CN116135486A - Ultrasonic vibration automatic hole making system based on industrial robot - Google Patents

Abstract

The invention relates to the technical field of aircraft manufacturing equipment, and particularly discloses an ultrasonic vibration automatic hole making system based on an industrial robot.

Description

Ultrasonic vibration automatic hole making system based on industrial robot

Technical Field

The invention relates to the technical field of aircraft manufacturing equipment, in particular to an ultrasonic vibration automatic hole making system based on an industrial robot.

Background

With the rapid development of the aviation industry, the demand for lightweight and high-strength materials is increasing. The carbon fiber composite material has the characteristics of high specific strength, high specific modulus, good fatigue damping performance, corrosion resistance, strong designability and the like, and is widely applied to the field of aircraft manufacturing. The structural member made of the composite material needs to be assembled and connected with other structural members through a bolt or rivet connection mode, a large number of connecting holes are required to be machined in the structural member made of the composite material, and according to statistics, 70% of fatigue damage of an aircraft body is derived from the connecting part of the structural member, wherein fatigue cracks generated at the connecting holes account for more than 80%, and therefore, the quality of the connecting holes has an important influence on the fatigue resistance and reliability of the aircraft.

The carbon fiber composite material is prepared by laminating, hot pressing and curing carbon fiber prepregs, and the inherent laminated structure of the carbon fiber composite material can cause anisotropy and has lower interlayer strength. In the traditional manual hole making and automatic hole making by a robot, the composite material is extremely easy to generate defects of layering, tearing, burrs and the like due to large drilling axial force.

Disclosure of Invention

According to one aspect of the invention, the invention provides an ultrasonic vibration automatic hole making system based on an industrial robot, which can effectively reduce the axial force of hole making and further inhibit the generation of hole making defects.

In order to achieve the above purpose, the invention adopts the following technical scheme:

an ultrasonic vibration automatic hole making system based on an industrial robot comprises a control system, the industrial robot and a hole making end effector, wherein the hole making end effector is fixed on the industrial robot, the industrial robot and the hole making end effector are electrically connected with the control system, the hole making end effector comprises a hole making cutter, the ultrasonic vibration automatic hole making system based on the industrial robot further comprises an ultrasonic vibration drilling cutter handle and an ultrasonic power supply,

the ultrasonic vibration drilling tool handle is connected with the hole making tool, and the ultrasonic vibration drilling tool handle is electrically connected with the ultrasonic power supply.

Optionally, the end effector for drilling further comprises a bracket, a feeding unit, a main shaft unit, a presser foot unit and a normal alignment unit,

the support is fixedly connected with the industrial robot, the feeding unit is in sliding connection with the support, the spindle unit is arranged on the feeding unit, the presser foot unit is in sliding connection with the support, the normal alignment unit is arranged on the presser foot unit and used for positioning a region to be processed, the ultrasonic vibration drilling tool handle is connected with the spindle, and the hole making tool can be used for making holes through the presser foot unit.

Optionally, the feeding unit includes a holding seat and a first driving device, the main shaft is fixedly connected with the holding seat, a first sliding rail is arranged on the support, a first sliding block matched with the first sliding rail is arranged on the holding seat, the driving device is in transmission connection with the holding seat, and the first driving device can enable the holding seat to reciprocate along the first sliding rail.

Optionally, the feeding unit further includes a screw nut, the screw nut is disposed at a bottom of the holding seat, the first driving device is a motor, and the motor is in transmission connection with a tail end of the screw nut.

Optionally, the presser foot unit includes a presser foot body and a second driving device, wherein the presser foot body is provided with a second slider matched with the first sliding rail, the second slider is slidably connected with the first sliding rail, and the second driving device is in transmission connection with the presser foot body, so that the presser foot unit reciprocates along the first sliding rail.

Optionally, the presser foot body is provided with a central hole, and the hole making cutter can pass through the central hole.

Optionally, a chip removing port is formed on the side wall of the central hole, and the chip removing port is connected with the industrial dust collector.

Optionally, the normal alignment unit includes a laser displacement sensor and an industrial camera, where the laser displacement sensor is disposed at 90 ° intervals along a circumferential direction of the central hole, and the industrial camera is disposed at one side of the central hole, and the laser displacement sensor and the industrial camera are electrically connected to the control system.

Optionally, the robot further comprises a second sliding rail, and the industrial robot is slidingly connected to the second sliding rail.

Optionally, the industrial robot further comprises a moving platform, the industrial robot is fixedly connected with the moving platform, and the moving platform is in sliding connection with the second sliding rail.

