RU2752349C1 - Automated moving machine - Google Patents

Abstract

FIELD: machine tools.

SUBSTANCE: invention relates to the field of automated moving machine equipment for processing surfaces such as fabric of any density, wood, metal, cardboard, paper, film of any density, composite materials. The machine is comprised of a working mechanism for processing the surface of the material, a drive unit for moving the machine along the processed surface, made of three motors connected with three omni-wheels, a localisation apparatus configured to scan the processed surface and determine the distance to obstacles, a power source and a control unit connected with the drive unit, the working mechanism and a localisation apparatus, installed on a support plate. The working mechanism therein is made in form of a base, a cutting unit with a modular attachment placed in a collet, and a movement unit including a stationary platform connected with the lower movable carriage and an upper movable carriage coupled with the lower carriage by means of a spring configured to press said modular attachment to the processed surface with dynamic control of the degree of pressure.

EFFECT: use of the invention allows raising accuracy of surface processing and increasing the processing speed.

5 cl, 4 dwg

Description

The invention relates to the field of equipment, in particular to automated, portable, small-sized, universal machines designed to perform typical operations: drilling, reaming, countersinking, grinding, painting and removing material with a cutter, cutting figures of varying complexity, sizes and shapes of surfaces such as fabric of any density, wood, metal, cardboard, paper, film of any density, composite material, etc.

Known tooling machine (patent RU No. 2016720, IPC B23K 7/10, publ. 07/30/1994), containing a working mechanism. In addition, it contains a base-mounted frame with longitudinal guides, a movable carriage located on the guides with grips of the workable surface and with a drive for moving the carriage along the longitudinal guides of the bed, a portal post mounted on the base with a transverse beam, a carriage with a vertical guide installed with the ability to move along the transverse beam, and a working mechanism with a vertical movement drive. The tooling machine is additionally equipped with a basic stop for the machined surface. The drive for vertical movement of the working mechanism is made in the form of a power cylinder fixed on the carriage of the cross beam, equipped with a lock with guide rollers and a rod with a hole attached to the cylinder rod. The vertical guide is made in the form of a rod, mounted with the possibility of axial movement in the guide rollers of the retainer and the thrust holes of the power cylinder along the running fit and equipped with thrust elements. The working mechanism is made in the form of a plasmatron rigidly fixed on a vertical guide, equipped with a spacer sleeve and spring-loaded relative to the thrust.

The disadvantages of a tooling machine are:

- limited functionality of the tool machine, due to the fact that it is limited in movement;

- limited dimensions of the processed surface due to the system of gripping the processed surface.

The closest in technical essence and the achieved result is a tool machine (US patent 2018 / 333816A, IPC B23Q 9/00, B23Q 17/24, G05B 19/409, publ. 05/17/2018), containing a body designed for installation of a worker on it mechanism, control unit, drive unit, localization device and power supply. Additionally, the tooling machine contains a detection device. The body is a base plate designed to accommodate the control unit and the drive unit. The working mechanism is installed on the side of the body. The working mechanism includes a stator part; a spindle that defines the working axis of the surface treatment; and a modular attachment suitable for connection to the spindle in order to pivot about the working axis of the machining. The modular nozzle is a drill bit, drill, cutting device. The control unit includes a control panel connected to the operating mechanism and to the driving wheels and provided with memory and interface means, such as a USB port, through which the user enters and stores deletion parameters in said memory. The control unit contains a microcomputer based on the Arduino or Raspberry computer platform, and can be suitable for operative connection and data exchange via cable or other means with an external electronic computer, such as, for example, a common computer. The control unit is designed to independently control the drive wheels along the processing axis. The drive unit includes three drive wheels having major axes of rotation that are equally angularly spaced from each other at approximately 120 °. Each drive wheel includes a main body, rolling elements, and an electric motor. The main body is preferably substantially cylindrical, having an extension axis almost coincident with the axis of rotation and suitable for rotation about the same axis. Rolling elements freely suspended on the side surface of the main body so that they fit between the main body and the work surface. The electric motor is electric, suitable for controlling the rotation of the main body around an axis. The localization device is a localization cable. The localization cable can be a polymer or metal cable. The localization device contains a support part and a localization area. The supporting part contains a base, a pointing device and a connecting device. The base defines at least one support surface that is compatible with the surface to be treated. The pointing device contains an emitter suitable for marking one or more points on the surface to be treated. An emitter is a laser device or a plurality of LEDs suitable for focusing a beam of light at one or more points on a surface to be treated. The connecting device serves to provide a detachable connection between the base and the work surface. The connecting device is a vise of a known type, suitable for opening or closing in order to stably attach the localization device to the surface to be treated. The localization site is connected or is in one piece with the supporting part. The localization section is connected to the working mechanism by means of a localization cable and / or a detection cable, which is suitable for ensuring the location of the modular attachment on the surface to be treated. The localization site is a tower of variable height, suitable for receiving or releasing the localization cable or detection cable. Moreover, the length of the released cable is equal to the distance between the working mechanism and the localization site. The detection device is located on the top of the tooling machine. The detection device is suitable for receiving or releasing at least one detection cable. The detection cable can be a polymer or metal cable. The detection device is electrically connected to the control unit so that it communicates with it.

