CN108372319B - Autonomous mobile robot hole making device and control method - Google Patents
Autonomous mobile robot hole making device and control method Download PDFInfo
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- CN108372319B CN108372319B CN201611191173.1A CN201611191173A CN108372319B CN 108372319 B CN108372319 B CN 108372319B CN 201611191173 A CN201611191173 A CN 201611191173A CN 108372319 B CN108372319 B CN 108372319B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- 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
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- 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
Abstract
The invention discloses an autonomous mobile robot hole making device, which comprises an autonomous mobile part, a drilling end executor and a swing angle adjusting part, wherein the autonomous mobile part is connected with the drilling end executor; the autonomous moving part comprises an outer frame moving mechanism, a center frame and an inner frame moving mechanism; the outer frame moving mechanism comprises an outer frame and a plurality of up-and-down telescopic outer feet arranged on the periphery of the bottom of the outer frame; the inner frame moving mechanism comprises an inner frame and a plurality of up-and-down telescopic inner feet arranged on the periphery of the bottom of the inner frame; the swing angle adjusting part is arranged on the inner frame and fixes the drilling end effector. The invention provides an autonomous mobile robot hole making device which can be autonomously adapted to the surface of an airplane component, autonomously moves, accurately adjusts the normal direction and accurately makes holes. The mechanism can be used for hole making operation of large parts such as airplane fuselages, wings and the like.
Description
Technical Field
The invention relates to the technical field of machining, in particular to an autonomous mobile robot hole making device and a control method.
Background
Currently, the airplane structural members are mainly connected mechanically, such as riveting, bolting and the like, and the mechanical connection inevitably brings about a large amount of hole making work, such as about 5 billion holes drilled in airplane assembly work by airmen every year. From the last 90 s, the major aeronautical developed countries in the world have developed the research on the automatic hole making technology of airplanes on a large scale, and according to the characteristics and requirements of the automatic hole making technology, a batch of large-scale automatic hole making equipment for airplane assembly is developed. Large hole making equipment often occupies a large area, and is high in cost and poor in maneuverability. The development trend of an automatic assembly system of an airplane is light weight, small size, modularization and flexibility.
The robot hole making system has the advantages of high flexibility, high precision, low cost and the like, can reduce the manufacturing cost of airplane assembly to the maximum extent, reduces the occupied area of large-scale automatic hole making equipment and the allocation of operation and maintenance personnel, and reduces the frequent carrying and installation of large-scale assembly parts. The current robotic hole making systems in aircraft assembly applications include industrial robot hole making systems, flexible guide rail hole making systems, autonomous mobile robot hole making systems, and the like. The automatic hole making system based on the industrial robot has the defects of small moving range, poor mobility and the like. The flexible guide rail automatic hole making system also has the defects of small moving range, poor mobility, long preparation time and the like. The autonomous mobile robot hole making system has the characteristics of autonomous movement, flexible operation and low cost, and has wide application prospect in the field of airplane assembly.
Research on autonomous mobile robot hole-making mechanisms at home and abroad has achieved certain achievements. Through a literature search of the prior art, an autonomous mobile robot hole making system developed by M.Torres corporation in Spain has been experimentally verified in the hole making operation of the tail section of the airframe of an airman A350. Related research in China is still in the initial stage, and the key technology is not broken through. An autonomous mobile robot mechanism facing airplane hole making is designed in patents with publication number (CN 103084913A) and name of autonomous mobile isomerism capable of walking and adjusting posture on the surface of a workpiece and a paper of airplane assembly autonomous mobile mechanism development (Chang, Nanjing aerospace university, 2013).
However, the existing autonomous mobile robot mechanism is high in coupling degree between movement and normal adjustment, a passive compensation connecting piece needs to be adopted, leg structures are driven by a motor, and normal adjustment is achieved by controlling displacement of all the leg structures. The autonomous moving mechanism of the type has the technical defects of more complex structure, weaker curve self-adaption, large control difficulty, low adjustment precision and the like.
Disclosure of Invention
The invention aims to provide an autonomous mobile robot hole making device and method aiming at the technical defects in the prior art, which are mainly applied to efficient and accurate hole making of large parts such as airplane fuselages and wings, and the like, can greatly improve the hole making quality and efficiency, and accelerate the manufacturing period of airplanes and the development pace of new airplanes.
