and feeds nail pressing forward, tool
Body includes：
Control during the station modular converter feeds forward drilling and feed nail pressing forward, judge described with respect to position
Whether displacement sensor contacts with relative displacement transducer matching component, if be not in contact with, controls the station modular converter
Fed with the first setting speed；Otherwise, the station modular converter is controlled to be fed with the second setting speed, and it is now described
Relative displacement transducer starts counting up, and first setting speed is more than second setting speed.
According to specific embodiment provided by the invention, the invention discloses following technique effect：
The present invention is by setting station modular converter, and by punching device and nail pressing device while to be arranged on rotating-table apparatus same
On horizontal plane, and by the central axis of the punching device, the nail pressing device central axis respectively with the rotating-table apparatus
Central axis intersect at a point, constitute " individual layer-twin shaft " tactic pattern, ensure length and width it is constant in the case of, make station
The height of modular converter reduces 20%, therefore the weight of end effector apparatus is reduced into original 60%, makes end effector
The structure of device is compacter.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structure chart of end effector apparatus of the embodiment of the present invention；
Fig. 2 is the internal cross section figure of end effector apparatus of the embodiment of the present invention；
Fig. 3 is relative displacement transducer device installation site figure of the embodiment of the present invention；
Fig. 4 is the structure chart of station modular converter of the embodiment of the present invention；
Fig. 5 is the operating position structure chart of end effector apparatus of the embodiment of the present invention.
1st, supporting module, 1.1, adpting flange, 1.2, end effector supporting plate, 2, station modular converter, 2.1, drilling
Device, 2.2, nail pressing device, 2.2.1, cylinder, 2.2.2, chuck, 2.3, rotating-table apparatus, 2.4, indexable roller unit, 2.4.1,
Nut, 2.4.2, nut seat, 2.4.3, ball bearing, 2.4.4, bearing block, 2.4.5, screw mandrel, 2.5, sliding panel, 2.6, first
Bearing, 2.7, second bearing, 2.8,3rd bearing, 3, presser feet module, 3.1, presser feet main body, 3.2, presser feet supporting plate, 4, transmission
Module, the 4.1, first servomotor, the 4.2, second servomotor, the 4.3, the 3rd servomotor, the 4.4, first spindle gear,
4.5th, the second spindle gear, 5, sensor assembly, 5.1, pressure sensor, 5.2, laser sensor, 5.3, relative displacement
Sensor device, 5.3.1, relative displacement transducer, 5.3.2, relative displacement transducer matching component.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It is an object of the invention to provide a kind of end effector apparatus and control method, is tied by fixation " individual layer-twin shaft "
Structure pattern, to reduce the volume and weight of end effector apparatus.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Fig. 1 is the structure chart of end effector apparatus of the embodiment of the present invention；Fig. 2 fills for end effector of the embodiment of the present invention
The internal cross section figure put；Fig. 3 is relative displacement transducer device installation site figure of the embodiment of the present invention；As Figure 1-3, this hair
Bright to disclose a kind of end effector apparatus, the end effector apparatus includes：Supporting module 1, station modular converter 2, pressure
Pin module 3, transmission module 4, controller, sensor assembly 5.
The supporting module 1 lifts suspension and is arranged in fixed support body；The solid support be robot or other
Support meanss；The supporting module 1 includes adpting flange 1.1 and end effector supporting plate 1.2, the adpting flange 1.1 with
The end effector supporting plate 1.2 is connected by screw.
The station modular converter 2 is arranged in the supporting module 1, and the station modular converter 2 passes through rotation, selection
Drilling or nail pressing.
Fig. 4 is the structure chart of station modular converter of the embodiment of the present invention；As shown in figure 4, the station modular converter 2 wraps
Include：Punching device 2.1, nail pressing device 2.2, rotating-table apparatus 2.3, indexable roller unit 2.4 and sliding panel 2.5, clutch shaft bearing
2.6th, second bearing 2.7,3rd bearing 2.8.
The punching device 2.1, treat drilling for being directed at aircraft target ship, the position of nail pressing is punched；The drilling dress
2.1 are put to be fixed on the rotating-table apparatus 2.3 by spindle drum.