The disadvantages of a tooling machine are:

- limited functionality of the tooling machine, associated with the fact that it is necessary to calibrate the tooling machine before performing each operation on the machined surface, this is due to the need to determine the boundaries of the machined surface and to determine the initial reference point for installing the tooling machine;

- the complexity of operation associated with the multistage adjustment of the tool machine. Multi-stage adjustment includes mandatory cable attachment to the initial reference point of the machined surface, leading to limiting the speed of movement of the tooling machine, since the localization device must create and maintain the cable tension, and the acceleration of the tooling machine must not knock down the localizer or break the cable;

- limited functionality associated with the limited dimensions of the processed surface. An increase in the size of the processed surface requires an improvement in the localization and detection device in the tooling machine, in which it is necessary to place a localization and / or detection cable of a greater length, and an increase in the cable length entails its sagging under the action of gravitational forces and increases windage;

- low precision of the tool machine and limited movement, it is difficult to control the trajectory of surface treatment. The tooling machine is mechanically attached to the machined surface, and the machined surface is sensitive to mechanical stress, such as vibration or accidental touching of localization and detection devices by a person, as a result of which settings fail, inaccurate operation of the tooling machine and damage to the machined surface occurs.

- the load is unevenly distributed between the wheels due to the lateral arrangement of the working mechanism, also the lateral arrangement of the working mechanism leads to displacement of the modular nozzle from the axis of surface treatment and, as a consequence, inaccuracy of surface treatment;

- there is no function of dynamic control of the degree of pressure of the tool machine on the machined surface;

- control of processing parameters and determination of the location of the tool machine in real time is not provided, which leads to a deviation of the surface treatment from the specified trajectory and a high probability of damage to the processed surface.

The technical objectives of the invention are to create a reliable automated movable machine tool for performing typical operations for surface treatment, ensuring the accuracy of surface treatment along a pre-planned trajectory, and allowing you to control the processing parameters and determine the position of the machine in real time, as well as to increase the speed of surface treatment, simplify and improve design of a tooling machine, expanding the functionality of a tooling machine.

Technical tasks are solved by an automated movable machine containing a working mechanism installed on a base plate for processing the surface of the material, a drive unit for moving the machine along the surface to be treated, made of three motors connected to three omni-wheels, a localization device made with the ability to scan the surface to be processed and determine the distance to obstacles, power supply and control unit connected to the drive unit, working mechanism and localization device.

What is new is that the working mechanism is made in the form of a base, a cutting unit with a modular nozzle placed in a collet chuck, and a movement unit including a fixed platform connected to the lower movable carriage and an upper movable carriage connected to the lower carriage by means of a spring with the possibility of pressing said modular nozzle to the surface to be treated with dynamic control of the degree of pressure through the interaction of a Hall sensor mounted on the lower carriage and a magnet mounted on the upper carriage, while said base and stationary platform are connected by three guide shafts placed in linear bearings, which are installed on the said carriages, and the collet chuck of the modular nozzle is fixed on the lower movable carriage, and the first stepper motor is installed on the lower movable carriage to move the movement unit along the movement axis and the second stepper motor to rotate the modular nozzle around the axis of movement, the base of the working mechanism is fixed in the center of the base plate to ensure uniform distribution of the load between the omni-wheels, and the localization device is made in the form of a lidar.