The technical scheme adopted for realizing the purpose of the invention is as follows:
an autonomous mobile robot hole making device comprises an autonomous mobile part, a drilling end executor and a swing angle adjusting part;
the autonomous moving part comprises an outer frame moving mechanism, a center frame and an inner frame moving mechanism;
the outer frame moving mechanism comprises an outer frame which is arranged outside the central frame and is kept connected with the central frame, and a plurality of up-down telescopic outer feet which are arranged on the periphery of the bottom of the outer frame, and the outer frame and the central frame can be driven to move transversely relatively;
the inner frame moving mechanism comprises an inner frame which is arranged on the inner side of the central frame and is kept connected with the inner frame, and a plurality of up-down telescopic inner feet which are arranged on the periphery of the bottom of the inner frame, wherein the inner frame and the central frame can be driven to move longitudinally relatively;
the swing angle adjusting part is arranged on the inner frame and fixes the drilling end effector.
The outer frame, the central frame and the inner frame are rectangular frames, and at least one group of linear guide mechanisms and driving mechanisms for driving relative movement are correspondingly arranged between the outer frame and the central frame as well as between the central frame and the outer frame.
The driving mechanism comprises a driving motor and a ball screw mechanism.
The inner foot and the outer foot respectively comprise an air cylinder which is correspondingly and fixedly connected with the inner frame or the outer frame, a spherical hinge arranged at the piston rod end of the air cylinder, and a sucking disc fixedly connected with the spherical hinge.
The iGPS navigation system also comprises an iGPS receiving unit fixedly arranged on the upper outer frame, and the iGPPS receiving unit and the iGPS transmitting unit form an iGPS navigation system.
The swing angle adjusting part comprises a switching frame fixedly connected with the inner frame and a swing angle driving motor fixedly arranged on the switching frame, and the drilling end effector is rotatably positioned on the switching frame and is in transmission connection with the swing angle driving motor.
The outer feet are arranged at the bottoms of two transverse edges of the outer frame, and the inner feet are arranged at the bottoms of two longitudinal edges of the inner frame.
A control method of an autonomous mobile robot hole making device comprises the following steps,
placing the autonomous mobile robot hole making mechanism on the surface of a workpiece, enabling the inner feet and the outer feet to be in an extending state, and adsorbing the inner feet and the outer feet on the surface of the workpiece by virtue of suckers of the inner feet and the outer feet;
when the controlled inner foot moves along the transverse direction, the sucker of the inner foot is released and retracted, the central frame and the inner frame mechanism move relative to the outer frame along the transverse direction under the driving of the driving mechanism, after the outer foot retracts after moving to a preset stroke, the inner foot extends and is fixed, and the driving mechanism enables the outer frame to move relative to the central frame and the inner frame moving mechanism along the transverse direction;
when the outer foot is controlled to move longitudinally, the suckers of the outer feet are released and retracted, the inner frame moves relative to the central frame and the outer frame moving mechanism longitudinally under the driving of the driving mechanism, after the inner foot moves to a preset stroke, the inner foot retracts, the outer foot extends and is fixed, and the driving mechanism enables the outer frame moving mechanism and the central frame to move relative to the inner frame longitudinally;
and after the drilling hole reaches the drilling hole position, utilizing the swing angle adjusting part to perform normal posture adjustment, and performing transverse/longitudinal movement again to adjust the end effector to perform drilling operation.
The workpiece is an airplane body or an airplane wing.
The inner foot and the outer foot are both in an extending state when the hole making operation is carried out.
Compared with the prior art, the invention has the beneficial effects that:
the self-moving robot drilling and loading device mainly comprises a self-moving part, a drilling end executor, a swing angle adjusting part and no passive compensation connecting piece. The legs of the autonomous moving part are driven by cylinders, and suckers with spherical hinges are arranged at the tail ends of the autonomous moving part, so that the moving assembly is adaptive to curved surfaces of airplane parts. The hole making normal direction is adjusted in an independent swing angle mode, the adjusting precision and efficiency are high, and the control is simple.