Placed in the nail pressing device 2.2 and need to be pressed connector, for connector to be pressed to be pressed into the aircraft target ship
In connecting hole；The nail pressing device 2.2 includes cylinder 2.2.1 and chuck 2.2.2, and the chuck 2.2.2, which is used to deposit, treats that pressure connects
Fitting, the cylinder 2.2.1 are used to blow into the connector to be pressed in the chuck 2.2.2 in the connecting hole of aircraft target ship.
The punching device 2.1, the nail pressing device 2.2 are separately positioned on the rotating-table apparatus 2.3, and the drilling
The central axis central axis phase with the rotating-table apparatus 2.3 respectively of the central axis of device 2.1, the nail pressing device 2.2
Hand over, the rotation of rotating-table apparatus 2.3 drives the punching device 2.1 and the nail pressing device 2.2 to rotate, and makes the punching device
2.1 or described nail pressing devices 2.2 are directed at the aircraft target ship and treat drilling, the position of nail pressing.
Preferably, the central axis of the punching device 2.1, the central axis of the nail pressing device 2.2 are located at institute respectively
Central axis the same side of rotating-table apparatus 2.3 is stated, and in the central axis of the punching device 2.1, the nail pressing device 2.2
The central axis of mandrel line and the rotating-table apparatus 2.3 intersects at a point, the central axis of the punching device 2.1 with described turn
Angle between the central axis of disk device 2.3 is the first set angle, central axis and the rotating disk of the nail pressing device 2.2
Angle between the central axis of device 2.3 is the second set angle, first set angle and second set angle.
Most preferably, the central axis of the punching device 2.1, the central axis of the nail pressing device 2.2 are located at respectively
The central axis both sides of the rotating-table apparatus 2.3, and in the central axis of the punching device 2.1, the nail pressing device 2.2
The central axis of mandrel line and the rotating-table apparatus 2.3 intersects at a point.
The indexable roller unit 2.4 is connected with the rotating-table apparatus 2.3, and the indexable roller unit 2.4 drives described
Rotating-table apparatus 2.3 rotates, and the punching device 2.1 or the nail pressing device 2.2 is directed at the aircraft target ship and is treated drilling, nail pressing
Position.
The sliding panel 2.5, the rotating-table apparatus 2.3 are run through by the clutch shaft bearing 2.6, make the rotating-table apparatus
2.3 rotate relative to the sliding panel 2.5；The sliding panel 2.5, the indexable roller unit 2.4 pass through the 3rd bearing
2.8 run through, and the indexable roller unit 2.4 is rotated relative to the sliding panel 2.5；The sliding panel 2.5 is arranged on described
In supporting module 1, the sliding panel 2.5 moves in the supporting module 1, and drives the punching device 2.1, the nail pressing
Device 2.2, the rotating-table apparatus 2.3, the indexable roller unit 2.4 are moved.
The indexable roller unit 2.4 includes：Nut 2.4.1, nut seat 2.4.2, ball bearing 2.4.3, bearing block
2.4.4, screw mandrel 2.4.5；Set gradually on the screw mandrel 2.4.5 nut 2.4.1, nut seat 2.4.2, ball bearing 2.4.3,
Bearing block 2.4.4；The nut 2.4.1, the bearing block 2.4.4 are separately positioned on the screw mandrel 2.4.5 both ends；The screw
The seat 2.4.2 and nut 2.4.1, which is in close contact, to be set, and the nut 2.4.1 promotes the nut seat 2.4.2 along the silk
Bar 2.4.5 is moved；The bearing block 2.4.4 sets to be in close contact with the ball bearing 2.4.3 and set；The nut seat
2.4.2 run through with the rotating-table apparatus 2.3 by second bearing 2.7, make the rotating-table apparatus 2.3 relative to the nut seat
2.4.2 rotate.
The presser feet module 3 is arranged in the supporting module 1, is correspondingly arranged with the station modular converter 2, the pressure
Simultaneously fastening aircraft wallboard treats drilling, the position of nail pressing to the alignment of pin module 3；The presser feet module 3 includes presser feet main body 3.1, presser feet
Supporting plate 3.2, the presser feet main body 3.1 are connected by screw with presser feet supporting plate 3.2.
The transmission module 4 is arranged in the supporting module 1, respectively with the station modular converter 2, presser feet module 3
Connection, the transmission module 4 control the station modular converter 2, the presser feet module 3 to move.