Also new is the fact that the automated movable machine is equipped with at least one axial inertial measuring module located on the working mechanism and including an accelerometer, a gyroscope and a magnetometer.

Also new is the fact that the automated movable machine is equipped with a speaker built into the control unit and having the ability to communicate information about the operation of the machine.

Also new is that the automated movable machine is equipped with at least one LED capable of signaling the state of the machine.

Also new is the fact that the automated movable machine is equipped with at least three rangefinders, which have the ability to fix the work surface under the omniwheels.

FIG. 1 shows an isometric view of an automated movable machine on a work surface. FIG. 2 shows the profile of an automated movable machine. FIG. 3 shows an isometric view of the working mechanism of an automated movable machine. FIG. 4 shows the profile of the working mechanism of an automated movable machine.

The automated movable machine contains installed on the base plate 1 (Fig. 1, 2) working mechanism 2 (Fig. 1-4) for processing the material surface, control unit 3 (Fig. 1, 3, 4), drive unit (in Fig. 1-4 not shown) to move the machine over the surface to be treated, the localization device 4 (in Fig. 1) and the power source (not shown in Figs. 1-4).

Working mechanism 2 performs any surface treatment 5 (Fig. 1, 2): cutting figures of varying complexity, sizes and shapes, drilling holes, grinding, painting and removing material with a cutter.

The surface to be treated 5 can be fabric, wood, metal, cardboard, paper, composite material, and any other surface.

The working mechanism 2 is made in the form of a base 6, a cutting unit 7 (Fig. 4) and a movement unit 8 (Figs. 3, 4).

The base 6 of the working mechanism is fixed in the center of the base plate 1 of the machine.

The working mechanism 2 is connected to the base plate 1 by attaching the base 6 of the working mechanism with screws to the base plate 1. Any suitable screws are used, for example, M3 × 15 screws.

In this case, the movement unit 8 includes an upper movable carriage 9 (Figs. 2, 3, 4) and a fixed platform 10 (Figs. 3, 4).

In this case, a lower movable carriage 11 (Fig. 3) is installed on the stationary platform 10, connected to the upper carriage 9 (Fig. 2, 3, 4) by means of a spring 12 (Fig. 2, 3, 4) for pressing the modular nozzle 13 (Fig. 2, 3, 4) cutting unit 7. This allows the machine to have the function of dynamic control of the degree of pressure of the working mechanism 2 on the work surface 5.

The degree of pressure is determined by analyzing the distance between the two carriages 9 and 11 using a hall sensor 14 (Fig. 4) on the lower carriage 11 and a magnet 15 (Fig. 4) on the upper carriage 9. Thus, the pressure force is monitored in real time the working mechanism 2 on the surface to be processed 5, and in the case of processing an uneven surface 5, the machine compensates for the differences in height and pressure directly during the processing of the surface 5.

Two stepper motors 16 (Figs. 2, 3, 4) and 17 (Figs. 2, 3, 4) are installed on the lower movable carriage 11.

The first stepper motor 16 is mounted by means of a lead screw (not shown in Figs. 1-4) in a lead nut (not shown in Figs. 1-4) statically fixed on a fixed platform 10. The first stepping motor 16 controls the movement of the movement unit 8 along the movement axis 18 (Fig. 2) of the working mechanism 2.

The second stepper motor 17 is responsible for the rotation of the modular attachment 13 on the working mechanism 2 around the movement axis 18. By installing the drive belt (not shown in Fig. 1-4) in the second stepper motor 17, the torque is transmitted from the drive pulley (not shown in Fig. 1-4) on the axis of movement 18 of the working mechanism 2.

As the stepper motors 16 and 17, any known NEMA 17 size SY42STH33-1334 B manufactured by Son-yang Machinery & Electronics or 17HS4401S is used.

To move the working mechanism 2 along the axis of movement 18, the machine is equipped with three guide shafts 19 (in Figs. 2, 3, 4).

For smooth operation of the working mechanism 2, linear bearings are installed in the carriages 9 and 11 (not shown in Figs. 1-4). Use any known, for example, LM8UU in the amount of six pieces, three pieces for each of the movable carriages in accordance with the number of guides.

The modular nozzle 13 is fixed in the cutting unit 7 by means of a fastening shaft (collet chuck) 20 (in Figs. 2, 3, 4) mounted on the lower movable carriage 11.

