CN203679343U - Tail end hole forming actuator of robot - Google Patents
Tail end hole forming actuator of robot Download PDFInfo
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- CN203679343U CN203679343U CN201320812758.6U CN201320812758U CN203679343U CN 203679343 U CN203679343 U CN 203679343U CN 201320812758 U CN201320812758 U CN 201320812758U CN 203679343 U CN203679343 U CN 203679343U
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
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Abstract
The utility model discloses a tail end hole forming actuator of an industrial robot, which comprises a compressing unit (1) hole forming actuator of a spindle unit (2), a detection unit and a bearing unit which are connected by a bracket connecting plate (15), wherein the spindle unit is fixedly connected with a platen (25) of a feed unit (3).The detection unit (5) employs at least three linear displacement sensors or laser displacement sensors uniformly distributed at the periphery of a support (14) equationally by 45 degrees; each displacement sensor radially faces towards a pressing head support (12) coaxially assembled on a center circular hole of the sensor support; center lines of the displacement sensors are intersected at a center point of the pressing head support; real-time normal detection is carried out on rotation of a drilling bit of the tail end hole forming actuator and perpendicular feed of a workpiece with technology planning simulation software and a vision system; the perpendicularity of the drilling bit to a relative pose of the workpiece is adjusted; and the perpendicularity of the drilling bit to the workpiece is ensured.The actuator can improve hole forming efficiency and precision, as well as hole forming quality, and reduces rehandling of a worker.
Description
Technical field
The utility model relates to a kind of automation drilling end effector that is mainly used in industrial robot automatic punching system.
Background technology
Traditional artificial boring, workload is large, and process is uninteresting, and the efficiency of boring is low, the precision in hole and difficult quality guarantee uniformity, mass production man power and material cost is high.Current automatic drill riveter is limited by the version of self: the high accuracy between full work has brought up the maximization of equipment, high rigidity, but has the shortcoming that quality is large, equipment is heavy, purposes is too single-minded.The outstanding feature of automatic drill riveter be exactly bulky, involve great expense, difficult in maintenance, and need supporting fixed frame or automatic carriage, its investment is also huge.Enter after the nineties in 20th century, aircraft manufacturing industry to aircraft mounting technology proposed high-quality, at a high speed, production requirement cheaply, aircraft flexible assembly technology has obtained great development. robot hole technology is important application and the research direction of aircraft flexible assembly technology.On a large aircraft, ten thousand connectors of nearly 150-300, and the quality of these connecting holes is seriously restricting the service life of aircraft.These connecting holes mainly adopt workman's hand-made hole at present, and work situation is severe, and labour intensity is large, the more important thing is the quality that is difficult to guarantee connecting hole.The industrial robot automatic punching system solution that can rapidly and efficiently complete at present the operations such as process planning, clamping, boring, counter boring, deburring, mainly comprises industrial robot unit, end drilling actuator unit, PC control unit and process planning simulation software unit.Robot hole system is generally taked the mode that workpiece is motionless, robot moves.The work division of robot automatic punching system is completed the accurate location of end effector and is determined appearance by robot, completed rotation and the feeding of drill bit by end effector, by monitoring and calibration system is measured in real time to process and positioning precision, whole system is by central controller controls process sequence, tracking data (as cutter life and aperture).End effector is compared with unit head on traditional Digit Control Machine Tool, and sharpest edges are that it has hold down gag and Real-time force feedback device; Next is its independence and versatility: independence shows that itself is exactly a small-sized punching device, utilizes it can carry out some cutting experiments; Versatility shows that it can coordinate different mobile platforms to form drilling system.The key technology of robot automatic punching system comprises: the setting of thrust.Before drilling starts, the drill bit on terminal controller is moved to precalculated position and attitude by robot, contacted, and apply certain thrust by the hold down gag of end effector with workpiece to be machined.The Main Function of thrust comprises: the one, and the impact that compensation gravity causes end effector angle; The 2nd, the gap of eliminating the laminated material bed of material and