The transmission module 4 includes：First servomotor 4.1, the second servomotor 4.2, the 3rd servomotor 4.3,
One spindle gear 4.4, the second spindle gear 4.5.
First servomotor 4.1 is fixed by screws in end effector supporting plate 1.2, and first screw mandrel passes
Dynamic device 4.4 is fixed in end effector supporting plate 1.2 by support base, first servomotor 4.1, described first
Bar transmission device 4.4 is connected by shaft coupling, and first spindle gear 4.4 is connected with the presser feet module 3, and described
One servomotor 4.1 adjusts the presser feet module 3 by first spindle gear 4.4 and feeds forward or retract backward；
Second servomotor 4.2 is by screw fixation ends actuator supporting plate 1.2, second screw rod transmission
Device 4.5 is fixed on second servomotor 4.2 in end effector supporting plate 1.2, second screw mandrel by support base
Transmission device 4.5 is connected by shaft coupling, and second spindle gear 4.5 is connected with the station modular converter 2, described
Second servomotor 4.2 by second spindle gear 4.5 adjust the station modular converter 2 feed forward or
Retract backward.
3rd servomotor 4.3 is fixed by screws on sliding panel 2.5, the 3rd servomotor 4.3 and institute
The screw mandrel 2.4.5 stated in indexable roller unit 2.4 is connected by shaft coupling, and the 3rd servomotor 4.3 control, which is stated, to be turned
Position roller unit 2.4 drives the left rotation and right rotation of rotating-table apparatus 2.3, selects the punching device 2.1 or the nail pressing device
2.2。
The controller is connected with the sensor assembly 5, the transmission module 4 respectively, and the controller is according to
The signal that sensor assembly 4 detects controls the station modular converter 2, the presser feet module 3 to move by the transmission module 4
It is dynamic.
The sensor assembly 5 includes：Pressure sensor 5.1, laser sensor 5.2, relative displacement transducer device 5.3
At least one of.
The pressure sensor 5.1 is arranged between the presser feet main body 3.1 and the presser feet supporting plate 3.2, the pressure
Force snesor 5.1 is connected with the controller, and the pressure sensor 5.1 is used to detect the presser feet module 3 relative to wallboard
Between pressure, and the pressure is sent to the controller.
The laser sensor 5.2 is arranged on the front end surrounding of presser feet main body 3.1, the laser sensor 5.2 and institute
State controller to be connected, the laser sensor 5.2 is used to detect the central axis and aircraft target ship for adjusting the rotating-table apparatus 2.3
Method swears the number of degrees at angle, and the method is sweared into the number of degrees at angle are sent to the controller.
The relative displacement transducer device 5.3 includes relative displacement transducer 5.3.1 and relative displacement transducer is supporting
Component 5.3.2；The relative displacement transducer 5.3.1 is arranged on the sliding panel 2.5 of the station modular converter 2, institute
Relative displacement transducer matching component 5.3.2 is stated to be arranged in the presser feet supporting plate 3.2；The relative displacement transducer
5.3.1 be connected with the controller, the relative displacement transducer 5.3.1 be used to detect between main shaft and presser feet it is relative away from
From, and the relative distance between the main shaft and presser feet is sent to the controller.
The present invention is using traditional measurement mode when being measured, due to during drilling the presser feet module 3 with it is described
Position relationship between punching device 2.1 constantly changes, and can not accurately be controlled by definitely feeding displacement progress counter boring depth, institute
Relative displacement transducer 5.3.1 is set with the present invention, set group is matched somebody with somebody by relative displacement transducer 5.3.1, relative displacement transducer
The closed-loop system that part 5.3.2 is formed, feeding displacement closed-loop control is realized, counter boring depth can not be realized using traditional measurement mode by overcoming
The problem of degree accurately controls.
The present invention can also expand environmental perception device, quality testing dress in the same level of rotating-table apparatus 2.3
Put, riveting set etc., in the case where ensureing that length and width is constant, further reduce the height of station conversion device 2, and then reduce
The volume of end effector apparatus, the application of end effector apparatus is expanded.
