CN113798560A

CN113798560A - Multifunctional end effector

Info

Publication number: CN113798560A
Application number: CN202110942364.1A
Authority: CN
Inventors: 肖世宏; 薛明显; 薛贵军
Original assignee: AVIC Beijing Aeronautical Manufacturing Technology Research Institute
Current assignee: AVIC Beijing Aeronautical Manufacturing Technology Research Institute; AVIC Manufacturing Technology Institute
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2021-12-17

Abstract

The invention relates to a multifunctional end effector which comprises a base, a presser foot unit and a feedback unit, wherein the base is provided with a base seat; the base is provided with a heavy-load guide rail and a driving device, the heavy-load guide rail is provided with a first sliding block, the first sliding block is in transmission connection with the driving device and is used for driving the first sliding block to move on the heavy-load guide rail, and the first sliding block is provided with a main shaft hole making unit; the presser foot unit is arranged on two sides of two ends of the base, and a normal detection unit is arranged at the front end of the presser foot unit; the feedback unit is integrated on the base and used for sensing the main shaft hole making unit. The integrated level is high, and is small, can conveniently integrate on double pendulum head or robot, and the suitability is strong, has improved system hole efficiency. The invention belongs to the technical field of machining and manufacturing.

Description

Multifunctional end effector

Technical Field

The invention relates to the technical field of machining and manufacturing, in particular to a multifunctional end effector.

Background

In the drilling and processing technology of curved surface structural parts of aerospace vehicles, automobiles and the like, an end effector is required to be adopted for processing and drilling. At present, the integration of the end effector into a smaller space is difficult; the main shaft for hole making has small power, is not suitable for hole milling and end face milling, and has great difficulty in selecting the main shaft with the proper volume. Therefore, the existing end effector has the problems of low integration level, larger volume, only drilling and socket cutting, poor rigidity, incapability of milling, unsuitability for integration with a double-pendulum head or a robot and the like.

Disclosure of Invention

(1) Technical problem to be solved

The embodiment of the invention provides a multifunctional end effector, which solves the technical problems that the existing end effector is low in integration level, large in size, only capable of drilling and grooving, poor in rigidity, incapable of milling, not suitable for being integrated with a double-swing head or a robot and the like.

(2) Technical scheme

In order to solve the above technical problem, an embodiment of the present invention provides a multifunctional end effector, including:

the base is provided with a heavy-load guide rail and a driving device, the heavy-load guide rail is provided with a first sliding block, the first sliding block is in transmission connection with the driving device and is used for driving the first sliding block to move on the heavy-load guide rail, and the first sliding block is provided with a main shaft hole making unit;

the presser foot unit is arranged on two sides of two ends of the base, and the front end of the presser foot unit is provided with a normal detection unit;

the feedback unit is integrated on the base and used for sensing the main shaft hole making unit.

Optionally, the front end of the base is further provided with a visual positioning unit.

Optionally, a chip suction unit is further arranged at the front end of the presser foot unit.

Optionally, two ends of the heavy-duty guide rail are respectively provided with a limiting block, and the limiting blocks are located on the stroke of the first sliding block and used for limiting the first sliding block.

Optionally, the presser foot unit comprises:

the pressure foot is arranged on the base, and the front end of the pressure foot is provided with a nose end used for pressing the curved surface structural part;

the two presser foot guide rails are arranged on two sides of the base, second sliding blocks are respectively arranged on the two presser foot guide rails, presser foot force arms are respectively arranged on the two second sliding blocks, and the presser foot force arms are respectively supported in the middles of two sides of the presser foot;

and the pushing device is in transmission connection with the presser foot and is used for pushing the presser foot.

Optionally, the pushing device comprises:

the cylinder is arranged on the base;

the plunger rod is arranged at the output end of the cylinder and is in transmission connection with the presser foot so as to push the presser foot.

Optionally, the presser foot unit further includes a broken knife detection device, and the broken knife detection device is disposed on the base.

Optionally, the drive device comprises:

the screw rod is rotatably erected on the base and is parallel to the heavy-load guide rail;

the screw rod seat is sleeved on the screw rod in a transmission manner and is also connected with the first sliding block in a transmission manner;

and the motor is in transmission connection with the screw rod through a speed reducer.

Optionally, a band-type brake device is arranged on the motor.