Drawings
FIG. 1 is a schematic diagram of an autonomous mobile robotic hole making apparatus of the present invention;
FIG. 2 is a general block diagram of an autonomous mobile robotic hole making device;
FIG. 3 is an assembly view of the pivot angle adjustment unit and the drilling end effector;
fig. 4 is a view showing a structure of an autonomous moving part;
FIG. 5 is a view showing a structure of the outer frame moving mechanism;
FIG. 6 is a view showing the construction of the drive mechanism;
FIG. 7 is a schematic view of the structure of the outer foot;
fig. 8 is a schematic structural view of the inner frame moving mechanism;
FIG. 9 is a schematic view of the inner frame driving mechanism;
FIG. 10 is a schematic view of a driving shaft side structure of the swing angle adjusting part;
fig. 11 is a schematic view of a driven shaft side structure of the swing angle adjusting portion.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 11, the autonomous mobile robot drilling device of the present invention includes an autonomous moving part 1, a drilling end effector 2, and a swing angle adjusting part 3; wherein the content of the first and second substances,
the autonomous moving part comprises an outer frame moving mechanism 4, a center frame 5 and an inner frame moving mechanism 6;
the outer frame moving mechanism comprises an outer frame which is arranged outside the central frame and is kept connected with the central frame, and a plurality of up-down telescopic outer feet which are arranged on the periphery of the bottom of the outer frame, and the outer frame and the central frame can be driven to move transversely relatively;
the inner frame moving mechanism 6 comprises an inner frame 21 which is arranged on the inner side of the central frame 5 and is kept connected with the inner frame, and a plurality of up-down telescopic inner feet 23 which are arranged on the periphery of the bottom of the inner frame, wherein the inner frame and the central frame can be driven to move longitudinally relatively;
the swing angle adjusting part is arranged on the inner frame and fixes the drilling end effector.
The self-moving robot drilling and loading device mainly comprises a self-moving part, a drilling end executor, a swing angle adjusting part and no passive compensation connecting piece. The legs of the autonomous moving part are driven by cylinders, and suckers with spherical hinges are arranged at the tail ends of the autonomous moving part, so that the moving assembly is adaptive to curved surfaces of airplane parts. The hole making normal direction is adjusted in an independent swing angle mode, the adjusting precision and efficiency are high, and the control is simple.
The outer frame, the central frame and the inner frame are rectangular frames, and at least one group of linear guide mechanisms and driving mechanisms for driving relative movement are correspondingly arranged between the outer frame and the central frame as well as between the central frame and the outer frame.
Specifically, the frame moving mechanism 4 is composed of a frame 7, a frame driving mechanism 8, a foot 9, and a frame screw rail assembly 10. The outer frame driving mechanism 8 is composed of an outer frame motor 11, an outer frame speed reducer 12, an outer frame screw 13, an outer frame motor support 14, an outer frame transfer block 15 and an outer frame bearing support 16. The outer frame drive adopts single ball screw single side drive, and the mounting form of the screw is selected from fixing and supporting. Namely, two ends of the screw, one end of the screw is fixed with the outer frame through the outer frame motor support 14, and the other end is fixed with the outer frame through the outer frame bearing support 16. The outer frame speed reducer 12 is connected with an outer frame screw rod through an outer frame coupler to realize speed reduction, the nut is connected with the inner frame through an outer frame transfer block 15 to realize driving, and a guide assembly between the outer frame and the middle frame uses a linear rolling guide rail.
The outer foot 9 comprises a cylinder 17 fixedly connected with the outer frame through a foot support 18 correspondingly, a ball joint component such as a ball hinge 20 arranged at the piston rod end of the cylinder, and a suction cup 19 fixedly connected with the ball hinge. The moving unit leg is driven by a cylinder and is provided with a sucker with a spherical hinge at the tail end. The autonomous mobile robot hole making mechanism has adaptability to the curved surface of the airplane component.
The inner frame moving mechanism 6 is composed of an inner frame 21, an inner frame driving mechanism 22, inner legs 23 and an inner frame screw guide rail 24. The inner frame driving mechanism 22 is composed of an inner frame motor 25, an inner frame speed reducer 26, an inner frame motor support 27, an inner frame screw 28, an inner frame transfer block 29, and an inner frame bearing support 30. The inner foot 23 is identical in construction to the outer foot 9. The inner frame moving assembly is positioned in the outer frame moving assembly and at the center or the upper part of the central frame, and the driving still adopts a single ball screw mode. The inner frame drive adopts single-ball screw single-side drive, and the mounting form of the screw is fixed-supported. That is, two ends of the screw 28 are fixed to the inner frame through the inner frame motor support 27, and one end is fixed to the inner frame through the inner frame bearing support 30. The inner frame speed reducer 26 is connected with an inner frame screw rod 28 through an inner frame coupler to realize speed reduction, the nut is connected with a center frame through an inner frame transfer block 29 to realize driving, and a guide assembly between the inner frame and the center frame uses a linear rolling guide rail.
As the preferred scheme, the outer feet are arranged at the bottoms of two transverse edges of the outer frame, the inner feet are arranged at the bottoms of two longitudinal edges of the inner frame, the arrangement of the corresponding edges is reduced, the arrangement quantity is reduced, and the supporting force and the stability are effectively ensured.