The beneficial effects of the invention are as follows:

the ultrasonic vibration drilling tool handle is connected with the hole making tool, the ultrasonic power supply is electrically connected with the ultrasonic vibration drilling tool handle, the high-frequency electric signal generated by the ultrasonic power supply is converted into high-frequency mechanical vibration through the ultrasonic vibration drilling tool handle, the high-frequency mechanical vibration is transmitted to the hole making tool, the contact state of the hole making tool and a workpiece in the drilling process is changed from continuous contact to high-frequency intermittent contact, the material removing mechanism is changed, the axial force of hole making is effectively reduced, the generation of hole making defects is restrained, and the hole making quality is improved.

Drawings

FIG. 1 is a schematic diagram of an ultrasonic vibration automatic hole making system based on an industrial robot;

FIG. 2 is a schematic diagram of a structure of an end effector for drilling according to the present invention;

fig. 3 is an assembly view of the presser foot unit and the normal alignment unit provided by the invention.

In the figure:

100. a control system; 200. an industrial robot; 300. a hole-making end effector; 310. a hole making cutter; 320. a bracket; 321. a first slide rail; 330. a feeding unit; 331. a holding seat; 332. a first driving device; 333. a first slider; 334. a lead screw nut; 340. a spindle unit; 350. a presser foot unit; 351. a presser foot body; 352. a second driving device; 353. a second slider; 354. a central bore; 355. a chip removal port; 356. a connecting piece; 360. a normal alignment unit; 361. a laser displacement sensor; 362. an industrial camera; 400. ultrasonic vibration drilling of the tool handle; 500. an ultrasonic power supply; 600. an industrial vacuum cleaner; 700. a second slide rail; 800. a mobile platform; 900. a workpiece.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first location" and "second location" are two distinct locations and wherein the first feature is "above," "over" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is level above the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the prior art, the contact between the tool and the workpiece 900 is continuous in the drilling process of the manual hole making and the robot hole making, the axial force of the manufactured connecting hole is large, the defects of layering, tearing and the like of the workpiece 900 are easily caused, the assembly quality of an airplane is directly affected, and then the fatigue resistance and the reliability of the airplane are affected.

In view of the above problems, in one embodiment of the present invention, an automatic ultrasonic vibration hole forming system based on an industrial robot is provided, as shown in fig. 1, including a control system 100, an industrial robot 200, and a hole forming end effector 300, where the hole forming end effector 300 is fixedly connected to the industrial robot 200, the control system 100 is electrically connected to the hole forming end effector 300 and the industrial robot 200, and the control system 100 can control the industrial robot 200 to drive the hole forming end effector 300 to locate a region to be processed, and simultaneously control the hole forming end effector 300 to perform hole forming. The ultrasonic vibration automatic drilling system based on the industrial robot further comprises an ultrasonic vibration drilling tool holder 400 and an ultrasonic power supply 500, the drilling end effector 300 comprises a drilling tool 310, the drilling tool 310 is mounted on the ultrasonic vibration drilling tool holder 400, the ultrasonic vibration drilling tool holder 400 is electrically connected with the ultrasonic power supply 500, and the ultrasonic vibration drilling tool holder 400 can convert high-frequency electric signals generated by the ultrasonic power supply 500 into high-frequency mechanical vibrations and transmit the high-frequency mechanical vibrations to the drilling tool 310.

Through connecting the ultrasonic vibration drilling tool handle 400 with the hole making tool 310, the ultrasonic power supply 500 is electrically connected with the ultrasonic vibration drilling tool handle 400, so that the high-frequency electric signal of the ultrasonic power supply 500 can be converted into the high-frequency mechanical vibration of the hole making tool 310, the continuous contact between the hole making tool 310 and the workpiece 900 is changed into the high-frequency intermittent contact, the material removing mechanism of the workpiece 900 is changed, the axial force of hole making is reduced, and the hole making quality is improved.

Further, the hole making cutter 310 can be connected with the ultrasonic vibration drilling cutter handle 400 through a collet chuck, on the one hand, the collet chuck has high precision, and the finish machining surface and the service life of the hole making cutter 310 can be greatly provided; on the other hand, the rigidity of the collet chuck is high; in yet another aspect, the collet has a relatively high versatility and is suitable for substantially all basic processing.

Further, with continued reference to fig. 1, in one embodiment, a second slide rail 700 may be provided, where the industrial robot 200 is slidably connected with the second slide rail 700, and during hole making, the second slide rail 700 is disposed on one side of the workpiece 900 according to the specific shape of the workpiece 900 and the position of the hole to be machined, and the industrial robot 200 can reciprocate on the second slide rail 700 to complete machining of the hole to be machined of the workpiece 900, and the setting of the second slide rail 700 can increase the machining range of the industrial robot 200, avoid frequent movement of the industrial robot 200, shorten the machining time, and improve the machining efficiency.

