CN108372319A - Autonomous mobile robot punching device and control method - Google Patents
Autonomous mobile robot punching device and control method Download PDFInfo
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- CN108372319A CN108372319A CN201611191173.1A CN201611191173A CN108372319A CN 108372319 A CN108372319 A CN 108372319A CN 201611191173 A CN201611191173 A CN 201611191173A CN 108372319 A CN108372319 A CN 108372319A
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- inside casing
- outline border
- mobile robot
- autonomous
- autonomous mobile
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2215/00—Details of workpieces
- B23B2215/04—Aircraft components
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of autonomous mobile robot punching devices, including autonomous portion, boring end effector, pivot angle adjustment section；The autonomous portion includes outline border mobile mechanism, Main subrack and inside casing mobile mechanism；The outline border mobile mechanism includes outline border, and multiple telescopic exopodals up and down in outer frame bottom ring week are arranged；The inside casing mobile mechanism includes inside casing, and multiple telescopic interior foots up and down in interior frame bottom ring week are arranged；The pivot angle adjustment section is arranged on the inside casing and fixes the boring end effector.The present invention provides a kind of autonomous mobile robot punching devices that can independently adapt to aircraft components surface, autonomous, accurate adjustment normal direction and accurate drilling.The mechanism can be used for the drilling operation of the big component such as airframe, wing.
Description
Technical field
The present invention relates to technical fields of mechanical processing, more particularly to a kind of autonomous mobile robot punching device and control
Method.
Background technology
Aircraft structure is still based on mechanical connection at present, such as rivets, is bolted, and is mechanically connected inevitable area
Carry out a large amount of drilling work, as Air Passenger company will be about boring 500,000,000 holes in aircraft rigger is made every year.From the nineties in last century
It rises, each primary means air developed country of the world just carries out aircraft automatic punching technical research on a large scale, and according to its feature
With require, have developed the automatic punching equipment of a collection of large size assembled towards aircraft.Face is often taken up an area using large-scale drilling equipment
Product is big, of high cost, mobility is poor.Lightness, miniaturization, modularization and flexibility have become the hair of aircraft automatic setup system
Exhibition trend.
Robot hole system has many advantages, such as that flexible height, precision are high, at low cost, can reduce aircraft assembly to greatest extent
Manufacturing cost reduces the outfit of large automatic drilling occupation area of equipment and Operation and Maintenance personnel, reduces large-scale assembly parts
It frequently carries and installs.Include at present industrial robot punching system in the robot hole system of aircraft assembly application, it is flexible
Guide rail punching system and autonomous mobile robot punching system etc..Automatic punching system based on industrial robot has movable model
Enclose the shortcomings of smaller, mobility is poor.That there is also scopes of activities is smaller for flexible guide rail automatic punching system, mobility is poor
And time it is long the shortcomings of.The spy that autonomous mobile robot punching system has autonomous, operation flexible, at low cost
Point has broad application prospects in aircraft assembly field.
Both at home and abroad certain achievement has been achieved about the research of autonomous mobile robot drilling mechanism.Through to the prior art
Literature search find, M.Torres companies of Spain exploitation autonomous mobile robot punching system in Air Passenger A350 machines
Verification experimental verification has been carried out in the drilling operation of body endpiece.Domestic correlative study is still in infancy, and key technology is not yet broken through.
Publication No. is（CN 103084913 A）, it is entitled " can workpiece surface walk and posture adjustment autonomous isomery " patent with
And paper " aircraft assembles autonomous mobile mechanism and develops "（Once it grew, Nanjing Aero-Space University, 2013）Devise it is a kind of towards
The autonomous mobile robot mechanism of aircraft drilling.
But current autonomous mobile robot mechanism movement and the normal direction adjustment degree of coupling are high, need to connect using passive compensation
Part, leg structure are driven using motor, and the displacement by controlling all leg structures realizes that normal direction is adjusted.The type autonomous
Mechanism there are structures more complex, curved surface adaptive is compared with weak, control difficulty is big, the not high technical deficiency of Adjustment precision.
Invention content
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of autonomous mobile robot systems
Aperture apparatus and method, are mainly used in that the big component such as airframe and wing is efficient, accurate drilling, can increase substantially drilling
Quality and efficiency, accelerate the manufacturing cycle of aircraft and the development paces of new machine.