Fig. 5 be end effector apparatus of the embodiment of the present invention operating position structure chart, wherein, (a) be punching device and
Presser feet module is in the structure chart of dead-center position, (b) be presser feet module feed in place, punching device be in the structure of dead-center position
Figure, (c) are that punching device is fed into bit architecture figure, (d) be presser feet module feed in place, nail pressing device be in the knot of dead-center position
Composition, (e) are that nail pressing device is fed into bit architecture figure；As shown in figure 5, the present invention also provides a kind of integrated drilling, nail pressing
Method, methods described include：
Step 100：Relative displacement transducer 5.3.1 threshold library is established according to counter boring depth.
In end effector apparatus zero load, punching device 2.1 and presser feet module 3 are retracted into dead-center position, used
Laser interferometer is accurately measured the distance between the front end surrounding of punching device 2.1 and front end face of presser feet module 3, is surveyed
Value is denoted as a；Then relative displacement transducer 5.3.1 signals are passed to the input of controller, controller is monitored and remembered
Record relative displacement transducer 5.3.1 numerical value.Under no-load condition, control punching device 2.1 feeds displacement A+a, retracts drilling
Device 2.1 and presser feet module 3, whether detection counter boring depth is in the depth threshold of setting, if counter boring depth is in the depth of setting
Spend in threshold value, then check and record relative displacement transducer 5.3.1 measured value；Otherwise, it is necessary to according to actual counter boring depth weight
New adjustment feeding displacement is until qualified.When detection hole position counter boring depth is in the depth threshold of setting, then continuous drilling three times, is examined
Counter boring depth accuracy is surveyed whether all in the precision threshold of setting, if counter boring depth is all in the precision threshold of setting three times
It is interior, then relative displacement transducer 5.3.1 measured value B1 is recorded, otherwise, B1 need to be finely adjusted, until counter boring depth all exists
Untill in the precision threshold of setting, relative displacement transducer 5.3.1 value is now designated as B, as relative displacement transducer
5.3.1 given threshold.
By test of many times, different relative displacement transducer 5.3.1 setting is obtained according to different counter boring depth requirements
Threshold value, relative displacement transducer 5.3.1 threshold library is established according to multigroup relative displacement transducer 5.3.1 given threshold, just
Used in follow-up directly choose.
Step 200：Choose the relative displacement transducer 5.3.1's corresponding with counter boring depth from the threshold library
Predetermined threshold value.
Step 300：Drilling, the position of nail pressing are treated in acquisition, and the central shaft of adjustment presser feet module 3 is with treating drilling, the position of nail pressing
Put corresponding.
Step 400：Between central shaft and aircraft target ship that the presser feet module 3 is adjusted according to the laser sensor 5.2
Method arrow angle, until the method swear angle in the range of set angle.
End effector apparatus is driven to point position to be processed according to off-line procedure, opens laser sensor 5.2, and adjust
With normal direction leveling cyclic program, the method arrow angle of the axially opposing wallboard normal direction of presser feet module 3 is adjusted using iteration leveling mode, is made
Presser feet module and wallboard normal direction angle in the range of set angle.
Step 500：Judge whether the presser feet module is in zero point；If the presser feet module 3 is in zero point, control
The presser feet module 3 is fed forward；Otherwise, the presser feet module 3 is controlled to be retracted into zero point；During presser feet feeding, judge
Whether the pressure of the pressure sensor 5.1 reaches preset pressure value, if the value of the pressure sensor 5.1 is preset with described
Pressure value is equal, then controls first servomotor 4.1 to brake, the locked presser feet module 3；Otherwise, continue described in feeding
Presser feet module 3.
Because the rigidity of wallboard regional area is smaller, therefore under larger thrust, the slight error for feeding displacement will
Wallboard stress can be caused to produce larger change, to precisely control presser feet displacement accuracy, presser feet feeding uses the first servo
Motor driving, the form of precision lead screw nut auxiliary driving.During the presser feet module 3 is fed, by setting pressure to pass
Sensor forms the control of power closed loop, therefore pressure sensor monitors pressure of the feedback presser feet to wallboard in real time, and then controls feeding
First servomotor moves.When reaching preset pressure value, the accurate locked presser feet module 3, ensure in drilling, nail pressing mistake
Secondary deformation will not occur for wallboard in journey, and suffered thrust remains preset pressure value size, wherein, preset pressure value
It has to be larger than drilling pressure.
In addition, during the presser feet module 3 is fed, the moment judges whether feeding is movable spacing more than first
Domain value range, if it exceeds the first spacing domain value range, then alarm, and the first servomotor 4.1 is controlled to reset.