(3) Advantageous effects

In conclusion, the multifunctional end effector of the invention has the advantages of high integration of the base, the main shaft hole making unit, the presser foot unit and the feedback unit, small volume and capability of matching with a mechanical arm, an AC rotary servo shaft and the like for hole making and finish milling. The drilling machine can be conveniently integrated on a double-swing head or a robot, the drilling efficiency is improved, and the processing applicability of the drilling end effector is expanded.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a perspective view of a multi-functional end effector of an embodiment of the present invention;

FIG. 2 is a side view of a multi-function end effector of an embodiment of the present invention;

FIG. 3 is a cross-sectional view taken at A-A in FIG. 2;

FIG. 4 is a schematic view of a presser foot unit according to an embodiment of the present invention;

fig. 5 is an exploded view of fig. 4.

In the figure:

10-a base; 12-heavy duty guide rails; 122-a limiting block; 16-a visual positioning unit; 20-a main shaft hole making unit; 22-a main shaft; 24-a main shell; 30-a presser foot unit; 32-normal detection unit; 34-a chip suction unit; 341-dust suction hose clamp; 35-presser foot; 352-nose end; 36-presser foot guide rail; 362-a second slider; 364-arm of pressure foot; 37-a pushing device; 372-a cylinder; 374-a plunger rod; 38-knife break detection means; 40-a feedback unit; 52-a screw rod; 54-a screw base; 56-electric machine.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 5, a multifunctional end effector includes a base 10, a main shaft hole making unit 20, a presser foot unit 30, and a feedback unit 40; the base 10 is provided with a heavy-load guide rail 12 and a driving device, the heavy-load guide rail 12 is provided with a first sliding block (not shown in the figure), the first sliding block is in transmission connection with the driving device so as to drive the first sliding block to move on the heavy-load guide rail 12, and the first sliding block is provided with a main shaft hole making unit 20; the presser foot unit 30 is arranged at two sides of two ends of the base 10, and the front end of the presser foot unit 30 is provided with a normal direction detection unit 32; the feedback unit 40 is integrated on the base 10, and the feedback unit 40 is used for sensing the spindle drilling unit 20.

In the multifunctional end effector of the embodiment, the base 10 is used for fixing the main shaft hole making unit 20, the presser foot unit 30, the feedback unit 40 and the like, the first slider is driven by the driving device to move on the heavy-duty guide rail 12, and the main shaft hole making unit 20 is driven to a specified position by the movement of the first slider to make holes on curved surface structural members such as aerospace vehicles, automobiles and the like. The presser foot unit 30 can move back and forth for pressing the workpiece during drilling, and the normal direction detection unit 32 detects the normal direction of the workpiece. The feedback unit 40 is an element such as a grating ruler and the like, is used for feeding back the processing working condition of the main shaft drilling unit 20, can complete full closed-loop servo control, and ensures the accuracy and stability of drilling.

The main shaft hole making unit 20 comprises a main shell 24 and a main shaft 22, wherein the main shell 24 is arranged on the heavy-duty guide rail 12 in a sliding mode through a first sliding block, and a hole is made through the main shaft 22. The center line of the through hole of the presser foot unit 30 is superposed with the center line of the main shaft 22, after the presser foot unit 30 moves forwards to press a workpiece, the main shaft 22 moves forwards, and a cutter or a drill bit on the main shaft 22 can drill the workpiece pressed by the presser foot through the center hole of the presser foot. Specifically, the normal direction detection unit 32 is a laser distance sensor, the number of the laser distance sensors is four, the laser distance sensors are uniformly distributed around the presser foot unit 30, the detection light is parallel to the axis of the main shaft 22 or has a consistent included angle, the distance measurement is carried out on the surface of the workpiece, and the verticality between the axis of the main shaft 22 and the surface of the workpiece is calculated through software. Preferably, the number of the heavy-load guide rails 12 is two, the two heavy-load guide rails 12 are respectively fixed on two sides of the base 10, each heavy-load guide rail 12 is provided with a first sliding block, the first sliding block is fixedly connected with a main shell 24, and the main shaft 22 is installed in the main shell 24.

The multifunctional end effector of the embodiment has the advantages that the base 10, the main shaft hole making unit 20, the presser foot unit 30 and the feedback unit 40 are highly integrated, the size is small, and hole making and finish milling can be carried out by matching with a mechanical arm, an AC rotary servo shaft and the like. The drilling machine can be conveniently integrated on a double-swing head or a robot, the drilling efficiency is improved, and the processing applicability of the drilling end effector is expanded.