The technical solution adopted to achieve the purpose of the present invention is：
A kind of autonomous mobile robot punching device, including autonomous portion, boring end effector, pivot angle adjustment section；
The autonomous portion includes outline border mobile mechanism, Main subrack and inside casing mobile mechanism；
The outline border mobile mechanism includes centrally disposed outer frame side and keeps the outline border connecting with it, is arranged in outer frame bottom
Multiple telescopic exopodals up and down in ring week, the outline border and Main subrack is driven that relatively transverse movement occurs；
The inside casing mobile mechanism includes keeping the inside casing connecting on the inside of centrally disposed frame and with it, is arranged in interior frame bottom
Multiple telescopic interior foots up and down in ring week, the inside casing and Main subrack is driven that opposite vertically move occurs；
The pivot angle adjustment section is arranged on the inside casing and fixes the boring end effector.
Outline border, Main subrack and the inside casing is rectangle frame, between the outline border and Main subrack and Main subrack and outline border
It is correspondingly provided at least one set of linear guiding mechanism, and the driving mechanism that driving relatively moves.
The driving mechanism includes driving motor and ball screw framework.
The interior foot and exopodal respectively include the cylinder being accordingly fixedly connected with inside casing or outline border, are arranged described
The flexural pivot of cylinder piston rod end, and the sucker that is fixedly connected with the flexural pivot.
Further include the iGPS receiving units on the outer framework being fixed at, the iGPPS receiving units and iGPS
Transmitter unit constitutes iGPS navigation system.
The pivot angle adjustment section includes the Change-over frame being fixedly connected with the inside casing, is fixed at the switching
Pivot angle driving motor on frame, the boring end effector be rotatably positioned on the Change-over frame and with it is described
Pivot angle driving motor be sequentially connected.
The exopodal is arranged in the widthwise edge bottom of outline border, and the interior foot is arranged in two longitudinal edge bottoms of inside casing.
A kind of control method of autonomous mobile robot punching device, including,
Autonomous mobile robot drilling mechanism is placed on workpiece surface, interior foot and exopodal are in stretching state, by each interior
The sucker suction of foot and exopodal is in workpiece surface；
Controlled when laterally moving, interior sufficient sucker is discharged and is bounced back, Main subrack and inside casing mechanism under the driving of driving mechanism
Opposite outline border transversely relative motion, after being moved to predetermined stroke, exopodal is retracted, and interior foot, which stretches out, to be fixed, and driving mechanism makes outline border
Opposite Main subrack and the transversely relative motion of inside casing mobile mechanism；
It is controlled that the sucker of exopodal is discharged and is bounced back when moving longitudinally, under the driving of driving mechanism inside casing with respect to Main subrack and
The relative motion along longitudinal direction of outline border mobile mechanism, after being moved to predetermined stroke, interior foot is retracted, and exopodal, which stretches out, to be fixed, and driving mechanism makes
Outline border mobile mechanism and Main subrack are with respect to inside casing relative motion along longitudinal direction；
After reaching drilling position, normal direction posture adjustment is carried out using pivot angle adjustment section, transverse direction/or longitudinal movement again is held to adjust end
Row device carries out and completes drilling operation.
The workpiece is airframe or wing.
Interior foot and exopodal are in stretching state when carrying out drilling operation.
Compared with prior art, the beneficial effects of the invention are as follows：
The autonomous mobile robot drilling of the present invention loads mainly by autonomous portion, boring end effector, pivot angle adjustment section,
Without passive compensating connector.The leg in autonomous portion is driven using cylinder and in sucker of the end installation with flexural pivot so that
Moving assembly has adaptivity to aircraft components curved surface.In the form of independent pivot angle adjust drilling normal direction, Adjustment precision and
Efficient, control is simple.
Description of the drawings
Fig. 1 show the schematic diagram of the autonomous mobile robot punching device of the present invention；
Fig. 2 show the overall construction drawing of autonomous mobile robot punching device；
Fig. 3 show pivot angle adjustment section and boring end effector installation diagram；
Fig. 4 show autonomous portion structure chart；
Fig. 5 show the structure chart of outline border mobile mechanism；
Fig. 6 show driving mechanism structure figure；
Fig. 7 show exopodal structural schematic diagram；
Fig. 8 show inside casing mobile mechanism structural schematic diagram；
Fig. 9 show inside casing driving mechanism structure schematic diagram；
Figure 10 show pivot angle adjustment section driving shaft side structure schematic diagram；
Figure 11 show pivot angle adjustment section driven shaft side structure schematic diagram.