interlayer, between preventing layer, burr enters; The 3rd, make compact conformation, increase the dynamic rate of system.At present, the robot automatic punching system of applying, its thrust and drill thrust are coupled, such design makes the power on presser feet reduce with the increase of cutting force, and the power acting in robot is thrust all the time, makes robot need not bear dynamic power in the time of boring, and only bear a static power, this design should guarantee that thrust is greater than cutting force, to guarantee the stability of system and the quality in hole.But also there is a shortcoming in this design, can cause the distortion of workpiece.Reason is must first compress before boring, and the power on workpiece of now acting on is very large.How to address this problem, be a difficult problem.Because mostly work piece is large-scale curved, arrive after assigned address, need to adjust the relative attitude of drill bit and workpiece, guarantee the vertical of drill bit and workpiece.General 4 Linear displacement transducers (LVDT) or 4 laser displacement sensors of adopting are adjusted the vertical of drill bit and workpiece at present.How to utilize vision system or less displacement transducer to carry out the posture adjustment of drill bit, the perpendicularity of adjusting cutter and surface of the work is to reduce costs, and raises the efficiency and is worth one of key technology of further investigated.The positional precision of drilling is the impact of the factor such as wearing and tearing, fuel factor of the normal precision mechanical clearance that is subject to robot kinematics's model, load, mounting means, rigidity, end effector, cutter.How to adopt the mode of detection, demarcation, compensation, the position and the attitude accuracy that improve robot automatic punching are also the key issues of restriction drilling quality.
The wallboard of aircraft, empennage, the hang down wing, rudder plate etc. are all complex-curved, and these workpiece are holed, rivet, welded, when the process operation such as cutting, coating, necessarily require surface of the work vertical with machining tool (drill bit, welding gun, laser instrument etc.).There are 2 kinds of methods can realize the adjustment of this relative pose: one is that workpiece is maintained static, machining tool is arranged on industrial robot, adjust position and the attitude of machining tool by the grand movement of industrial robot, make it vertical with workpiece to be machined surface; Second method is that workpiece to be machined is arranged on industrial machinery arm, adjusted position and the attitude of workpiece to be machined, and machining tool can adopt traditional lathe to carry out by mechanical arm.This system of processing can realize Alternative automation, is referred to as robot flexibility platform.Because robot has been equipped with measurement device, the pose that can determine in real time fixture and workpiece, the change of fixture geometry can be determined in real time in process of production, avoid regularly fixture being taken out from production process, therefore can realize many process automations, shorten the production cycle of goods.
The disclosed a kind of boring end effector of China Patent No. CN101417348A, because this boring end effector does not possess normal direction centering function, can not guarantee the high accuracy of boring.This end effector pressure-driven part independence feeding, becomes large to the comprehensive pressure of workpiece while causing end effector work.
Summary of the invention
The purpose of this utility model is the weak point existing for prior art, provides one to possess normal direction centering function, can improve drilling efficiency and precision, improves drilling quality, reduces workman's duplication of labour, the automation drilling end effector that industrial robot is used.
The utility model the utility model solves the technical scheme that its technical problem adopts, a kind of industrial machine robot end drilling actuator, mainly comprise by the compressing unit 1 drilling actuator of rack connecting plate 15 connected main axle units 2, feed unit, detecting unit and bearing unit, main axle unit 2 connects firmly on the platen 25 of feed unit 3, feed unit 3 is by the connected bearing unit 4 of secondary slide unit, it is characterized in that, detecting unit 5 adopts at least three to be distributed in Linear displacement transducer (LVDT) or the individual laser displacement sensor on sensor support base 14 circumference with 45° angle decile, and each displacement transducer is all diametrically towards the pressure head bearing 12 that is coaxially assemblied in sensor support base 14 center holes, its center line intersects at the central point of pressure head bearing 12, coordinate the rotation to end drilling actuator drill bit of process planning simulation software and vision system and the vertical feed of workpiece to carry out in real time normal direction detection, adjust the perpendicularity of drill bit and workpiece relative attitude, guarantee the vertical of drill bit and workpiece.
