CN109866837A - Crawler-type mobile drilling robot - Google Patents
Crawler-type mobile drilling robot Download PDFInfo
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- CN109866837A CN109866837A CN201910249401.3A CN201910249401A CN109866837A CN 109866837 A CN109866837 A CN 109866837A CN 201910249401 A CN201910249401 A CN 201910249401A CN 109866837 A CN109866837 A CN 109866837A
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Abstract
The present invention provides a kind of crawler-type mobile drilling robots comprising body frame, adjusts unit, drilling operation unit and vacuum chuck group at multiple Athey wheel groups.In drilling operation unit drilling, the whole gravity of crawler-type mobile drilling robot is G, aircraft surfaces are F to the opposition of drilling operation unit, aircraft surfaces are N to the holding power of the multiple Athey wheel group, vacuum chuck group is f to the adsorption capacity of aircraft surfaces, and has F+N=G+f.Due to robot by Athey wheel group contacted with aircraft surfaces and with the contact area of aircraft surfaces it is small, thus reduce robot to the pressure of aircraft surfaces.Since body frame can be under the action of Athey wheel group fast and efficiently to any direction movement, to improve the running fix speed and drilling efficiency of robot.It realizes pressuring action when drilling together due to the whole gravity of robot and the adsorption capacity of vacuum chuck group, thereby ensures that the stationarity of robot entirety, improve drilling quality and drilling efficiency.
Description
Technical field
The present invention relates to large aircraft numeric terminal technical field more particularly to a kind of crawler-type mobile drilling machines
People.
Background technique
The fuselage major part of flying wing type aerodynamic arrangement aircraft is hidden in wing so that the major part of fuselage and
Wing combines together.Compared with conventional airplane, flying wing type aerodynamic arrangement aircraft have a series of advantages, by blended wing-body come
It realizes integration, improves pneumatic efficiency, to increase voyage, especially smooth-shaped, the all-wing aircraft without the protrusions such as plug-in
Formula aerodynamic arrangement aircraft (the long-range strategic bomber of the B2 in such as U.S.) also has excellent radar invisible performance.
Concept passenger plane and airfreighter of new generation are also attempted using flying wing type aerodynamic arrangement, to make full use of biggish
Inner space loads 797 passenger plane of Boeing etc. in cargo and personnel, such as planning.But different from the feature of conventional airplane, fly
The Wing-Body Configurations of Yi Shi aerodynamic arrangement aircraft merge no apparent boundary, and integrated airplane presentation is flat, and whole span mistake
(especially large-scale flying wing type aerodynamic arrangement aircraft) greatly, thus the number mobile using planer-type is difficult to when fuselage integrally assembles
Change punching system and completes lamination drilling.Currently, the mobile robot due to no fixed pedestal has a series of advantages, it can
Adapt to the automatic punching of this kind of aircaft configurations.The mobile robot of no fixed pedestal refers to the movement mechanism by itself,
Drilling operation head is moved to drilling position to and is completed a kind of robot of drilling operation, it is rigid with fabrication facility floor
Connection constraints, positioning and the mobile positioning support independent of ground.
It for aircraft surfaces drilling problem, needs to comprehensively consider its safety, does not allow that workpiece is caused to damage, while energy
The aerodynamic configuration of aircraft complex is enough adapted to, thus mobile robot limited types may be selected.For flying wing type aerodynamic arrangement aircraft
For, it is generally divided into upper and lower surfaces assembly drilling, wherein the drilling operation of upper surface is particularly difficult, to the guarantor of workpiece
Shield requires especially prominent.
A kind of existing mode is: using packaged type punching system (such as flexible rail punching system, including flexible rail and
Rail mounted robot) surface drilling aboard, need for flexible rail to be laid on aircraft upper surface, rail mounted robot is then
It is moved along flexible rail, to complete the automatic punching task near track, there are also circular rails machines for similar solution
The forms such as people.Another way is: using polypody climbing robot, there are multiple vacuum chucks to be adsorbed on aircraft target ship for robot
Surface, sucker are divided into one group or multiple groups, and the movement of robot is realized by the alternate reciprocating motion of multiple groups sucker.