Specific implementation mode
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown in figs. 1-11, autonomous mobile robot punching device of the invention includes that autonomous portion 1, boring end are held
Row device 2, pivot angle adjustment section 3；Wherein,
The autonomous portion includes outline border mobile mechanism 4, Main subrack 5 and inside casing mobile mechanism 6；
The outline border mobile mechanism includes centrally disposed outer frame side and keeps the outline border connecting with it, is arranged in outer frame bottom
Multiple telescopic exopodals up and down in ring week, the outline border and Main subrack is driven that relatively transverse movement occurs；
The inside casing mobile mechanism 6 includes 5 inside of centrally disposed frame and keeps the inside casing connecting 21 with it, is arranged in inside casing
Multiple telescopic interior foots 23 up and down in bottom part ring week, the inside casing and Main subrack is driven that opposite vertically move occurs；
The pivot angle adjustment section is arranged on the inside casing and fixes the boring end effector.
The autonomous mobile robot drilling of the present invention loads mainly by autonomous portion, boring end effector, pivot angle tune
It is whole, without passive compensating connector.The leg in autonomous portion is driven using cylinder and carries the sucker of flexural pivot in end installation,
So that moving assembly has adaptivity to aircraft components curved surface.Drilling normal direction, adjustment essence are adjusted in the form of independent pivot angle
It spends and efficient, control is simple.
Wherein, outline border, Main subrack and inside casing are rectangle frame, between the outline border and Main subrack and Main subrack and outline border
It is correspondingly provided at least one set of linear guiding mechanism, and the driving mechanism that driving relatively moves.
Specifically, the outline border mobile mechanism 4 is by outline border 7, outline border driving mechanism 8, exopodal 9, outline border lead screw guide rails
Component 10 is constituted.Outline border driving mechanism 8 by outline border motor 11, outline border speed reducer 12, outline border leading screw 13, outline border motor support 14,
Outline border transfer block 15, outline border bearing spider 16 are constituted.Outline border driving is using the unilateral driving of single ball-screw, the installation form of leading screw
Select fixation-support.That is the both ends of leading screw, one end are fixed by outline border motor support 14 with outline border, and one end passes through outline border bearing
Bearing 16 is fixed with outline border.Outline border speed reducer connect with outline border leading screw by outline border shaft coupling 12 realization slow down, nut then via
Outline border transfer block 15 connect realization driving with inside casing, and the guidance set between outline border and middle boxes uses linear rolling track.
The exopodal 9 includes the cylinder 17 being accordingly fixedly connected with outline border by foot support 18, is arranged described
The ball-joint component of cylinder piston rod end, such as flexural pivot 20, and the sucker 19 that is fixedly connected with the flexural pivot.Mobile unit leg
Portion is driven using cylinder and in sucker of the end installation with flexural pivot.Autonomous mobile robot drilling mechanism is to aircraft components curved surface
With adaptivity.
The inside casing mobile mechanism 6 is made of inside casing 21, inside casing driving mechanism 22, interior foot 23, inside casing lead screw guide rails 24.
Inside casing driving mechanism 22 is by inside casing motor 25, inside casing speed reducer 26, inside casing motor support 27, inside casing leading screw 28, inside casing transfer block
29, inside casing bearing spider 30 is constituted.25 structure of interior foot is identical as 9 structure of exopodal.Inside casing moving assembly is located at outline border moving assembly
Inside and center or top with Main subrack, driving still use by the way of list ball-screw.Inside casing driving is using single ball
The installation form of the unilateral driving of leading screw, leading screw selects fixation-support.That is the both ends of leading screw 28, one end pass through inside casing motor support
27 fix with inside casing, and one end is fixed by inside casing bearing spider 30 with inside casing.Inside casing speed reducer 26 by inside casing shaft coupling with it is interior
The connection of frame leading screw 28, which is realized, slows down, and nut then connect realization driving, inside casing and Main subrack via inside casing transfer block 29 with Main subrack
Between guidance set use linear rolling track.
Preferably, the exopodal is arranged in the widthwise edge bottom of outline border, and the interior foot is arranged in inside casing
Two longitudinal edge bottoms, the setting of corresponding sides reduce setting quantity, and support degree and stability are effectively ensured.
Further, further include iGPS receiving units 38 on the outer framework being fixed at, the iGPPS is received
Unit constitutes iGPS navigation system with iGPS transmitter units, can guiding mechanism progress autonomous.
