WO2021259219A1

WO2021259219A1 - Flexible omnidirectional smart mobile device oriented to hybrid processing robot

Info

Publication number: WO2021259219A1
Application number: PCT/CN2021/101375
Authority: WO
Inventors: 张俊辉; 张加波; 陈泽健; 陈涛; 李光; 董礼港; 张仰成
Original assignee: 北京卫星制造厂有限公司
Priority date: 2020-06-23
Filing date: 2021-06-22
Publication date: 2021-12-30
Also published as: CN111806186B; CN111806186A

Abstract

A flexible omnidirectional smart mobile device oriented to a hybrid processing robot. The omnidirectional smart mobile device enters a moving mode, and before the robot moves to a specified position, a chassis unit (100) being separately supported by a passive supporting unit (400) is switched such to the chassis unit (100) being separately supported by an omnidirectional moving unit (200); the omnidirectional moving unit (200) moves the robot to a specified position; once the omnidirectional smart mobile device reaches a specified position, same enters a working mode, and the chassis unit (100) being separately supported by the omnidirectional moving unit (200) is switched to said unit being jointly supported by the passive supporting unit (400) and a force sensing supporting unit (500); the force sensing supporting unit (500) can monitor ground support force in real time, adjust the ground support force when a dummy leg state occurs, and stably support the robot during a processing process.

Description

A flexible omnidirectional intelligent mobile equipment for hybrid processing robots

This application requires the priority of a Chinese patent application filed with the Chinese Patent Office on June 23, 2020, the application number is 202010581811.0, and the application name is "a flexible omnidirectional intelligent mobile equipment for hybrid processing robots", all of which The content is incorporated in this application by reference.

Technical field

The invention relates to a flexible omnidirectional intelligent mobile equipment for hybrid processing robots, which belongs to the intelligent manufacturing technical fields of rail transit, aerospace, shipbuilding, weaponry and the like.

Background technique

Key technologies such as the design, manufacturing, assembly, and testing of large and complex components are priority themes in the key development areas of national intelligent manufacturing. Such components usually have the characteristics of large size, complex shape, high position accuracy and surface quality requirements, and accompanied by thin-walled structures. , Which poses a severe challenge to the processing capacity of processing and manufacturing basic equipment. The main method of its traditional processing is a gantry-type multi-axis CNC machine tool, but the required machine tool size is large and expensive, and there are relatively single processing objects, low processing efficiency, unstable processing technology, poor flexibility, long cycle and even machine tool strokes. Difficult to meet several issues.

In order to solve the above problems, the in-situ operation mode of small processing units-mobile processing robot equipment has gradually emerged, which provides new manufacturing methods for the processing of large structural parts, which is conducive to accelerating the product iteration process, shortening the manufacturing cycle, and reducing manufacturing costs. It can change the existing production methods of many equipment manufacturing industries and meet the urgent demand for large-scale component flexible processing equipment in the high-end equipment manufacturing field.

In recent years, the intelligent manufacturing technology of mobile robots has been continuously developed, the function and performance parameters of the system have been continuously improved, and the scope of operation applications has been continuously expanded. At the same time, some short-term problems are gradually exposed: mobile robots have multiple modes, and the functional performance requirements of the equipment in each mode are different. The existing single equipment cannot meet the requirements of multiple functional performance in multiple modes of the robot at the same time. , Usually requires multiple sets of additional equipment to assist in order to achieve efficient switching between multiple modes.

Summary of the invention

The technical problem solved by the present invention is to propose a flexible omnidirectional intelligent mobile equipment for hybrid processing robots. There are three modes of standby, mobile and work. The functional performance requirements of the equipment are different in each mode. Standby In the mode, the equipment needs to achieve fast and stable support; in the mobile mode, the equipment needs to achieve precise mobile positioning; in the working mode, the equipment needs to achieve fast and stable support and effective vibration suppression; the existing single equipment cannot meet the multiple functions of the robot in multiple modes at the same time Performance requirements usually require multiple sets of additional equipment to assist in order to achieve efficient switching between multiple modes.

The technical solution solved by the present invention is: a flexible omnidirectional intelligent mobile equipment for hybrid processing robots, including: chassis unit (100), omnidirectional mobile unit (200), active oil and gas suspension unit (300), passive support Unit (400), force sensing support unit (500);

A hybrid processing robot is provided on the chassis unit (100);

The active oil-air suspension unit (300) includes: servo motor (301), hydraulic pump station (302), filter (303), two-position three-way solenoid valve (304), overflow valve (305), Y-type Electromagnetic reversing valve (306), hydraulically controlled one-way valve (307), one-way valve (308), two-way flow valve (309), suspension cylinder (310), accumulator (311), shut-off valve (312) ；