Step 600：In 2 drilling of station modular converter, judge whether the station modular converter 2 is in zero point；
If the station modular converter 2 is in zero point, the central axis of the punching device 2.1 and the presser feet module 3 are adjusted
Central axis, untill the central axis of the punching device 2.1 overlaps with the central axis of presser feet module 3, and control
The station modular converter 2 feeds forward drilling；Otherwise, the station modular converter 2 is controlled to return to zero point；Judge described relative
Whether displacement transducer 5.3.1 value is equal with predetermined threshold value；If the value of the relative displacement transducer 5.3.1 and default threshold
It is worth equal, then controls the station modular converter 2 to stop drilling and retract, otherwise, continuation feeds forward drilling.Its specific steps
For：
In 2 drilling of station modular converter, judge whether the station modular converter 2 is in zero point；It is if described
Station modular converter 2 is in zero point, then adjusts the central axis of the punching device 2.1 and the central axis of presser feet module 3,
Untill the central axis of the punching device 2.1 overlaps with the central axis of presser feet module 3, and the station is controlled to turn
Mold changing block 2 feeds forward drilling；Otherwise, the station modular converter 2 is controlled to return to zero point.
During drilling is fed, first judge that the relative displacement transducer 5.3.1 and relative displacement transducer are supporting
Whether component 5.3.2 contacts, if be not in contact with, controls the station modular converter 2 to be fed with the first setting speed；It is no
Then, the station modular converter 2 is controlled quickly to be fed with the second setting speed, and the now relative displacement transducer
5.3.1 start counting up, first setting speed is more than second setting speed.
Judge whether the value of the relative displacement transducer 5.3.1 is equal with predetermined threshold value again；If the relative displacement
Sensor 5.3.1 value is equal with predetermined threshold value, then controls the station modular converter 2 to stop drilling and retract, and otherwise, continues
Drilling is fed forward.
During the punching device 2.1 feeding, judge that feeding is movable whether more than the second spacing domain value range,
If the second spacing domain value range, alarms, and controls the second servomotor to reset.
The station modular converter 2 select drilling during, judge the station modular converter 2 move left and right whether
More than the 3rd spacing domain value range, if it exceeds the 3rd spacing domain value range, then alarm, and the 3rd servomotor is controlled to answer
Position.
Step 700：During the station modular converter 2 stops drilling and retracts, the station modulus of conversion is judged
Whether block 2 is in zero point；If the station modular converter 2 is in zero point, the central axis of the nail pressing device 2.2 is adjusted
With the central axis of presser feet module 3, central axis and the central axis of presser feet module 3 until the nail pressing device 2.2
Untill coincidence, and the station modular converter 2 is controlled to feed nail pressing forward；Otherwise, the station modular converter 2 is controlled to return to zero
Point；During nail pressing is fed, judge whether the value of the relative displacement transducer 5.3.1 is equal with predetermined threshold value；If
The value of the relative displacement transducer 5.3.1 is equal with predetermined threshold value, then controls the station modular converter to stop nail pressing and move back
Return；Otherwise, continue to feed nail pressing forward.It is concretely comprised the following steps：
During the station modular converter 2 stops drilling and retracts, judge whether the station modular converter 2 is located
In zero point；If the station modular converter 2 is in zero point, the central axis of the nail pressing device 2.2 and the pressure are adjusted
The central axis of pin module 3, it is until the central axis of the nail pressing device 2.2 overlaps with the central axis of the presser feet module 3
Only, and the station modular converter 2 is controlled to feed nail pressing forward；Otherwise, the station modular converter 2 is controlled to return to zero point.
During nail pressing is fed, first judge that the relative displacement transducer 5.3.1 and relative displacement transducer are supporting
Whether component 5.3.2 contacts, if be not in contact with, controls the station modular converter 2 to be fed with the first setting speed；It is no
Then, the station modular converter 2 is controlled to be fed with the second setting speed, and the now relative displacement transducer 5.3.1
Start counting up, first setting speed is more than second setting speed.
Judge whether the value of the relative displacement transducer 5.3.1 is equal with predetermined threshold value again；If the relative displacement
Sensor 5.3.1 value is equal with predetermined threshold value, then controls the station modular converter 2 to stop nail pressing and retract；Otherwise, continue
Nail pressing is fed forward.