Further, as shown in Figure 10, Figure 11, the pivot angle adjustment section 3 include by driving shaft support 33 with it is described
The Change-over frame 32 that is fixedly connected of inside casing, the pivot angle driving motor 31 being fixed on the Change-over frame, the drilling
End effector 2 is rotatably positioned on the Change-over frame and is sequentially connected with the pivot angle driving motor.Specifically
Ground further includes the driven shaft support 36 being correspondingly arranged with driving shaft support 33, the master being sequentially connected with the driving motor 31
34 end set of moving axis has flange, and 35 end of driven shaft being arranged in driven shaft support 36 is again provided with flange, using two
Person's flange form connects and wafer type is fixed, and the convenience of the stability and control of boring end effector positioning is effectively ensured, together
When, it is additionally provided with driven hubcap 37 on the outside of driven shaft support.Drilling normal direction is adjusted in the form of independent pivot angle.Adjustment essence
It spends and efficient, control is simple.The mobile unit of autonomous mobile robot punching device provided by the invention, pivot angle adjustment section and
Boring end effector unit is mutual indepedent.The movement degree of coupling is low between unit, and simple in structure, control difficulty is small.
The present invention further simultaneously discloses a kind of control method of autonomous mobile robot punching device, including,
Autonomous mobile robot drilling mechanism is placed on to the surface of the big component such as workpiece such as airframe or wing, interior foot and
Exopodal is in stretching state, by the sucker suction of each interior foot and exopodal in workpiece surface；
Controlled when laterally moving, interior sufficient sucker is discharged and is bounced back, Main subrack and inside casing mechanism under the driving of driving mechanism
Opposite outline border transversely relative motion, after being moved to predetermined stroke, exopodal is retracted, and interior foot, which stretches out, to be fixed, and driving mechanism makes outline border
Opposite Main subrack and the transversely relative motion of inside casing mobile mechanism；
It is controlled that the sucker of exopodal is discharged and is bounced back when moving longitudinally, under the driving of driving mechanism inside casing with respect to Main subrack and
The relative motion along longitudinal direction of outline border mobile mechanism, after being moved to predetermined stroke, interior foot is retracted, and exopodal, which stretches out, to be fixed, and driving mechanism makes
Outline border mobile mechanism and Main subrack are with respect to inside casing relative motion along longitudinal direction；
Wherein, the transverse shifting and longitudinal movement are sustainable progress, similar people's walking, and interior foot and exopodal cooperation carry out
It advances, when encountering compound movement, the movement for being broken down into both direction control successively,
After reaching drilling position, normal direction posture adjustment is carried out using pivot angle adjustment section, transverse direction/or longitudinal movement again is held to adjust end
Row device carries out and completes drilling operation.Interior foot and exopodal are in stretching state when carrying out drilling operation.
After reaching precalculated position, integral position is adjusted again after having adjusted posture, and the precision of bore position is effectively ensured, and
And when that there may be interference with other component, further improve the convenience of control.
It can independently adapt to aircraft components surface, autonomous, accurate adjustment normal direction the present invention provides a kind of and accurately make
The autonomous mobile robot drilling mechanism in hole.The mechanism can be used for the drilling operation of the big component such as airframe, wing, realize
Aircraft high-precision, high-efficiency and low-cost assembly.
Beneficial effects of the present invention are：
1. the mobile unit of autonomous mobile robot punching device provided by the invention, pivot angle unit and end effector element phase
Mutually independent, the movement degree of coupling is low between unit, and simple in structure, control difficulty is small；
2. mobile unit leg is driven using cylinder and in sucker of the end installation with flexural pivot.Autonomous mobile robot void formers
Structure has adaptivity to aircraft components curved surface；
3. adjusting drilling normal direction in the form of independent pivot angle.Adjustment precision and efficient, control are simple；
4. having iGPS receiving units, iGPS navigation system is constituted with iGPS transmitter units, guiding mechanism carries out autonomous.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. autonomous mobile robot punching device, which is characterized in that including autonomous portion, boring end effector and pivot angle tune
It is whole；
The autonomous portion includes outline border mobile mechanism, Main subrack and inside casing mobile mechanism；
The outline border mobile mechanism includes centrally disposed outer frame side and keeps the outline border connecting with it, is arranged in outer frame bottom
Multiple telescopic exopodals up and down in ring week, the outline border and Main subrack is driven that relatively transverse movement occurs；
The inside casing mobile mechanism includes keeping the inside casing connecting on the inside of centrally disposed frame and with it, is arranged in interior frame bottom
Multiple telescopic interior foots up and down in ring week, the inside casing and Main subrack is driven that opposite vertically move occurs；
The pivot angle adjustment section is arranged on the inside casing and fixes the boring end effector.
2. autonomous mobile robot punching device as described in claim 1, which is characterized in that the outline border, Main subrack and
Inside casing is rectangle frame, and at least one set of straight line is correspondingly provided between the outline border and Main subrack and Main subrack and outline border and is led
To mechanism, and drive the driving mechanism relatively moved.