Preferably, with continued reference to fig. 1, a moving platform 800 may be provided, where the moving platform 800 is slidably connected with the second sliding rail 700, and the industrial robot 200 is fixed on the moving platform 800, so that the connection area between the industrial robot 200 and the second sliding rail 700 can be increased, the connection strength between the industrial robot 200 and the second sliding rail 700 is improved, and further the working reliability of the industrial robot 200 is improved.

Further, as shown in fig. 2, the hole forming end effector 300 further includes a support 320, a feeding unit 330, a spindle unit 340, a presser foot unit 350 and a normal alignment unit 360, wherein the support 320 is fixedly connected with the industrial robot 200, the feeding unit 330 and the presser foot unit 350 are disposed on the support 320, the feeding unit 330 and the presser foot unit 350 are both slidably connected with the support 320, the spindle unit 340 is fixed on the feeding unit 330, the normal alignment unit 360 is fixed on the presser foot unit 350, the spindle unit 340 is connected with the ultrasonic vibration drilling tool holder 400, the feeding unit 330 moves along the support 320 to drive the hole forming tool 310 to pass through the presser foot unit 350, so as to process the workpiece 900, and the normal alignment unit 360 can enable the axis of the hole forming tool 310 to be coaxial with the normal of the area to be processed, so that the hole forming verticality is improved, and the hole forming precision is further improved.

Further, with continued reference to fig. 2, the feeding unit 330 may include a holding seat 331 and a first driving device 332, a first sliding rail 321 is disposed on the bracket 320 of the hole making end effector 300, a first sliding block 333 is disposed on the holding seat 331, the first sliding block 333 is slidably connected with the first sliding rail 321, and the first driving device 332 can drive the first sliding block 333 to move along the first sliding rail 321, so that the feeding unit 330 can reciprocate on the bracket 320.

Preferably, in one embodiment, two first sliding rails 321 may be provided, and the two first sliding rails 321 are relatively parallel to each other, so that the reliability of the sliding connection between the first sliding rails 321 and the first sliding blocks 333 can be improved, and further the reliability of the sliding connection between the feeding unit 330 and the bracket 320 can be improved, and the reliability of the operation of the feeding unit 330 can be ensured.

Alternatively, a plurality of first sliding blocks 333 may be provided, in one embodiment, four first sliding blocks 333 may be provided, and each first sliding rail 321 is slidably connected with two first sliding blocks 333, so as to ensure the reliability of sliding connection.

Preferably, in one embodiment, the feeding unit 330 may include a screw nut 334, the screw nut 334 may be disposed at the bottom of the cradle 331, the first driving device 332 may be a motor, the motor is in driving connection with the end of the screw nut 334, and the screw nut 334 may convert the rotational movement of the motor into the linear movement of the cradle 331, so that the cradle 331 reciprocates along the support 320.

Further, in one embodiment, the spindle unit 340 may employ a universal electric spindle, where the universal electric spindle is fixed on the feeding unit 330 by the holding seat 331, and the universal electric spindle is electrically connected with the control system 100, and the universal electric spindle includes an automatic loosening and broaching mechanism, and the ultrasonic vibration drilling tool handle 400 may be connected with the universal electric spindle by the automatic loosening and broaching mechanism on the universal electric spindle, so as to implement automatic loosening and tightening of the ultrasonic vibration drilling tool handle 400.

Further, as shown in fig. 3, the presser foot unit 350 may include a presser foot body 351 and a second driving device 352, where the presser foot body 351 is provided with a second slider 353, and the second slider 353 is slidably connected with the first slide rail 321, and in one embodiment, the second slider 353 may be provided with a plurality of second sliders 353, so as to improve the reliability of the sliding connection between the second slider 353 and the first slide rail 321. The second driving device 352 is in transmission connection with the presser foot body 351, and drives the presser foot unit 350 to reciprocate along the first sliding rail 321.

Preferably, in one embodiment, the fixed end of the second driving device 352 is fixedly connected to the bracket 320, and the driving end of the second driving device 352 is connected to the presser foot body 351 to drive the presser foot body 351 to reciprocate along the bracket 320.