During the feeding of the nail pressing device 2.2, judge that feeding is movable whether more than the second spacing thresholding model
Enclose, if it exceeds the second spacing domain value range, then alarm, and control the second servomotor to reset；
During the station modular converter 2 selects to carry out nail pressing, judge that the station modular converter 2 moves left and right
Whether more than the 3rd spacing domain value range, if it exceeds the 3rd spacing domain value range, then alarm, and the 3rd servo electricity is controlled
Machine resets.
Step 800：During the station modular converter 2 stops nail pressing and retracts, the station modulus of conversion is judged
Whether block 2 is retracted into zero point, if the station modular converter 2 is retracted into zero point, controls the presser feet module 3 to be retracted into zero
Point, otherwise, continue to control the station modular converter 2 to be back to zero point.
The present invention provides a kind of presser feet module 3 control method adaptive with the punching device 2.1 feeding displacement,
The presser feet module 3 is controlled using pressure closed loop, to realize to the accurate Stress control of aircraft target ship, the punching device 2.1
Feeding is displaced through detection and the relative position relation of presser foot, using the displacement closed loop control being made up of relative position sensor
System, no matter how much presser feet feeds displacement during drilling, can realize and be accurately controlled counter boring depth.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of end effector apparatus, it is characterised in that the end effector apparatus includes：Station modular converter, presser feet
Module, supporting module, transmission module, controller；
The supporting module lifting suspension is arranged in fixed support body；
The station modular converter is arranged in the supporting module, the station modular converter by rotation, select drilling or
Nail pressing；
Wherein, the station modular converter includes：Punching device, nail pressing device, rotating-table apparatus；
The punching device, treat drilling for being directed at aircraft target ship, the position of nail pressing is punched；
Placed in the nail pressing device and need to be pressed connector, for connector to be pressed to be pressed into the connecting hole of the aircraft target ship
It is interior；
The punching device, the nail pressing device are separately positioned on the rotating-table apparatus, and the central shaft of the punching device
The central axis of line, the central axis of the nail pressing device respectively with the rotating-table apparatus intersects, the rotating-table apparatus rotating band
Move the punching device and the nail pressing device rotates, the punching device or the nail pressing device is directed at the aircraft target ship
Treat drilling, the position of nail pressing；
The presser feet module is arranged in the supporting module, is correspondingly arranged with the station modular converter, the presser feet module
It is aligned and fastening aircraft wallboard treats drilling, the position of nail pressing；
The transmission module is arranged in the supporting module, is connected respectively with the station modular converter, presser feet module, described
Transmission module controls the station modular converter, presser feet module movement；
The controller is connected with the transmission module, and the controller controls the station modulus of conversion by the transmission module
Block, presser feet module movement.
2. end effector apparatus according to claim 1, it is characterised in that the station modular converter also includes：Turn
Position roller unit and sliding panel；
The indexable roller unit is connected with the rotating-table apparatus, and the indexable roller unit drives the rotating-table apparatus to rotate,
The punching device or the nail pressing device is set to be directed at the aircraft target ship and treat drilling, the position of nail pressing；
The sliding panel is connected with the rotating-table apparatus, the rotating-table apparatus is rotated relative to the sliding panel；The slip
Plate is connected with the indexable roller unit, the indexable roller unit is rotated relative to the sliding panel；The sliding panel is set
Put in the supporting module, the sliding panel moves in the supporting module, and drives the punching device, the nail pressing
Device, the rotating-table apparatus, the indexable roller unit motion.
3. end effector apparatus according to claim 2, it is characterised in that the indexable roller unit includes：Nut,
Nut seat, ball bearing, bearing block, screw mandrel；
Nut, nut seat, ball bearing, bearing block are set gradually on the screw mandrel；The nut, the bearing block are set respectively
Put at the both ends of the screw mandrel；
The nut seat is in close contact with the nut and set, and the nut promotes the nut seat to be moved along the screw mandrel；
The bearing block is in close contact with the ball bearing and set；
The nut seat is connected with the rotating-table apparatus, the rotating-table apparatus is rotated relative to the nut seat.