The automatic punching mobile robot of these above-mentioned types has certain problems: rail mounted robot needs to spread
If track similar with aircraft configuration increases the workload and difficulty of rail mounted robot hole.Due to the spy of linear track
Point, rail mounted robot are chiefly used in the drilling of the opposite joint overlap in big component docking operation, if for certain complicated face
Drilling within the scope of type then can just fulfil assignment due to needing repeatedly to lay a railway track, thus reduce working efficiency；Polypody crawling machine
Although people avoids the drilling range constraint of rail mounted robot, and can adapt to the workpiece surface of greater curvature, but in order to
Guarantee fitting closely for robot and workpiece surface, needs to slow down the foot movement of mobile robot, while it moves gait
Need accurately to be planned, thus polypody creep drilling robot mobile efficiency it is very low, control and operate complex.
Summary of the invention
In view of the problems in the background art, the purpose of the present invention is to provide a kind of crawler-type mobile drilling machines
People, which reduce crawler-type mobile drilling robots to the pressure of aircraft surfaces, can effective protection aircraft surfaces, and crawler type
Mobile drilling robot can be fast and efficiently mobile to any direction, significantly improves crawler-type mobile drilling robot
Running fix speed and drilling efficiency.In addition, crawler-type mobile drilling robot also assures crawler type during drilling
The stationarity of mobile drilling robot entirety, improves drilling quality and drilling efficiency.
To achieve the goals above, it the present invention provides a kind of crawler-type mobile drilling robot, is used in flying wing type
Drilling on the aircraft surfaces of layout.Crawler-type mobile drilling robot includes: body frame；Multiple Athey wheel groups, along cross
Body frame two sides are respectively arranged to X, for driving body frame to move on aircraft surfaces；Unit is adjusted, is slidably connected
In body frame；Drilling operation unit is used for the drilling on aircraft surfaces, and adjusts unit and be connected to drilling operation unit to adjust
The position of whole drilling operation unit；And vacuum chuck group, Z is set to body frame close to the one of aircraft surfaces along the vertical direction
Side, for being adsorbed in aircraft surfaces in drilling operation unit drilling.Wherein, in drilling operation unit drilling, the crawler belt
The whole gravity of the mobile drilling robot of formula is G, aircraft surfaces are F to the opposition of drilling operation unit, aircraft surfaces
Holding power to the multiple Athey wheel group is N, the vacuum chuck group is f to the adsorption capacity of aircraft surfaces, and has F+N=G+
f。
The multiple Athey wheel group is P to the pressure of aircraft surfacesN, the vacuum chuck group is to the pressure of aircraft surfaces
Pf, the maximum pressure that aircraft surfaces can be born is P, wherein PN< P, Pf< P.
Crawler-type mobile drilling robot further include: multiple location receivers are fixedly installed on body frame；It is global
Measuring instrument obtains the real time position of body frame by the multiple location receivers；And control system, it is communicatively coupled to
The multiple Athey wheel group, adjusts unit, the vacuum chuck group and global measuring instrument at drilling operation unit.
Aircraft surfaces are provided with datum hole.Crawler-type mobile drilling robot further include: datum hole detection device is led to
Letter is connected to control system, and datum hole detection device detects that datum hole physical location is concurrent before drilling operation unit drilling
Give control system.Control system is based on datum hole physical location and provides to drilling position and control to adjust unit and make drilling
Industry unit is moved to drilling position.
Body frame includes: coaming plate；And lower plate, it is set on the inside of coaming plate in the lower part of coaming plate.The multiple Athey wheel
Transversely X is respectively arranged at coaming plate two sides to group, and the multiple vacuum chuck group is fixedly installed below lower plate.
Each Athey wheel group includes: crawler belt, is contacted with aircraft surfaces；Tensioning wheel makes crawler belt be in tensioning state；Driving wheel,
For driving crawler belt to move on aircraft surfaces；Support wheel is located at below driving wheel, is used to support crawler belt；Wheel carrier, installation are installed
Tensioning wheel and driving wheel；And driving mechanism, it is connected to driving wheel and provides power for driving wheel.