Preferably, in one embodiment, the second driving device 352 may be an air cylinder, the housing of the air cylinder is fixed on the side surface of the bracket 320 through an air cylinder mounting seat, the piston rod of the air cylinder is connected with the presser foot body 351, and the presser foot body 351 is driven to reciprocate along the bracket 320 through the telescopic movement of the piston rod; in other embodiments, the second driving device 352 may be a cylinder, a linear motor, or the like capable of outputting telescopic motion.

Preferably, with continued reference to fig. 3, a connecting member 356 may be disposed between the second driving device 352 and the presser foot body 351, one end of the connecting member 356 is connected with the presser foot body 351, the other end is connected with the driving end of the second driving device 352, and the connecting member 356 is disposed to improve the connection strength between the second driving device 352 and the presser foot body 351, so as to ensure the working reliability of the second driving device 352.

Further, with continued reference to fig. 3, a central hole 354 allowing the hole forming tool 310 to pass through may be formed in the presser foot body 351, and when forming a hole, one side of the central hole 354 is attached to a region to be processed, positioning is performed, the hole forming tool 310 passes through the central hole 354 to contact with the workpiece 900, and ultrasonic hole forming is completed under the action of the ultrasonic vibration drilling tool shank 400.

Preferably, the chip removing port 355 can be formed in the central hole 354, and the chip is generated because the workpiece 900 material needs to be removed during hole making, and the chip removing port 355 can facilitate the discharge of the chip and avoid the influence of the chip accumulated in the central hole 354 on the hole making effect.

Preferably, an industrial cleaner 600 may be coupled to the exhaust port 355 to remove and dispose of the debris expelled from the exhaust port 355 in a timely manner to avoid clogging of the exhaust port 355. In one embodiment, the exhaust port 355 may be disposed at the top of the central bore 354, with the top of the central bore 354 having a larger mounting space to facilitate plumbing of the industrial cleaner 600.

Further, with continued reference to fig. 3, the normal alignment unit 360 includes four laser displacement sensors 361 and an industrial camera 362, where the four laser displacement sensors 361 may be symmetrically disposed along the axial direction of the central hole 354, so as to implement normal positioning of the hole to be machined of the workpiece 900, so that the axis of the central hole 354 is coaxial with the axis of the hole to be machined, and ensure hole making precision, and the industrial camera 362 may be disposed on one side of the central hole 354, and the industrial addition can position the hole to be machined.

Further, in one embodiment, the control system 100, the ultrasonic power supply 500 and the industrial dust collector 600 may be all disposed on the mobile platform 800, so as to ensure the reliability of the operation of the control system 100, the ultrasonic power supply 500 and the industrial dust collector 600, and meanwhile, the above ultrasonic vibration automatic hole making system based on the industrial robot may be reasonably disposed, so that the structure is more compact and attractive.

For ease of understanding, a specific workflow of the above-described ultrasonic vibration automatic hole making system based on an industrial robot will now be described as follows:

s1: the second slide rail 700 is arranged according to the specific shape and size of the machined workpiece 900 and the position of the hole to be machined, and then the moving platform 800 is driven to move to the working position by the control system 100.

S2: the industrial robot 200 and the hole making end effector 300 are driven by the control system 100 to move to a target area where the reference hole is located on the workpiece 900, the industrial camera 362 performs visual identification on the reference hole and records the position information of the reference hole, and the position information of the reference hole and the digital-analog information of the workpiece 900 are processed by a specific algorithm, so that the accurate positioning of the reference hole and the determination of the position information of the hole to be processed are finally realized.

S3: the industrial robot 200 is driven to move by the control system 100, the distance between the laser displacement sensors 361 and the workpiece 900 is adjusted to be the working distance, the distances between the four laser displacement sensors 361 and the surface of the workpiece 900 are measured at the same time, the normal information of the area to be processed is obtained by a normal recognition and correction algorithm, and the gestures of the industrial robot 200 are corrected by driving the joints to move until the axis of the hole making cutter 310 is coaxial with the normal of the area to be processed.

S4: the control system 100 controls the second driving device 352 to drive the presser foot unit 350 to approach the workpiece 900 until the workpiece 900 is pressed, and a pre-tightening force is applied between the end effector 300 and the workpiece 900, so that the rigidity of the ultrasonic vibration automatic hole making system based on the industrial robot can be improved.

S5: the control system 100 controls the hole making end effector 300, the ultrasonic vibration drilling tool shank 400, the ultrasonic power supply 500 and the industrial dust collector 600 to work simultaneously, and the hole making process is completed according to preset drilling parameters and ultrasonic parameters.