4. end effector apparatus according to claim 3, it is characterised in that the transmission module includes：First servo
Motor, the second servomotor, the 3rd servomotor, the first spindle gear, the second spindle gear；
First servomotor, second servomotor, the 3rd servomotor, first spindle gear,
Second spindle gear is separately fixed in the supporting module；
First servomotor is connected with first spindle gear, first spindle gear and the presser feet
Module is connected, first servomotor by first spindle gear adjust the presser feet module feed forward or to
After retract；
Second servomotor is connected with second spindle gear, second spindle gear and the station
Modular converter is connected, and second servomotor adjusts the station modular converter forward by second spindle gear
Feeding is retracted backward；
3rd servomotor is connected with the screw mandrel in the indexable roller unit, and the 3rd Serve Motor Control is stated
Indexable roller unit drives the rotating-table apparatus left rotation and right rotation, selects the punching device or the nail pressing device.
5. end effector apparatus according to claim 2, it is characterised in that the end effector apparatus also includes：
Sensor assembly；The sensor assembly is connected with the controller, and the controller is used to be examined according to the sensor assembly
The data of survey are controlled the transmission module；
The sensor assembly includes：At least one of pressure sensor, laser sensor, relative displacement transducer device；
The pressure sensor is arranged in the presser feet module, and the pressure sensor is connected with the controller, the pressure
Force snesor is used to detect the presser feet module relative to the pressure between wallboard, and the pressure is sent to the control
Device；
The laser sensor is arranged on the presser feet module front end surrounding, and the laser sensor is connected with the controller,
The laser sensor is used to detecting the central axis for adjusting the rotating-table apparatus and the number of degrees at aircraft target ship method arrow angle, and by institute
The number of degrees for stating aircraft target ship method arrow angle are sent to the controller；
The relative displacement transducer device includes relative displacement transducer and relative displacement transducer matching component；It is described relative
Displacement transducer is arranged on the sliding panel of the station modular converter, and the relative displacement transducer matching component is set
In the presser feet module；The relative displacement transducer is connected with the controller, and the relative displacement transducer is used to examine
Axis feeding distance is surveyed, and axis feeding distance is sent to the controller.
6. end effector apparatus according to claim 1, it is characterised in that the central axis of the punching device, institute
The central axis for stating nail pressing device intersects at a point with the central axis of the rotating-table apparatus specifically include respectively：
The central axis of the punching device, the central axis of the nail pressing device are located at the central shaft of the rotating-table apparatus respectively
Line both sides, and the central shaft of the central axis of the central axis of the punching device, the nail pressing device and the rotating-table apparatus
Line intersects at a point；
The central axis that the central axis of the punching device, the central axis of the nail pressing device are located at the rotating-table apparatus is same
Side, and the central axis of the central axis of the central axis of the punching device, the nail pressing device and the rotating-table apparatus
Intersect at a point, the angle between the central axis of the central axis of the punching device and the rotating-table apparatus is the first setting
Angle, the angle between the central axis of the nail pressing device and the central axis of the rotating-table apparatus is the second set angle, described
First set angle and second set angle.
7. a kind of integrated drilling, the method for nail pressing, methods described is applied to according to any one of claim 1 to claim 6
Described end effector apparatus, it is characterised in that methods described includes：
In the station modular converter drilling, judge whether the station modular converter is in zero point；If the station turns
Mold changing block is in zero point, then the central axis of the punching device and the presser feet module centers axis is adjusted, until the system
Untill the central axis of aperture apparatus overlaps with the presser feet module centers axis, and the station modular converter is controlled to feed forward
Drilling；Otherwise, the station modular converter is controlled to return to zero point；During drilling is fed, judge that the relative displacement passes
Whether the value of sensor is equal with predetermined threshold value；If the value of the relative displacement transducer is equal with predetermined threshold value, institute is controlled
State station modular converter to stop drilling and retract, otherwise, continuation feeds forward drilling；
During the station modular converter stops drilling and retracts, judge whether the station modular converter is in zero
Point；If the station modular converter is in zero point, in the central axis and the presser feet module that adjust the nail pressing device
Mandrel line, untill the central axis of the nail pressing device overlaps with the presser feet module centers axis, and control the work
Position modular converter feeds forward nail pressing；Otherwise, the station modular converter is controlled to return to zero point；During nail pressing is fed,
Judge whether the value of the relative displacement transducer is equal with predetermined threshold value；If the value of the relative displacement transducer is with presetting
Threshold value is equal, then controls the station modular converter to stop nail pressing and retract；Otherwise, continue to feed nail pressing forward；
During the station modular converter stops nail pressing and retracts, judge whether the station modular converter is retracted into zero
Point, if the station modular converter is retracted into zero point, control the presser feet module to be retracted into zero point, otherwise, continue to control
The station modular converter is back to zero point.