Support wheel is arranged in pairs.Each Athey wheel group further include: adjust wheel carrier, two support wheels being connected into pairs simultaneously rotate
It is connected to installation wheel carrier, and adjusts wheel carrier and is used to adjust the relative position between described two support wheels.
Body frame further include: the first guide rail, Z is prominent along the vertical direction is formed in coaming plate and along longitudinal direction Y extension.It adjusts single
Member includes: the first adjusting component, is slidably connected to the first guide rail of body frame；Second adjusts component, is slidably connected to first
Component is adjusted, and second adjusts component relative to the first adjusting component transversely X movement；First connecting column, Z prolongs along the vertical direction
It stretches, fix and be arranged in the second adjusting component；First revolving part is sheathed on the first connecting column and around the first connecting column rotation fortune
It is dynamic；Connector is fixedly installed below the first revolving part；Second connecting column, transversely X extends and is fixedly installed on connector；
And second revolving part, it is sheathed on the second connecting column and around the second connecting column rotary motion, and drilling operation unit is connected to
Second revolving part.
Drilling operation unit includes: mounting post, is fixedly installed on and adjusts below unit；Operation head, opposite mounting post is along upper
Lower direction Z carries out stretching motion；And hold-down mechanism, it is set to and adjusts below unit, fly for being compressed in operation head drilling
Machine surface.
Vacuum chuck group includes multiple suckers that Z independently carries out stretching motion along the vertical direction.The head of each sucker is ball
Hinged structure.
Beneficial effects of the present invention are as follows:
Since crawler-type mobile drilling robot is contacted by the multiple Athey wheel group with aircraft surfaces and the multiple
Athey wheel group and the contact area of aircraft surfaces are small, thus reduce crawler-type mobile drilling robot to the pressure of aircraft surfaces
By force, so as to effective protection aircraft surfaces.Simultaneously as body frame can be in the collective effect of the multiple Athey wheel group
Under it is fast and efficiently mobile to any direction, to significantly improve the running fix speed of crawler-type mobile drilling robot
Degree, and then improve drilling efficiency.Further, since the whole gravity G and vacuum chuck group of crawler-type mobile drilling robot
Adsorption capacity f realizes pressuring action when drilling together, thereby ensures that crawler-type mobile drilling robot is whole during drilling
The stationarity of body, improves drilling quality and drilling efficiency.
Detailed description of the invention
Fig. 1 is the perspective view of crawler-type mobile drilling according to the present invention robot.
Fig. 2 is the main view of Fig. 1.
Fig. 3 is the bottom view of Fig. 1.
Fig. 4 is the right view of Fig. 1.
Fig. 5 is the installation diagram of the adjusting unit and drilling operation unit of crawler-type mobile drilling robot of the invention,
In for the sake of clarity, further it is shown that the first guide rail in body frame.
Fig. 6 is the main view of Fig. 5.
Fig. 7 is the perspective view removed after the first guide rail, the first adjusting component and the second adjusting component in Fig. 5.
Wherein, the reference numerals are as follows:
1 body frame, 33 first connecting column
11 coaming plate, 34 first revolving part
12 lower plate, 35 connector
13 first guide rail, 36 second connecting column
2 Athey wheel group, 37 second revolving part
21 crawler belt, 4 drilling operation unit
22 tensioning wheel, 41 mounting post
23 driving wheel, 42 operation head
24 support wheel, 43 hold-down mechanism
25 installation 431 guide posts of wheel carrier
26 driving mechanism, 432 hold-down head
27 adjust 5 vacuum chuck group of wheel carrier
3 adjust 51 sucker of unit
31 first adjust 6 location receivers of component
311 first mounting plate, 7 datum hole detection device
312 first sliding block, 8 control system
313 second guide rail X are lateral
32 second adjust the longitudinal direction component Y
321 second mounting plate Z up and down directions
322 second sliding blocks
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
In the description of the present application unless specifically defined or limited otherwise, term " first ", " second " are only used for describing
Purpose, be not understood to indicate or imply relative importance；Term " multiple " refers to more than two (including two)；Unless
It states otherwise or illustrates, term " connection " shall be understood in a broad sense, for example, " connection " may be a fixed connection, be also possible to removable
Connection is unloaded, or is integrally connected, or electrical connection or signal connection；" connection " can be directly connected, and can also pass through intermediate matchmaker
Jie is indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood in the application as the case may be
In concrete meaning.