Further, in an embodiment, the front end of the base 10 is further provided with a visual positioning unit 16, and the visual positioning unit 16 is composed of an industrial camera, a light source and a controller, and can photograph the surface of the workpiece to analyze the position, the diameter and the like of the hole.

Further, in an embodiment, the front end of the presser foot unit 30 is further provided with a dust suction unit 34, the dust suction unit 34 is used for removing dust, specifically, the dust suction unit 34 is an industrial dust collector and is provided with a suction pipeline, the front-section dust suction port is arranged at the front end of the presser foot, and the dust suction unit 34 is further provided with a dust suction pipe clamp 341 for fixing the dust suction unit 34.

Further, in an embodiment, two ends of the heavy-duty guide rail 12 are respectively provided with a limiting block 122, and the limiting blocks 122 are located on a stroke of the first slider to limit the first slider. The stopper 122 can be limited to the first slider, and prevent the first slider from sliding out of the heavy-duty guide rail 12.

Further, in an embodiment, the presser foot unit 30 includes a presser foot 35, two presser foot rails 36, and a pushing device 37;

the presser foot 35 is arranged on the base 10, and the front end of the presser foot 35 is provided with a nose 352 for pressing a curved surface structural member;

the two presser foot guide rails 36 are arranged at two sides of the base 10, the two presser foot guide rails 36 are respectively provided with a second slider 362, the two second sliders 362 are respectively provided with a presser foot force arm 364, and the presser foot force arms 364 are respectively supported at the middle parts of two sides of the presser foot 35; so that the deformation of the presser foot 35 when pressing against the workpiece is within a controllable allowable range.

The pushing device 37 is in transmission connection with the presser foot 35 for pushing the presser foot 35. The pushing device 37 pushes the presser foot 35 forward to press the nose 352 against the curved structural member.

Further, in one embodiment, the pushing device 37 includes a cylinder 372 and a plunger rod 374; the cylinder 372 is arranged on the base 10; a plunger rod 374 is arranged at the output end of the cylinder 372, and the plunger rod 374 is in transmission connection with the presser foot 35 to push the presser foot 35. The cylinder 372 pushes the plunger rod 374 and the plunger rod 374 pushes the presser foot unit 30 forward, so that the nose 352 is pressed against the curved structural member.

Further, in an embodiment, the presser foot unit 30 further includes a knife break detecting device 38, and the knife break detecting device 38 is disposed on the base 10. The broken blade detection device 38 can detect whether the tool is broken.

Further, in one embodiment, the driving means includes a lead screw 52, a lead screw base 54, and a motor 56; the screw rod 52 is rotatably erected on the base 10, and the screw rod 52 is parallel to the heavy-load guide rail 12; the screw rod seat 54 is sleeved on the screw rod 52 in a transmission manner, and the screw rod seat 54 is also connected with the first sliding block in a transmission manner; and the motor 56 is in transmission connection with the screw rod 52 through a speed reducer. The motor 56 drives the screw 52 to rotate after being decelerated by the speed reducer, and the screw 52 drives the screw seat 54 to move axially along the screw 52, so as to drive the first slide block to move, and finally drive the main shell 24 to move axially along the screw 52.

Further, in an embodiment, a band-type brake device is arranged on the motor 56, specifically, the motor 56 is a W-axis servo motor, and when the W axis does not need to be fed, the band-type brake device on the W-axis servo motor takes effect, so that the front and rear positions of the spindle 22 are not changed, the milling function is realized, and the linkage milling with the participation of the W axis can also be realized.

The above description is only an example of the present application and is not limited to the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A multi-functional end effector, comprising:

2. The multi-functional end effector as claimed in claim 1, wherein the base front end is further provided with a visual positioning unit.

3. The multi-functional end effector as claimed in claim 1, wherein the presser foot unit is further provided at a front end thereof with a dust suction unit.

4. The multifunctional end effector of claim 1, wherein two ends of the heavy-duty guide rail are respectively provided with a limiting block, and the limiting blocks are located on the stroke of the first slide block to limit the first slide block.

5. The multi-function end effector of any one of claims 1 to 4, wherein the presser foot unit comprises:

6. The multi-functional end effector of claim 5, wherein the pushing means comprises:

the cylinder is arranged on the base;

7. The multi-functional end effector as claimed in claim 5, wherein the presser foot unit further includes a break detection device provided on the base.

8. The multifunctional end effector of any one of claims 1 to 4, wherein the driving means comprises:

9. The multifunctional end effector of claim 8, wherein a band-type brake device is provided on the motor.