The utility model technology has following beneficial effect than prior art.
The utility model is distributed in Linear displacement transducer (LVDT) or the laser displacement sensor on sensor support base 14 circumference with 45° angle decile, normal direction detection is carried out in rotation by process planning simulation software cooperation vision system to end drilling actuator drill bit and the vertical feed of workpiece in real time, can effectively guarantee positional precision and the perpendicularity of drill bit and workpiece, normal direction certainty of measurement: be better than 0.15 °; Meet the required precision of aircraft assembling drilling normal direction, counter boring depth accuracy: ± 0.05mm; Meet the concavo-convex accuracy of measurement control requirement of riveted joint.Feed unit 3 is by the connected bearing unit 4 of secondary slide unit, and stable mechanical mechanism can guarantee the circularity of connecting hole, clamping force: 10-100Kgf; Improve drilling quality, reduce material interlayer dust, improve system works rigidity.Hold down gag on end drilling actuator can be avoided interbedded burr and smear metal, and deburring device can effectively be removed the burr of connecting hole import and outlet both sides automatically.Main axle unit has realized cutting function and cutting speed is adjustable, and feed unit has realized that feeding and the feed speed of drill bit is adjustable, and bearing unit has guaranteed the rigidity of end effector entirety, and detecting unit has been realized normal direction detection.The soft positioning precision compensation technique of process planning emulation, make robot can be used as one flexibility platform flexibly, coordinate end effector of the present utility model, can form a kind of efficient flexible punching system, thereby improve efficiency and the precision of drilling, improve the quality of drilling, reduce workman's the duplication of labour.In the utility model, adopt the form of two guide rail four slide units, transmit stable.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is described in further details.
Fig. 1 is the utility model industrial machine robot end drilling actuator organigram.
Fig. 2 is the compressing unit exploded view of Fig. 1.
Fig. 3 is the one-level slide unit component structure schematic diagram of Fig. 1.
Fig. 4 is the secondary slide unit component structure schematic diagram of Fig. 1.
In figure: 1. compressing unit, 2. main axle unit, 3. feed unit, 4 bearing units, 5 detecting units, 11. elastic washers, 12. pressure head bearings, 14. sensor support bases, 15. rack connecting plates, 21. nuts, 22. cylinder push pedals, 23. cylinder saddles, 24. cylinders, 25. platens, 28. lower bottom bases, 29. connecting plates, 30. ball screws, 31. bearing blocks, 32.A bearing 36.B bearing, 38. motor support bases, 39. shaft couplings, 131.A sensor, 132.B sensor, 133.C sensor, 134.D sensor.161. left socles, 162. right supports, 261.A backing plate, 262.A backing plate, 263.C backing plate, 264.D backing plate, 271.A guide rail, 272.B guide rail, 331. nut seats, 332. nut seat backing plates, 341.A block, 342.B block, 351.A collision block, 352.B collision block, 371.C guide rail, 372.D guide rail, 310. servomotors.