3. autonomous mobile robot punching device as claimed in claim 2, which is characterized in that the driving mechanism includes driving
Dynamic motor and ball screw framework.
4. autonomous mobile robot punching device as described in claim 1, which is characterized in that the interior foot and exopodal difference
Including the cylinder being accordingly fixedly connected with inside casing or outline border, the flexural pivot in the cylinder piston rod end is set, and with institute
The sucker that the flexural pivot stated is fixedly connected.
5. autonomous mobile robot punching device as described in claim 1, which is characterized in that further include being fixed at
IGPS receiving units on outer framework, the iGPPS receiving units constitute iGPS navigation system with iGPS transmitter units.
6. autonomous mobile robot punching device as described in claim 1, which is characterized in that the pivot angle adjustment section includes
The Change-over frame being fixedly connected with the inside casing, the pivot angle driving motor being fixed on the Change-over frame, the brill
Bore end actuator is rotatably positioned on the Change-over frame and is sequentially connected with the pivot angle driving motor.
7. autonomous mobile robot punching device as described in claim 1, which is characterized in that the exopodal is arranged in outline border
Widthwise edge bottom, the interior foot is arranged in two longitudinal edge bottoms of inside casing.
8. the control method of autonomous mobile robot punching device, which is characterized in that including by autonomous mobile robot void formers
Structure is placed on workpiece surface, and interior foot and exopodal are in stretching state, by the sucker suction of each interior foot and exopodal in workpiece table
Face；
Controlled when laterally moving, interior sufficient sucker is discharged and is bounced back, Main subrack and inside casing mechanism under the driving of driving mechanism
Opposite outline border transversely relative motion, after being moved to predetermined stroke, exopodal is retracted, and interior foot, which stretches out, to be fixed, and driving mechanism makes outline border
Opposite Main subrack and the transversely relative motion of inside casing mobile mechanism；
It is controlled that the sucker of exopodal is discharged and is bounced back when moving longitudinally, under the driving of driving mechanism inside casing with respect to Main subrack and
The relative motion along longitudinal direction of outline border mobile mechanism, after being moved to predetermined stroke, interior foot is retracted, and exopodal, which stretches out, to be fixed, and driving mechanism makes
Outline border mobile mechanism and Main subrack are with respect to inside casing relative motion along longitudinal direction；
After reaching drilling position, normal direction posture adjustment is carried out using pivot angle adjustment section, transverse direction/or longitudinal movement again is held to adjust end
Row device carries out and completes drilling operation.
9. the control method of autonomous mobile robot punching device as claimed in claim 8, which is characterized in that the workpiece
For airframe or wing.
10. the control method of autonomous mobile robot punching device as claimed in claim 8, which is characterized in that carry out drilling
Interior foot and exopodal are in stretching state when operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611191173.1A CN108372319B (en) | 2016-12-21 | 2016-12-21 | Autonomous mobile robot hole making device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611191173.1A CN108372319B (en) | 2016-12-21 | 2016-12-21 | Autonomous mobile robot hole making device and control method |
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| Publication Number | Publication Date |
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| CN108372319A true CN108372319A (en) | 2018-08-07 |
| CN108372319B CN108372319B (en) | 2020-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676804A (en) * | 2018-12-21 | 2019-04-26 | 广州明珞汽车装备有限公司 | A kind of drilling robot |
| CN109866837A (en) * | 2019-03-29 | 2019-06-11 | 清华大学 | Crawler-type mobile drilling robot |
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| US20100054877A1 (en) * | 2008-09-02 | 2010-03-04 | The Boeing Company | Stringer crawler |
| CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040265081A1 (en) * | 2003-06-25 | 2004-12-30 | Buttrick James N | Apparatus and methods for servo-controlled manufacturing operations |
| CN1853876A (en) * | 2005-04-25 | 2006-11-01 | Lg电子株式会社 | Robot system capable of specifying moving area |
| US20100054877A1 (en) * | 2008-09-02 | 2010-03-04 | The Boeing Company | Stringer crawler |
| CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676804A (en) * | 2018-12-21 | 2019-04-26 | 广州明珞汽车装备有限公司 | A kind of drilling robot |
| CN109866837A (en) * | 2019-03-29 | 2019-06-11 | 清华大学 | Crawler-type mobile drilling robot |
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| Publication number | Publication date |
|---|---|
| CN108372319B (en) | 2020-09-08 |
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