The modular nozzle 13 can be like a cutter, knife, drill, disc, nozzle. The choice of modular nozzle 13 depends on the surface to be treated 5.

The control unit 3 (in Fig. 1, 2) of the machine includes a single-board microcomputer and a microcontroller, which communicate with each other through wires. It is preferable to use single board microcomputers such as Raspberry Pi, odroid, odyssey-x86 together with microcontrollers such as Arduino or stm32.

The control unit 3 is connected with the drive unit, the operating mechanism 2 and with the localization device 4 by any known electrically conductive medium, for example, USB or other wired cable, for the exchange of information.

The memory of the control unit 3 of the machine contains data that is associated with any type of movement (linear, angular, arched, elliptical, acceleration, braking, rotation, etc.).

The control unit 3 supports communication with the computer using any known wireless method of information transmission, for example, WiFi, Bluetooth, IrDA, radio frequency transmission, etc., or wired.

After receiving data on the necessary manipulations over the processed surface 5, the machine does not need a permanent connection with a remote computer, which allows the machine to finish its work in the normal mode when the connection with the remote computer is lost, and the power supply of the production as a whole is turned off.

The control unit 3 is configured to use the previously constructed route map of surface treatment 5. In this regard, the need for constant calibration of the machine after changing the surface to be processed 5, for example, from metal to cardboard, disappears.

The drive unit is made of at least three motors 21 ', 21 ", 21" (in Fig. 2) and three omni-wheels 22', 22 ", 22" "(in Figs. 1, 2). The drive unit is responsible for moving the machine over the work surface 5. The drive unit is connected to the control unit 3 and attached to the base plate 1 by any conductive medium (wires), the power to the stepper motors 16 and 17 is also supplied by wires.

Omniwheels 22 ', 22' ', 22' '' are a design in the form of a disk, on which several rollers are mounted along the entire circumference of the wheel, the axis of rotation of which coincides with the direction of the wheel. Thus, the wheels 22 ', 22' ', 22' '' ensure the movement of the machine in any direction.

Omniwheels 22 ', 22' ', 22' '' are mounted on the rotation axis of motors 21 ', 21' ', 21' '' and are located at the same angle relative to the common center, 120 degrees.

The load between the omni-wheels 22 ', 22' ', 22' '' is evenly distributed due to the fact that the working mechanism 2 is installed in the center of the machine. Thus, when pressure is applied to the machined surface 5, the machine body rises symmetrically, thus, the adhesion force with the machined surface 5 for all wheels 22 ', 22' ', 22' '' is equal, which provides increased accuracy of movement. Also, the installation in the center makes it possible to rotate the machine around the axis 18 without displacing the modular nozzle 13 of the working mechanism 2 relative to the material being processed 5.

As motors 21 ', 21' ', 21' '' are used asynchronous DC motors with a sensor system, any known, for example, MRB42, produced by the company "Electroprivod". Thanks to the control system based on three independent windings and three spaced 120 degrees hall sensors, precise control of the rotation speed in a wide range is provided, the rotation speed of the motors 21 ', 21' ', 21' 'is controlled, and, consequently, the accuracy and speed of surface treatment is increased 5 machine. Also, due to the design features, asynchronous DC motors have increased wear resistance in comparison with stepper and synchronous DC motors, which are used in analogues, which leads to more reliable operation of the machine.

A lidar is installed as a localization device 4 (shown schematically in Figs. 2-4), which allows the machine to operate autonomously. The localization device 4 is preferably installed in the upper part of the machine, with the possibility of installation at any place as required using four M3 × 5 screws.

Any known lidar is used, for example, the Rplidar A3, manufactured by SLAMTEC.

With the help of the localization device 4, the machine scans the work surface 5 and determines the distance to obstacles around it along the XY plane, which increases the accuracy and quality of the machine's work.

An autonomous power system is installed on the machine (not shown in Figs. 1-4), which can be any batteries. With the help of such a power system, the machine works without external power from the mains for several hours.

The machine drives up to a charging station (not shown in FIGS. 1-4) installed near the surface to be treated 5, which can be found both in automatic mode and according to data set manually by the user.