Further, the system also comprises an iGPS receiving unit 38 fixedly arranged on the upper outer frame, wherein the iGPPS receiving unit and the iGPS transmitting unit form an iGPS navigation system which can guide the mechanism to move autonomously.
Further, as shown in fig. 10 and 11, the swing angle adjusting unit 3 includes an adapter frame 32 fixedly connected to the inner frame through a driving shaft support 33, and a swing angle driving motor 31 fixedly disposed on the adapter frame, and the drilling end effector 2 is rotatably positioned on the adapter frame and is in transmission connection with the swing angle driving motor. Specifically, still include the driven shaft support 36 that corresponds the setting with the initiative shaft support 33, with driving shaft 34 tip of driving motor 31 transmission connection be provided with the flange, the driven shaft 35 tip of setting on driven shaft support 36 is provided with the flange equally, adopts both flange formulas to connect and the butt clamp formula is fixed, effectively guarantees drilling end effector's the steadiness of location and the convenience of control, simultaneously, supports the outside at the driven shaft and still is provided with driven shaft end cover 37. And adjusting the normal direction of the hole making by adopting an independent swing angle mode. The adjusting precision and efficiency are high, and the control is simple. The moving unit, the swing angle adjusting part and the drilling end effector unit of the autonomous mobile robot drilling device provided by the invention are mutually independent. The motion coupling degree between the units is low, the structure is simple, and the control difficulty is small.
The invention also discloses a control method of the autonomous mobile robot hole making device, which comprises the following steps,
placing an autonomous mobile robot hole making mechanism on the surface of a workpiece such as a large part of an airplane body or a wing, wherein the inner foot and the outer foot are both in an extending state and are adsorbed on the surface of the workpiece by virtue of suckers of the inner foot and the outer foot;
when the controlled inner foot moves along the transverse direction, the sucker of the inner foot is released and retracted, the central frame and the inner frame mechanism move relative to the outer frame along the transverse direction under the driving of the driving mechanism, after the outer foot retracts after moving to a preset stroke, the inner foot extends and is fixed, and the driving mechanism enables the outer frame to move relative to the central frame and the inner frame moving mechanism along the transverse direction;
when the outer foot is controlled to move longitudinally, the suckers of the outer feet are released and retracted, the inner frame moves relative to the central frame and the outer frame moving mechanism longitudinally under the driving of the driving mechanism, after the inner foot moves to a preset stroke, the inner foot retracts, the outer foot extends and is fixed, and the driving mechanism enables the outer frame moving mechanism and the central frame to move relative to the inner frame longitudinally;
wherein, the transverse movement and the longitudinal movement can be continuously carried out, the walking is similar to the walking of people, the inner foot and the outer foot are matched to advance, when complex motion is encountered, the motion is decomposed into two directions to be sequentially controlled,
and after the drilling hole reaches the drilling hole position, utilizing the swing angle adjusting part to perform normal posture adjustment, and performing transverse/longitudinal movement again to adjust the end effector to perform drilling operation. The inner foot and the outer foot are both in an extending state when the hole making operation is carried out.
After arriving predetermined position, adjust the overall position once more after the gesture has been adjusted, effectively guarantee the precision of drilling position, when probably having the interference with other parts moreover, further promoted the convenience of control.