The specific embodiment
Consult Fig. 1.By sunk screw, adopt end effector of robot that connecting plate 29 is connected with robot ring flange by forming by compressing unit 1 drilling actuator, feed unit 3 and the bearing unit 4 of rack connecting plate 15 connected main axle units 2.End effector lower bottom base 28 is connected with connecting plate 29 use screws.Main axle unit 2 connects firmly on the platen 25 of feed unit 3, and feed unit 3 is by the connected bearing unit 4 of secondary slide unit.Compressing unit comprises elastic washer, pressure head bearing, sensor support base, connecting plate, left socle, right support, laser displacement sensor; Main axle unit comprises electric main shaft, spring clamping head knife handle and cutter; Feed unit comprises feed screw nut pair, line slideway, servomotor and driving, shaft coupling, nut seat, upper platen; Bearing unit comprises lower bottom base, upper bed-plate, cylinder saddle, servomotor bearing, electric machine main shaft bearing; Detecting unit comprises four displacement transducers and sensor support base.Feed unit 3 is by the connected bearing unit 4 of secondary slide unit.Bearing unit 4) comprising: lower bottom base 28, push pedal 22, cylinder saddle 23, A guide rail 271, B guide rail 272, upper bed-plate 311, motor support base 310, C guide rail 371, D guide rail 372, left socle 161, right support 162.A guide rail 271, B guide rail 272 are arranged on respectively lower bottom base 28 both sides, are separately installed with A backing plate 261, B backing plate 262, C backing plate 263, D backing plate 264 on A guide rail 271, B guide rail 272; C guide rail 371, D guide rail 372 are arranged on respectively the both sides of upper bed-plate 311, and guide rail slide block and platen 25 adopt screw to be installed together.Left socle 161, right support 162 are arranged on respectively the both sides of upper bed-plate 311.
End effector possesses normal direction detection components.Secondary slide unit comprises that pressure foot passes through cylinder-driven, one-level slide unit assembly and secondary slide unit assembly that pressure foot drives slide unit to be associated in machine driving with axis feeding slide unit.
Consult Fig. 2.Compressing unit 1 comprises, be embedded in elastic washer 11 in Step Shaft cylinder pressure head bearing 12 drill jig tieholens, be threaded connection pressure head bearing (12 sensor support base (14, be connected by screw the rack connecting plate 15 being connected between left socle 161 and right support 162.Elastic washer 11 is installed together with pressure head bearing 12, and (12 by sensor support base, (14 centre bore connects firmly on rack connecting plate 15, and is connected with main axle unit 2 main shafts that are positioned at rack connecting plate 15 rear ends to be shaped with the pressure head bearing of ring flange.Adopt three or four, the detecting unit 5 that is distributed in Linear displacement transducer LVDT on sensor support base 14 circumference or individual laser displacement sensor with 45° angle decile connect firmly sensor support base (14 with the uniform inclined groove of 45° angle decile in, A sensor 131, B sensor 132, C sensor 133 and D sensor 134, positioned in 45° angle direction by holding screw.A sensor 131, B sensor 132, C sensor 133 and the D sensor 134 45 ° of uniform sensor support bases 14 that are installed on that tilt.Each displacement transducer is all diametrically towards the pressure head bearing 12 that is coaxially assemblied in sensor support base 14 center holes, its center line intersects at the central point of pressure head bearing 12, coordinate the rotation to end drilling actuator drill bit of process planning simulation software and vision system and the vertical feed of workpiece to carry out in real time normal direction detection, adjust the perpendicularity of drill bit and workpiece relative attitude, guarantee the vertical of drill bit and workpiece.
Consult Fig. 3.The push pedal 22 of one-level slide unit assembly cylinder is fixed in the cannelure of lower bottom base 28 center by cylinder saddle 23, cylinder push pedal 22 connects firmly secondary slide unit assembly upper bed-plate 311, cylinder 24 promotes cylinder push pedal 22 and drives compressing unit 1 and main axle unit 3 feedings, does together rectilinear motion.One-level slide unit assembly comprises the lower bottom base 28 connecting firmly on connecting plate 29, connect firmly rolling A guide rail 271, the platen 25 of B rolling guide 272 together with connecting firmly by A backing plate 261, B backing plate 262, C backing plate 263, D backing plate 264 on it on lower bottom base 28 both sides boss, and be connected to the cylinder saddle 23 of cylinder push pedal 22 connected cylinders 24 by nut 21.Connecting plate 29 is fixed by screws on the lower surface of lower bottom base 28.A guide rail 271, B guide rail 272 are arranged on respectively lower bottom base 28 both sides, backing plate a backing plate 261, b backing plate 262, c backing plate 263, d backing plate 264 are installed on slide unit, large for fear of cylinder 24 sectional dimensions, forfending cylinder 24 interferes with platen 25, between platen 25 and guide rail, be equipped with backing plate, to guarantee the levelness of the whole power section of end effector.Cylinder 24 is fixedly mounted on lower bottom base 28 with cylinder saddle 23, and cylinder push pedal 22 connects firmly with upper bed-plate 311, drives pressing section 1 to do rectilinear motion together with axis feeding part 3 thereby make cylinder 24 promote cylinder push pedal 22.