In the description of this specification, it is to be understood that "upper", "lower" described in the embodiment of the present application, etc. the nouns of locality
It is to be described with angle shown in the drawings, should not be construed as the restriction to the embodiment of the present application.Below by specific
Embodiment is simultaneously described in further detail the application in conjunction with attached drawing.
The crawler-type mobile drilling robot of the application is used for the drilling on the aircraft surfaces that flying wing type is laid out.Wherein, fly
Machine surface can have scheduled to drilling region, and drilling region be provided with datum hole.Specifically, the shape of aircraft surfaces can
For plane or curved surface, and aircraft surfaces can be made of carbon fibre laminates composite material, and aircraft surfaces are in not damaged situation at this time
The maximum pressure P being able to bear is 4 × 105Pa。
Referring to Fig.1, the crawler-type mobile drilling robot of the application includes body frame 1, multiple Athey wheel groups 2, adjusts
Unit 3, drilling operation unit 4, vacuum chuck group 5, multiple location receivers 6, datum hole detection device 7, global measuring instrument
And control system 8.
Referring to figs. 1 to Fig. 4, body frame 1 is the monocoque structure, more for installing of crawler-type mobile drilling robot
A Athey wheel group 2 adjusts unit 3, vacuum chuck group 5, multiple location receivers 6 and control system 8.
Body frame 1 may include coaming plate 11, lower plate 12 and the first guide rail 13.Coaming plate 11 is integrally formed into rectangle frame knot
Structure, lower plate 12 are set to 11 inside of coaming plate in the lower part of coaming plate 11, and Z protrusion is formed in coaming plate 11 to the first guide rail 13 along the vertical direction
And Y extends along longitudinal direction.
Referring to figs. 1 to Fig. 4, transversely X is respectively arranged at 11 two sides of coaming plate of body frame 1 to multiple Athey wheel groups 2, is used for
Body frame 1 is driven to move on aircraft surfaces and (such as advance, retreat, rotating in place).Specifically, each Athey wheel group 2 can wrap
It includes crawler belt 21, tensioning wheel 22, driving wheel 23, support wheel 24, installation wheel carrier 25, driving mechanism 26 and adjusts wheel carrier 27.Due to
Each Athey wheel group 2 has independent driving mechanism 26, therefore each Athey wheel group 2 can be under the driving of driving mechanism 26 independently
It is moved towards forward and reverse.
Crawler belt 21 can be flexible pedrail, directly contact with aircraft surfaces.Tensioning wheel 22 is opened for guaranteeing that crawler belt 21 is in
Tight state avoids the sliding between the crawler belt 21 and other Athey wheel groups 2.Driving wheel 23 drives crawler belt 21 on aircraft surfaces
It is mobile.Support wheel 24 is located at 23 lower section of driving wheel and can be arranged in pairs, and is used to support crawler belt 21.Wheel carrier 25 is installed, tensioning wheel is installed
22 and driving wheel 23.Driving mechanism 26 is connected to driving wheel 23 and provides power for driving wheel 23.Wheel carrier 27 is adjusted to be connected into pairs
Two support wheels 24 and be rotationally connected with installation wheel carrier 25, for adjusting the relative position between described two support wheels 24,
So that the outer surface of crawler belt 21 is sufficiently bonded with aircraft surfaces.In other words, adjusting wheel carrier 27 can guarantee that crawler belt 21 adapts to not
The aircraft surfaces of similar shape (such as plane or curved surface).