The machine tool is equipped with at least one nine-axis inertial measuring module 23 - IMU (in Figs. 1-4), located on the working mechanism and including an accelerometer, a gyroscope and a magnetometer. The axial inertial measuring module is secured with an M3 × 5 screw and a nut. It takes readings of linear acceleration of the machine in three axes, angular velocities in three axes and the direction of magnetic lines in three axes.

The machine contains a speaker (not shown in Figs. 1-4), built into the control unit 3. The speaker reproduces any sound vibrations included in its capabilities. It is used to inform the user of any necessary information about the operation and errors of the machine.

The machine contains at least one LED 24 (in Fig. 2). An rgb LED is used as a LED. The LED signals the user about the state of the machine by means of color indication.

The machine contains at least three rangefinders (not shown in Figs. 1-4) for the possibility of fixing the treated surface under the omniwheels. It is preferable to use the number of rangefinders in multiples of 3 i.e. 3, 6, 9, etc. Rangefinders prevent the robotic tooling machine from overturning (driving off) from the surface to be processed 5. As rangefinders, any known, for example, infrared, are used.

The machine works as follows.

The user prescribes a specific manipulation of the machine over the work surface 5. For example, cutting over the work surface 5 - films for stretch ceilings.

Key points are set. For key points are taken - obstacles set on the map of the processed surface 5 (reference points). The user places obstacles around the perimeter of the treated surface 5 in a chaotic asymmetrical way

Then sets the machine on the work surface 5.

The machine scans the machined surface 5. The machine determines its location on the map of the machined surface 5 according to the set of data received from the sensors: localization device 4, odometric data of the movement of omniwheels 22 ', 22' ', 22' '', nine-axis inertial measuring module 23. The use of a combination of different sensors makes it possible to compensate for the error in calculating the location that accumulates over time during the operation of a robotic tooling machine, while maintaining a high position update rate, thereby increasing the accuracy of the machine tool.

Next, the machine, using the control unit 3, which, using the software, analyzes the information received, builds a route map for surface treatment 5.

Further, the control unit 3 calculates the parameters of the machine, such as the direction and speed of movement, the amount of pressure of the working mechanism 2 on the work surface 5.

The specified parameters from the computer are fed to the control unit 3 by means of a wireless method of information transmission.

Further, the machine directly performs the operation.

The machine solves the technical tasks set - the creation of a reliable automated machine for performing typical operations on surface processing, ensuring the accuracy of surface processing along a pre-planned trajectory, and allowing you to control processing parameters and determine the position of the machine in real time, as well as increase the speed of surface processing, simplify and improving the design of the machine, expanding the functionality of the machine.

Claims (5)

1. An automated movable machine containing a working mechanism installed on a base plate for processing the surface of the material, a drive unit for moving the machine along the surface to be processed, made of three motors associated with three omniwheels, a localization device configured to scan the surface to be processed and determine the distance to obstacles, a power source and a control unit connected to a drive unit, an operating mechanism and a localization device, characterized in that said operating mechanism is made in the form of a base, a cutting unit with a modular nozzle placed in a collet chuck, and a movement unit that includes a stationary platform connected to the lower movable carriage, and an upper movable carriage connected to the lower carriage by means of a spring with the possibility of pressing said modular attachment to the surface to be treated with dynamic control of the degree of pressure through the interaction of the sensor a Hall mounted on the lower carriage, and a magnet mounted on the upper carriage, while the said base and the stationary platform are connected by three guide shafts placed in linear bearings that are mounted on the said carriages, and the collet chuck of the modular attachment is fixed on the lower movable carriage, moreover, a first stepper motor is installed on the lower movable carriage to move the movement unit along the movement axis and a second stepper motor to rotate the modular attachment around the movement axis, the base of the working mechanism is fixed in the center of the base plate to ensure uniform distribution of the load between the omniwheels, and the localization device is made in the form lidar. 2. The machine according to claim 1, characterized in that it is equipped with at least one axial inertial measuring module located on the working mechanism and including an accelerometer, a gyroscope and a magnetometer. 3. The machine according to claim 1, characterized in that it is equipped with a speaker built into the control unit, which has the ability to communicate information about the operation of the machine. 4. Machine according to claim 1, characterized in that it is equipped with at least one LED capable of signaling the state of the machine. 5. The machine according to claim 1, characterized in that it is equipped with at least three rangefinders for fixing the work surface under the omniwheels.

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