Consult Fig. 4.Secondary slide unit assembly comprises the rolling guide C371, the rolling guide D372 that connect firmly respectively in upper bed-plate 311 longitudinal fluting both sides, center, be fixed on base 311 motor support bases 38, successively by the ball wire bar pair 30 of coupling band 39, B bearing 36, nut seat backing plate 332, nut seat 331 and bearing spider 32 assembly connections, and by the be connected servomotor 310 of ball wire bar pair 30 of rotating shaft.There are the limit on the left block A341 and the left collision block A351 that control respectively main axle unit feed distance in the rear end of described bearing spider 32.The limit on the right-right-hand limit block B342 and the right collision block B352 that control main axle unit feed distance have been provided with in described nut seat 331 rear ends.Ball wire bar pair 30 is under the driving of servomotor 310; make the drill bit cutter being connected with electric main shaft realize feed motion; its feed speed is regulated by servo drive control; main axle unit feed distance is controlled respectively by A margin stop 341 and B margin stop 342, and collision block A351 and B352 play the effect of protection.Can utilize normal direction attitude adjustment algorithm software, determine not coplanar 4 the tangent spheres with it in space, obtain radius and the sphere center position of this sphere, represent the curved surface in drilling point region with this spherical approximation, the vector that connects drilling point and this sphere centre of sphere can be similar to the method vector that represents drilling point curved surface. first go out on curved surface the coordinate of 4 points in drilling region with 4 displacement sensors according to this principle, and calculate thus the normal vector of drilling position, then calculate the power on error of axis vector of main shaft of this normal vector and end effector. according to this error, further calculate the displacement of other 3 the rectilinear movement directions of the anglec of rotation and drilling robot of 2 rotating shafts on end effector, adjust main shaft in the drilling point function vertical with curved surface thereby realize.The path planning algorithm of the accurate punching system of robot, can adopt rigid body pose transformation theory, robot trajectory planning's industrial robot path interpolation algorithm, robot inverse kinematics, joint of robot trajectory planning) etc., provide laser tracker measurement scheme and rigid body pose adjustment algorithm, next utilizes the dependency number such as laser tracker and the least square fitting algorithm based on singular value decomposition to gain knowledge to (the world coordinate system of industrial robot coordinate system in the accurate punching system of robot, target tool coordinates system, BASE coordinate system, workpiece coordinate system), auto-feed drill tools coordinate system builds and demarcates, improve the efficiency of establishment of coordinate system, and precision also improves a lot compared with manual method.The accurate drilling experimentation of robot, mainly comprise the robot circular arc drilling error compensation experiment based on laser tracker, the dull and stereotyped drilling experiment based on laser tracker, adopt laser tracker compensating error to adjust industrial robot pose, to improve the positioning precision of industrial robot and the precision of accurate drilling.The simulation result of 2 types of curved surfaces shows, can realize higher adjustment precision and efficiency according to this algorithm software.
Claims (2)
1. an industrial machine robot end drilling actuator, mainly comprise by compressing unit (1) the drilling actuator of the connected main axle unit (2) of rack connecting plate (15), feed unit, detecting unit and bearing unit, main axle unit (2) connects firmly on the platen (25) of feed unit (3), feed unit (3) is by the connected bearing unit (4) of secondary slide unit, it is characterized in that, detecting unit (5) adopts at least three and is distributed in Linear displacement transducer (LVDT) or the laser displacement sensor on sensor support base (14) circumference with 45° angle decile, and each displacement transducer is all diametrically towards the pressure head bearing (12) that is coaxially assemblied in sensor support base (14) center hole, its center line intersects at the central point of pressure head bearing (12).