Due to the crawler-type mobile drilling robot of the application contacted by the multiple Athey wheel group 2 with aircraft surfaces,
And the multiple Athey wheel group 2 and the contact area of aircraft surfaces are small, thus reduce crawler-type mobile drilling robot to winged
The pressure on machine surface, so as to effective protection aircraft surfaces.Simultaneously as body frame 1 can be in the multiple Athey wheel
It is fast and efficiently mobile to any direction under the collective effect of group 2, to significantly improve crawler-type mobile drilling robot
Running fix speed, and then improve drilling efficiency.In addition, the multiple Athey wheel group 2 also makes crawler-type mobile drilling
Robot has the ability of more flexible long range continuous moving, so as to meet the large-scale aircraft surfaces system of large aircraft
Hole demand.
It should be noted that the multiple Athey wheel group 2 is P to the pressure of aircraft surfacesN, aircraft surfaces are in not damaged situation
Under the maximum pressure that is able to bear be P, the multiple Athey wheel group 2 damages aircraft surfaces by pressure in order to prevent, there is PN< P.
Preferably, Athey wheel group 2 is quantitatively four.Wherein, the contact area of each Athey wheel group 2 and aircraft surfaces
About 0.115m2, so that four Athey wheel groups 2 are to work when the whole gravity G of crawler-type mobile drilling robot is 1000kg
The pressure P on part surfaceNIt is 2.1 × 104Pa, at this time PNThe maximum pressure being able to bear in not damaged situation much smaller than aircraft surfaces
Strong P (4 × 105Pa), therefore it ensure that Athey wheel group 2 to the pressure P of aircraft surfacesNIn safe range.
Referring to Fig.1, Fig. 2 and Fig. 5 to Fig. 7 adjusts the first guide rail 13 that unit 3 is slidably connected to body frame 1, and adjusts
The end saved on the Z in above-below direction of unit 3 is fixedly connected on drilling operation unit 4, to adjust the position of drilling operation unit 4
It sets.Specifically, adjusting unit 3 may include that the first adjusting component 31, second adjusts component 32, the rotation of the first connecting column 33, first
Part 34, connector 35, the second connecting column 36 and the second revolving part 37.
Referring to figure 5 and figure 6, the first adjusting component 31 is slidably connected to the first guide rail 13, for adjusting drilling on longitudinal Y
The position of operation unit 4.Specifically, first component 31 is adjusted can include: the first mounting plate 311；And first sliding block 312, peace
Cooperate loaded on 311 lower section of the first mounting plate and with the first guide rail 13；And second guide rail 313, it is set on the first mounting plate 311
Side and transversely X extend.
Referring to figure 5 and figure 6, the second adjusting component 32 is slidably connected to the second guide rail 313 of the first adjusting component 31, is used for
The position of drilling operation unit 4 is adjusted on lateral X.Specifically, second component 32 is adjusted can include: the second mounting plate 321；With
And second sliding block 322, it is installed on 321 lower section of the second mounting plate and cooperates with the second guide rail 313.
Referring to Fig. 5 to Fig. 7, Z extends, fixes and be arranged in the second adjusting component 32 the first connecting column 33 along the vertical direction
Second mounting plate 321.First revolving part 34 is sheathed on the first connecting column 33 and around 33 rotary motion of the first connecting column, thus real
Existing drilling operation unit 4 surrounds the rotary motion of up and down direction Z.
Referring to Fig. 5 to Fig. 7, connector 35 is fixedly installed on 34 lower section of the first revolving part.Transversely X prolongs second connecting column 36
It stretches and is fixedly installed on connector 35.Second revolving part 37 is sheathed on the second connecting column 36 and around the second connecting column 36 rotation fortune
It is dynamic, and drilling operation unit 4 is connected to the second revolving part 37, the rotation for being achieved in drilling operation unit 4 around transverse direction X is transported
It is dynamic.
Referring to Fig. 4 to Fig. 7, drilling operation unit 4 is used for the drilling directly on aircraft surfaces.Specifically, drilling job ticket
Member 4 can include: mounting post 41 is fixedly installed on 37 lower section of the second revolving part for adjusting unit 3；Operation head 42, opposite mounting post
41 can carry out stretching motion by Z along the vertical direction；And hold-down mechanism 43, it is set to 37 lower section of the second revolving part for adjusting unit 3,
For compressing aircraft surfaces in operation 42 drilling of head.