The invention provides an autonomous mobile robot hole making mechanism which can be autonomously adapted to the surface of an airplane component, autonomously moves, accurately adjusts the normal direction and accurately makes holes. The mechanism can be used for hole making operation of large parts such as airplane fuselages and wings, and high-precision, high-efficiency and low-cost assembly of airplanes is realized. The invention has the beneficial effects that:
1. the mobile unit, the swing angle unit and the end effector unit of the autonomous mobile robot hole making device provided by the invention are mutually independent, the motion coupling degree between the units is low, the structure is simple, and the control difficulty is small;
2. the moving unit leg is driven by a cylinder and is provided with a sucker with a spherical hinge at the tail end. The autonomous mobile robot hole making mechanism has adaptivity to the curved surface of the airplane component;
3. and adjusting the normal direction of the hole making by adopting an independent swing angle mode. The adjustment precision and efficiency are high, and the control is simple;
4. the iGPS receiving unit and the iGPS transmitting unit form an iGPS navigation system, and the guiding mechanism moves autonomously.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. An autonomous mobile robot hole making device for a large part of an airplane fuselage or a wing is characterized by comprising an autonomous mobile part, a drilling end effector and a swing angle adjusting part;
the autonomous moving part comprises an outer frame moving mechanism, a center frame and an inner frame moving mechanism;
the outer frame moving mechanism comprises an outer frame which is arranged outside the central frame and is kept connected with the central frame, and a plurality of up-down telescopic outer feet which are arranged on the periphery of the bottom of the outer frame, and the outer frame and the central frame can be driven to move transversely relatively;
the inner frame moving mechanism comprises an inner frame which is arranged on the inner side of the central frame and is kept connected with the inner frame, and a plurality of up-down telescopic inner feet which are arranged on the periphery of the bottom of the inner frame, wherein the inner frame and the central frame can be driven to move longitudinally relatively;
the swing angle adjusting part is arranged on the inner frame and fixes the drilling end effector;
the inner foot and the outer foot are both provided with no passive compensation mechanism, the inner foot and the outer foot respectively comprise a cylinder correspondingly and fixedly connected with the inner frame or the outer frame, a spherical hinge arranged at the end of a piston rod of the cylinder, and a sucker fixedly connected with the spherical hinge,
the swing angle adjusting part comprises a switching frame fixedly connected with the inner frame and a swing angle driving motor fixedly arranged on the switching frame, the drilling end effector is rotatably positioned on the switching frame and is in transmission connection with the swing angle driving motor, after reaching a hole making position, the swing angle adjusting part is used for carrying out normal posture adjustment, and the drilling end effector is transversely and/or longitudinally moved again to adjust the end effector to carry out hole making operation and finish the hole making operation, and the inner foot and the outer foot are both in an extending state during the hole making operation.
2. The autonomous mobile robot perforation device according to claim 1, wherein the outer frame, the center frame and the inner frame are rectangular frames, and at least one set of linear guide mechanisms and driving mechanisms for driving the relative movement are provided between the outer frame and the center frame, and between the center frame and the outer frame, respectively.
3. The autonomous mobile robotic aperturing device of claim 2, wherein the drive mechanism comprises a drive motor and a ball screw mechanism.
4. The autonomous mobile robot perforation device according to claim 1, further comprising an iGPS receiving unit fixedly provided on the upper outer frame, wherein the iGPS receiving unit and the iGPS transmitting unit constitute an iGPS navigation system.
5. The autonomous mobile robot drilling apparatus as claimed in claim 1, wherein the outer legs are provided at bottoms of both lateral sides of the outer frame, and the inner legs are provided at bottoms of both longitudinal sides of the inner frame.
6. A method of controlling an autonomous mobile robotic hole making apparatus according to any of claims 1-5, comprising,
placing the autonomous mobile robot hole making mechanism on the surface of a workpiece, enabling the inner feet and the outer feet to be in an extending state, and adsorbing the inner feet and the outer feet on the surface of the workpiece by virtue of suckers of the inner feet and the outer feet;
when the controlled inner foot moves along the transverse direction, the sucker of the inner foot is released and retracted, the central frame and the inner frame mechanism move relative to the outer frame along the transverse direction under the driving of the driving mechanism, after the outer foot retracts after moving to a preset stroke, the inner foot extends and is fixed, and the driving mechanism enables the outer frame to move relative to the central frame and the inner frame moving mechanism along the transverse direction;
when the outer foot is controlled to move longitudinally, the suckers of the outer feet are released and retracted, the inner frame moves relative to the central frame and the outer frame moving mechanism longitudinally under the driving of the driving mechanism, after the inner foot moves to a preset stroke, the inner foot retracts, the outer foot extends and is fixed, and the driving mechanism enables the outer frame moving mechanism and the central frame to move relative to the inner frame longitudinally;
after the inner foot and the outer foot reach the hole making position, the swing angle adjusting part is used for carrying out normal posture adjustment, the end effector is adjusted to carry out hole making operation through transverse/longitudinal movement again, and the inner foot and the outer foot are both in an extending state during the hole making operation.
7. The control method of an autonomous mobile robotic hole-making device according to claim 6, wherein said workpiece is an airplane fuselage or a wing.
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| CN109676804B (en) * | 2018-12-21 | 2021-03-12 | 广州明珞汽车装备有限公司 | 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 | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1853876A (en) * | 2005-04-25 | 2006-11-01 | Lg电子株式会社 | Robot system capable of specifying moving area |
| 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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| US7264426B2 (en) * | 2003-06-25 | 2007-09-04 | The Boeing Company | Apparatus and methods for servo-controlled manufacturing operations |
| US8100611B2 (en) * | 2008-09-02 | 2012-01-24 | The Boeing Company | Stringer crawler |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1853876A (en) * | 2005-04-25 | 2006-11-01 | Lg电子株式会社 | Robot system capable of specifying moving area |
| 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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