2. industrial machine robot end drilling actuator as claimed in claim 1, it is characterized in that, compressing unit (1) comprises, be embedded in elastic washer (11) in Step Shaft cylinder pressure head bearing (12) drill jig tieholen, be threaded connection the sensor support base (14) of pressure head bearing (12), be connected by screw the rack connecting plate (15) being connected between left socle (161) and right support (162).
3. industrial machine robot end drilling actuator as claimed in claim 1, it is characterized in that, the pressure head bearing (12) that is shaped with ring flange connects firmly at rack connecting plate (15) above by the centre bore of sensor support base (14), and is connected with main axle unit (2) main shaft that is positioned at rack connecting plate (15) rear end.
4. industrial machine robot end drilling actuator as claimed in claim 1, it is characterized in that, adopt three or four, the detecting unit (5) that is distributed in Linear displacement transducer (LVDT) on sensor support base (14) circumference or laser displacement sensor with 45° angle decile connect firmly sensor support base (14) with the uniform inclined groove of 45° angle decile in, A sensor (131), B sensor (132), C sensor (133) and D sensor (134), positioned in 45° angle direction by holding screw.
5. industrial machine robot end drilling actuator as claimed in claim 1, it is characterized in that, secondary slide unit comprises that pressure foot passes through cylinder-driven, one-level slide unit assembly and secondary slide unit assembly that pressure foot drives slide unit to be associated in machine driving with axis feeding slide unit.
6. industrial machine robot end drilling actuator as claimed in claim 1, it is characterized in that, one-level slide unit assembly comprises the lower bottom base (28) connecting firmly on connecting plate (29), connect firmly the rolling A guide rail (271) on the boss of lower bottom base (28) both sides, on B rolling guide (272) and its by A backing plate (261), B backing plate (262), C backing plate (263), D backing plate (264) connects firmly platen (25) together, and be connected to the be connected cylinder saddle (23) of cylinder (24) of cylinder push pedal (22) by nut (21).
7. industrial machine robot end drilling actuator as claimed in claim 6, it is characterized in that, one-level slide unit assembly cylinder push pedal (22) is fixed on by cylinder saddle (23) in the center cannelure of lower bottom base (28), cylinder push pedal (22) connects firmly secondary slide unit assembly upper bed-plate (311), cylinder (24) promotes cylinder push pedal (22) and drives compressing unit (1) and main axle unit (3) feeding, does together rectilinear motion.
8. industrial machine robot end drilling actuator as claimed in claim 1, is characterized in that, is equipped with the backing plate that guarantees end effector power section levelness between platen (25) and guide rail.
9. industrial machine robot end drilling actuator as claimed in claim 6, it is characterized in that, secondary slide unit assembly comprises the rolling guide C (371) connecting firmly respectively in longitudinal fluting both sides, upper bed-plate (311) center, rolling guide D (372), be fixed on base (311) motor support base (38), successively by coupling band (39), B bearing (36), nut seat backing plate (332), the ball wire bar pair (30) of nut seat (331) and bearing spider (32) assembly connection, and by the be connected servomotor (310) of ball wire bar pair (30) of rotating shaft.
10. industrial machine robot end drilling actuator as claimed in claim 9, it is characterized in that having in the rear end of described bearing spider (32) and control respectively limit on the left block A (341) and the left collision block A (351) of main axle unit feed distance and be provided with the limit on the right-right-hand limit block B (342) and the right collision block B (352) that control main axle unit feed distance in described nut seat (331) rear end.
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| CN201320812758.6U CN203679343U (en) | 2013-12-11 | 2013-12-11 | Tail end hole forming actuator of robot |
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| CN201320812758.6U CN203679343U (en) | 2013-12-11 | 2013-12-11 | Tail end hole forming actuator of robot |
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-
2013
- 2013-12-11 CN CN201320812758.6U patent/CN203679343U/en not_active Expired - Lifetime
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