Referring to figure 6 and figure 7, hold-down mechanism 43 can include: guide post 431；And hold-down head 432, it is oppositely oriented 431 edge of column
Up and down direction Z stretching motion, and hold-down head 432 is provided with through-hole.Operation head 42 is via the through-hole of hold-down head 432 in aircraft surfaces
Upper drilling, the lower surface of hold-down head 432 is pressed into contact with aircraft surfaces at this time.
Referring to figs. 1 to Fig. 4, Z is set to body frame 1 close to the side of aircraft surfaces to vacuum chuck group 5 along the vertical direction,
For being adsorbed in aircraft surfaces in drilling 4 drilling of operation unit, and the multiple vacuum chuck group 5 is fixedly installed on ontology frame
12 lower section of lower plate of frame 1.Wherein, in drilling 4 drilling of operation unit, since vacuum chuck group 4 is adsorbed in aircraft table securely
Face, the hold-down head 432 (i.e. the counter-force of pressing force and drill thrust) for thus avoiding drilling operation unit 4 lead to body frame 1
It vibrates, slide or topples problem, to improve drilling quality.
Vacuum chuck group 5 may include multiple suckers 51 that Z independently carries out stretching motion along the vertical direction.Wherein, in order to suitable
The different shape structure of aircraft surfaces is answered, the head of each sucker 51 can be spherical hinge structure.
It should be noted that vacuum chuck group 5 is P to the pressure of aircraft surfacesf, aircraft surfaces can in not damaged situation
The maximum pressure of receiving is P, and vacuum chuck group 5 damages aircraft surfaces by pressure in order to prevent, there is Pf< P.
Preferably, the sucker 51 of vacuum chuck group 5 quantitatively can be 12, and the diameter of each sucker 51 can be 100mm, respectively
Sucker 51 can provide the adsorption capacity of maximum 800N, and vacuum chuck group 5 is P to the pressure of aircraft surfacesfIt is 1 × 105Pa, at this time Pf
The maximum pressure P (4 × 10 being able to bear in not damaged situation much smaller than aircraft surfaces5Pa), therefore it ensure that vacuum chuck
The pressure P of 5 pairs of aircraft surfaces of groupfIn safe range.
It should be noted that drilling operation unit 4 starts the drilling (shoe after vacuum chuck group 5 is adsorbed in aircraft surfaces
The whole gravity of the mobile drilling robot of belt is G, aircraft surfaces are F to the opposition of drilling operation unit 4, aircraft table
Holding power in face of the multiple Athey wheel group 2 is N, vacuum chuck group 5 is f) crawler type at this time to the adsorption capacity of aircraft surfaces
Mobile drilling robot entirety stress balance F+N=G+f, the i.e. whole gravity G of crawler-type mobile drilling robot and vacuum are inhaled
The adsorption capacity f of disk group 5 realizes pressuring action when drilling together, thereby ensures that crawler-type mobile void formers during drilling
The stationarity of device people's entirety, to improve drilling quality and drilling efficiency.
Referring to Figures 1 and 2, multiple location receivers 6 are fixedly installed on body frame 1.Specifically, location receivers 6 exist
It is four in quantity, and four location receivers 6 are respectively arranged in the four angles position of the coaming plate 11 of body frame 1 in the circumferential
Place.
Global measuring instrument (not shown) is generally disposed at the preferable position in the visual field (on such as the multiple location receivers 6
Side), by the multiple location receivers 6 acquisition body frame 1 real time position, and global measuring instrument with it is the multiple
Location receivers 6 constitute the Global localization system of crawler-type mobile drilling robot together.
Control system 8 is communicatively coupled to the multiple Athey wheel group 2, drilling operation unit 4, adjusts unit 3, the vacuum
The global measuring instrument of sucker group 5 and Global localization system.Wherein, control system 8 is based on the communication link between each component
It connects, controls and drive the movement of Athey wheel group 2, control vacuum chuck group 5 to stretch out and adsorb loosening up, receive Global localization
The location information of system, the movement for controlling to adjust unit 3 and drilling operation unit 4 complete drilling operation.