The ultrasonic vibration drilling tool handle 400 is integrated with the universal electric spindle, so that ultrasonic vibration hole making processing is realized, processing requirements of different working conditions can be met by replacing the ultrasonic vibration drilling tool handle 400, a special ultrasonic electric spindle is not required, and equipment cost is reduced.

The ultrasonic vibration hole-making technology can obviously reduce the drilling axial force during hole making, improve the hole-making quality and the hole-making efficiency, and prolong the service life of the cutter.

The industrial robot 200 is in sliding connection with the second sliding rail 700, so that the industrial robot 200 can be rapidly moved and accurately positioned, and the assembly holes in different areas of large-sized components such as an airplane can be conveniently machined.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (10)

1. An ultrasonic vibration automatic hole making system based on an industrial robot comprises a control system (100), the industrial robot (200) and a hole making end effector (300), wherein the hole making end effector (300) is fixed on the industrial robot (200), the industrial robot (200) and the hole making end effector (300) are electrically connected with the control system (100), the hole making end effector (300) comprises a hole making cutter (310), and is characterized in that the ultrasonic vibration automatic hole making system based on the industrial robot further comprises an ultrasonic vibration drilling cutter handle (400) and an ultrasonic power supply (500),

the ultrasonic vibration drilling tool holder (400) is connected with the hole making tool (310), and the ultrasonic vibration drilling tool holder (400) is electrically connected with the ultrasonic power supply (500).

2. The ultrasonic vibration automatic hole making system based on the industrial robot according to claim 1, wherein the hole making end effector (300) further comprises a bracket (320), a feeding unit (330), a spindle unit (340), a presser foot unit (350) and a normal alignment unit (360),

support (320) with industrial robot (200) fixed connection, feed unit (330) with support (320) sliding connection, main shaft unit (340) set up on feeding unit (330), presser foot unit (350) sliding connection in support (320), normal alignment unit (360) set up on presser foot unit (350) for location is waited to process the region, ultrasonic vibration drilling handle of a knife (400) with main shaft unit (340) link to each other, hole making cutter (310) can pass presser foot unit (350) makes the hole.

3. The ultrasonic vibration automatic hole making system based on the industrial robot according to claim 2, wherein the feeding unit (330) comprises a holding seat (331) and a first driving device (332), the main shaft is fixedly connected with the holding seat (331), a first sliding rail (321) is arranged on the support (320), a first sliding block (333) matched with the first sliding rail (321) is arranged on the holding seat (331), the first driving device (332) is in transmission connection with the holding seat (331), and the first driving device (332) can enable the holding seat (331) to reciprocate along the first sliding rail (321).

4. An automatic drilling system based on ultrasonic vibration of an industrial robot according to claim 3, characterized in that said feeding unit (330) further comprises a screw nut (334), said screw nut (334) being arranged at the bottom of said cradle (331), said first driving means (332) being a motor, said motor being drivingly connected to the end of said screw nut (334).

5. The automatic drilling system based on ultrasonic vibration of industrial robot according to claim 3 or 4, wherein the presser foot unit (350) comprises a presser foot body (351) and a second driving device (352), a second slider (353) matched with the first sliding rail (321) is arranged on the presser foot body (351), the second slider (353) is slidingly connected with the first sliding rail (321), and the second driving device (352) is in transmission connection with the presser foot body (351) so as to enable the presser foot unit (350) to reciprocate along the first sliding rail (321).

6. The automatic drilling system based on ultrasonic vibration of industrial robot according to claim 5, characterized in that the presser foot body (351) is provided with a central hole (354), through which central hole (354) the drilling tool (310) can pass.

7. The ultrasonic vibration automatic hole making system based on the industrial robot according to claim 6, wherein a chip discharge port (355) is formed on the side wall of the central hole (354), and the chip discharge port (355) is connected with the industrial dust collector (600).

8. The ultrasonic vibration automatic hole making system based on an industrial robot according to claim 6, characterized in that the normal alignment unit (360) comprises four laser displacement sensors (361) and an industrial camera (362), the four laser displacement sensors (361) are symmetrically arranged along the axial direction of the central hole (354), the industrial camera (362) is arranged at one side of the central hole (354), and the laser displacement sensors (361) and the industrial camera (362) are electrically connected with the control system (100).

9. The automatic drilling system based on ultrasonic vibration of an industrial robot according to claim 1, further comprising a second slide rail (700), the industrial robot (200) being slidingly connected to the second slide rail (700).

10. The automatic drilling system based on ultrasonic vibration of an industrial robot according to claim 9, further comprising a moving platform (800), wherein the industrial robot (200) is fixedly connected to the moving platform (800), and wherein the moving platform (800) is slidably connected to the second slide rail (700).

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