8. integrated drilling according to claim 7, the method for nail pressing, it is characterised in that in the station modular converter
Before drilling step, in addition to：
Drilling, the position of nail pressing are treated in acquisition, adjust the central shaft of presser feet module with treat drilling, nail pressing position it is corresponding；
The method adjusted according to the laser sensor between the central shaft of the presser feet module and aircraft target ship swears angle, until described
Method swears angle in the range of set angle；
Judge whether the presser feet module is in zero point；If the presser feet module is in zero point, the presser feet module is controlled
Feed forward；Otherwise, the presser feet module is controlled to be retracted into zero point；During presser feet feeding, the pressure sensor is judged
Whether pressure reaches preset pressure value, if the value of the pressure sensor is equal with the preset pressure value, described in control
First servomotor is braked, the locked presser feet module；Otherwise, continue to feed the presser feet module.
9. integrated drilling according to claim 8, the method for nail pressing, it is characterised in that treat drilling, pressure in the acquisition
The position of nail, adjust the central shaft of presser feet module with treat drilling, nail pressing the corresponding step in position before, in addition to：
The threshold library of relative displacement transducer is established according to counter boring depth；
The predetermined threshold value of the relative displacement transducer corresponding with counter boring depth is chosen from the threshold library.
10. integrated drilling according to claim 7, the method for nail pressing, it is characterised in that the control station turns
During mold changing block feeds forward drilling and feeds nail pressing forward, specifically include：
Control during the station modular converter feeds forward drilling and feed nail pressing forward, judge that the relative displacement passes
Whether sensor contacts with relative displacement transducer matching component, if be not in contact with, controls the station modular converter with
One setting speed is fed；Otherwise, the station modular converter is controlled to be fed with the second setting speed, and it is now described relative
Displacement transducer starts counting up, and first setting speed is more than second setting speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710790977.1A CN107600455B (en) | 2017-09-05 | 2017-09-05 | A kind of end effector apparatus and a kind of method of integrated drilling, nail pressing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710790977.1A CN107600455B (en) | 2017-09-05 | 2017-09-05 | A kind of end effector apparatus and a kind of method of integrated drilling, nail pressing |
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| CN107600455B CN107600455B (en) | 2019-11-15 |
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| CN108382571A (en) * | 2018-02-28 | 2018-08-10 | 北京理工大学 | A kind of quadrotor device for punching and carving based on Embedded metope |
| CN109048345A (en) * | 2018-08-30 | 2018-12-21 | 惠州市正耀科技有限公司 | Multistation rivet hole perforating press |
| CN110216505A (en) * | 2018-03-01 | 2019-09-10 | 中国商用飞机有限责任公司 | Pressing force closed-loop control system and method for automatic punching equipment |
| CN111014776A (en) * | 2019-12-26 | 2020-04-17 | 西北工业大学 | End effector for deep hole machining |
| CN112757021A (en) * | 2021-03-08 | 2021-05-07 | 哈尔滨理工大学 | A compress tightly module for automatic system hole end effector |
| CN115008257A (en) * | 2022-04-15 | 2022-09-06 | 西北工业大学 | Geometric-force online sensing drilling and riveting pressure foot device and online sensing method |
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| CN111014776A (en) * | 2019-12-26 | 2020-04-17 | 西北工业大学 | End effector for deep hole machining |
| CN112757021A (en) * | 2021-03-08 | 2021-05-07 | 哈尔滨理工大学 | A compress tightly module for automatic system hole end effector |
| CN115008257A (en) * | 2022-04-15 | 2022-09-06 | 西北工业大学 | Geometric-force online sensing drilling and riveting pressure foot device and online sensing method |
| CN115008257B (en) * | 2022-04-15 | 2023-10-03 | 西北工业大学 | Geometric-force online sensing drilling and riveting pressure foot device and online sensing method |
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