Datum hole detection device 7, which is set to, to be adjusted unit 3 and is communicatively coupled to control system 8, and datum hole detection device 7
Datum hole physical location is capable of detecting when before 4 drilling of drilling operation unit, and control system 8 is based on datum hole physical location and gives
It to drilling position and controls to adjust unit 3 out drilling operation unit 4 is moved to drilling position.Specifically, datum hole detects
Device 7 can be a kind of industrial camera.
In the position fixing process of crawler-type mobile drilling robot, body frame 1 of the Global localization system based on acquisition
Real time position and the feedback control between control system 8, realizing (can be by body frame 1 to the coarse positioning of body frame 1
Position precision control within 5mm), after the completion of coarse positioning, control system 8 controls to adjust unit 3 for drilling operation unit 4
It is moved to benchmark hole site；Simultaneously datum hole detection device 7 based on the datum hole physical location detected before drilling and with control
Feedback control between system 8 processed, realizing (can be by the position essence of drilling operation unit 4 to the fine positioning of drilling operation unit 4
Degree control is within 0.2mm), after the completion of fine positioning, control system 8 controls to adjust unit 3 and is moved to drilling operation unit 4
To drilling position, it is whole to thus avoid frequent athletic posture adjustment and robot caused by the kinematic error of Athey wheel group 2
Body course drift problem, to improve the drilling position precision of crawler-type mobile drilling robot.
The drilling efficiency of the crawler-type mobile drilling robot for the application that finally remarks additionally: crawler-type mobile drilling machine
The time of people's single hole be 10s, crawler-type mobile drilling robot single erect-position drilling number be 50, then drilling total time be
500s, transversely the stroke of X is about 1m.Wherein, the average movement speed of crawler-type mobile drilling robot is 20cm/s, is being stood
Switching time between position is 15s, then the effective time can about complete 8m length per hour for crawler-type mobile drilling robot
Drilling task.It should be noted that the single erect-position drilling refers to the body frame 1 of crawler-type mobile drilling robot not
Dynamic, drilling operation unit 4 carries out drilling operation under the drive for adjusting unit 3.
Claims (10)
1. a kind of crawler-type mobile drilling robot, for the drilling on the aircraft surfaces that flying wing type is laid out, which is characterized in that institute
Stating crawler-type mobile drilling robot includes:
Body frame (1)；
Multiple Athey wheel groups (2), transversely (X) is respectively arranged at body frame (1) two sides, for driving body frame (1) to exist
It is moved on aircraft surfaces；
It adjusts unit (3), is slidably connected to body frame (1)；
Drilling operation unit (4), be used for the drilling on aircraft surfaces, and adjust unit (3) be connected to drilling operation unit (4) with
Adjust the position of drilling operation unit (4)；And
Vacuum chuck group (5), (Z) is set to the side of body frame (1) close to aircraft surfaces along the vertical direction, in drilling
Aircraft surfaces are adsorbed in when operation unit (4) drilling；
Wherein, in drilling operation unit (4) drilling, the whole gravity of crawler-type mobile drilling robot is G, aircraft table
Opposition in face of drilling operation unit (4) is F, aircraft surfaces to the holding power of the multiple Athey wheel group (2) be N,
The vacuum chuck group (5) is f to the adsorption capacity of aircraft surfaces, and has F+N=G+f.
2. crawler-type mobile drilling according to claim 1 robot, which is characterized in that the multiple Athey wheel group (2)
Pressure to aircraft surfaces is PN, the vacuum chuck group (5) is P to the pressure of aircraft surfacesf, aircraft surfaces can bear most
Big pressure is P, wherein PN< P, Pf< P.
3. crawler-type mobile drilling according to claim 1 robot, which is characterized in that the crawler-type mobile void formers
Device people further include: multiple location receivers (6) are fixedly installed on body frame (1)；Global measuring instrument, by the multiple
Location receivers (6) obtain the real time position of body frame (1)；And control system (8), it is communicatively coupled to the multiple crawler belt
Wheel group (2), adjusts unit (3), the vacuum chuck group (5) and global measuring instrument at drilling operation unit (4).
4. crawler-type mobile drilling according to claim 3 robot, which is characterized in that
Aircraft surfaces are provided with datum hole；
Crawler-type mobile drilling robot further include: datum hole detection device (7) is communicatively coupled to control system (8), and
Datum hole detection device (7) detects datum hole physical location before drilling operation unit (4) drilling and is sent to control system
(8)；
Control system (8) is based on datum hole physical location and provides to drilling position and control to adjust unit (3) for drilling job ticket
First (4) are moved to drilling position.
5. crawler-type mobile drilling according to claim 1 robot, which is characterized in that
Body frame (1) includes: coaming plate (11)；And lower plate (12), it is set on the inside of coaming plate (11) in the lower part of coaming plate (11)；
The multiple Athey wheel group (2) transversely (X) is respectively arranged at coaming plate (11) two sides, the multiple vacuum chuck group (5)
It is fixedly installed below lower plate (12).
6. crawler-type mobile drilling according to claim 1 robot, which is characterized in that each Athey wheel group (2) includes: to carry out
Band (21), contacts with aircraft surfaces；Tensioning wheel (22) makes crawler belt (21) be in tensioning state；Driving wheel (23) is carried out for driving
Band (21) moves on aircraft surfaces；Support wheel (24) is located at below driving wheel (23), is used to support crawler belt (21)；Installation wheel
Frame (25) installs tensioning wheel (22) and driving wheel (23)；And driving mechanism (26), it is connected to driving wheel (23) and is driving wheel
(23) power is provided.
7. crawler-type mobile drilling according to claim 6 robot, which is characterized in that
Support wheel (24) is arranged in pairs；
Each Athey wheel group (2) further include: adjust wheel carrier (27), two support wheels (24) being connected into pairs simultaneously are rotationally connected with peace
It fills wheel carrier (25), and adjusts wheel carrier (27) and be used to adjust the relative position between described two support wheels (24).
8. crawler-type mobile drilling according to claim 5 robot, which is characterized in that
Body frame (1) further include: the first guide rail (13), along the vertical direction (Z) the prominent coaming plate (11) and along longitudinal direction (Y) of being formed in
Extend；
Adjusting unit (3) includes: the first adjusting component (31), is slidably connected to the first guide rail (13) of body frame (1)；Second
It adjusts component (32), is slidably connected to the first adjusting component (31), and second adjusts component (32) opposite first adjusting component
(31) transversely (X) is mobile；First connecting column (33), (Z) extends, fixes and be arranged in the second adjusting component along the vertical direction
(32)；First revolving part (34) is sheathed on the first connecting column (33) and around the first connecting column (33) rotary motion；Connector
(35), it is fixedly installed below the first revolving part (34)；Second connecting column (36), transversely (X) extend and the company of being fixedly installed on
Fitting (35)；And second revolving part (37), it is sheathed on the second connecting column (36) and around the second connecting column (36) rotary motion,
And drilling operation unit (4) is connected to the second revolving part (37).
9. crawler-type mobile drilling according to claim 1 robot, which is characterized in that drilling operation unit (4) includes:
Mounting post (41) is fixedly installed on and adjusts below unit (3)；Operation head (42), opposite mounting post (41) along the vertical direction (Z) into
Row stretching motion；And hold-down mechanism (43), it is set to and adjusts below unit (3), for being compressed in operation head (42) drilling
Aircraft surfaces.
10. crawler-type mobile drilling according to claim 1 robot, which is characterized in that
Vacuum chuck group (5) includes multiple suckers (51) that (Z) independently carries out stretching motion along the vertical direction；
The head of each sucker (51) is spherical hinge structure.
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| CN201910249401.3A CN109866837A (en) | 2019-03-29 | 2019-03-29 | Crawler-type mobile drilling robot |
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| CN201910249401.3A CN109866837A (en) | 2019-03-29 | 2019-03-29 | Crawler-type mobile drilling robot |
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Application publication date: 20190611 |