Servo motor (301) is used to drive hydraulic pump station (302), drive hydraulic pump station (302) to output and recover oil, drive hydraulic pump station (302) with oil outlet and oil return; hydraulic pump station (302) The oil outlet is connected to the inlet end of the filter (303), and the outlet end of the filter (303) passes through the main oil inlet line and the inlet end of the two-position three-way solenoid valve (304) and the inlet end of the overflow valve (305) Connect with port 1 of Y-type solenoid directional valve (306);

Two-position three-way solenoid valve (304), specifically one inlet and two outlets, the two outlets are outlet 1 and outlet 2, respectively;

The inlet end of the two-position three-way solenoid valve (304) is connected to the main oil inlet pipeline, and the outlet 1 is connected to the oil return port of the driving hydraulic pump station (302) through the main oil return pipeline of the active oil-air suspension unit (300), and outlet 2 In a normally closed state; the inlet end of the overflow valve (305) is connected to the main oil inlet pipeline, and the outlet end is connected to the oil return port of the driving hydraulic pump station (302) through the main oil return pipeline of the active oil-air suspension unit (300); Y Type solenoid directional valve (306) has three ports, port 1 is connected to the main oil inlet pipe, port 2 is connected to one end of the hydraulic control check valve (307), and port 3 passes through the main oil return pipe of the active oil-air suspension unit (300) The circuit is connected to the oil return port of the driving hydraulic pump station (302); the other end of the hydraulic control check valve (307) is connected to one end of a bridge circuit composed of four one-way valves (308) and a two-way flow valve (309), The other end of the bridge circuit is connected to the suspension cylinder (310) and the accumulator (311) through a shut-off valve (312);

The chassis unit (100) is connected to the omnidirectional moving unit (200) through a suspension cylinder (310);

The passive support unit (400) and the force sensing support unit (500) are installed at the bottom of the chassis unit (100);

Omnidirectional intelligent mobile equipment, with standby mode, mobile mode and working mode;

When the omnidirectional intelligent mobile equipment enters the standby mode, the robot does not work, the filter (303), the overflow valve (305), the one-way valve (308), and the two-way flow valve (309) are all open, and the stop valve ( 312) is normally closed;

The inlet and outlet 1 of the two-position three-way solenoid valve (304) are closed, and the outlet 2 is normally closed;

Port 2 and port 3 of the Y-type solenoid directional valve (306) are in the open state, and port 1 is in the closed state;

The hydraulically controlled one-way valve (307) controls the one-way flow of oil from the bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) to the Y-type solenoid directional valve (306);

A bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) controls the oil along the one-way valve (308) a, two-way flow valve (309), and one-way valve (308) c route One-way circulation

The oil of the suspension cylinder (310) successively passes through the bridge circuit composed of the stop valve (312), the one-way valve (308) and the two-way flow valve (309), the hydraulic control one-way valve (307), and the Y-type electromagnetic reversing The valve (306) and the main oil return pipeline are sent to the oil return port of the hydraulic pump station (302); the hydraulic rod of the suspension cylinder (310) is retracted, driving the omnidirectional moving unit (200) to be stowed upwards and driving the chassis unit (100) ) Sink until the passive support unit (400) steadily touches the ground, the chassis unit (100) is supported by the omni-directional moving unit (200) alone, and the chassis unit (100) is supported by the passive support unit (400) alone;

The force-sensing support unit (500) does not work and remains off the ground;

Before the omnidirectional intelligent mobile equipment moves to the designated station, it enters the mobile mode, the robot does not work, the filter (303), the overflow valve (305), the one-way valve (308), and the two-way flow valve (309) are all open State, the shut-off valve (312) is normally closed;

The port 1 and port 2 of the Y-type solenoid directional valve (306) are in the open state, and the port 3 is in the closed state;

The hydraulically controlled one-way valve (307) controls the one-way flow of oil from the Y-type electromagnetic directional valve (306) to the bridge circuit composed of four one-way valves (308) and a two-way flow valve (309);

A bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) controls the oil along the one-way valve (308) d, two-way flow valve (309), and one-way valve (308) b route One-way circulation

The oil of the hydraulic pump station (302) passes through the main oil inlet pipe, filter (303), overflow valve (305), Y-type electromagnetic reversing valve (306), and hydraulic control check valve (307) from the oil outlet. ), a bridge circuit composed of a one-way valve (308) and a two-way flow valve (309), and a shut-off valve (312), which is sent to the suspension cylinder (310) and the accumulator (311);

The hydraulic rod of the suspension cylinder (310) extends, driving the omni-directional moving unit (200) to extend downwards and at the same time driving the chassis unit (100) to rise. The hydraulic rod of the suspension cylinder (310) extends a predetermined length and then the position is locked, passive The support unit (400) is completely separated from the ground, and the passive support unit (400) supports the chassis unit (100) alone and switches to the omnidirectional moving unit (200) to support the chassis unit (100) alone;

The force-sensing support unit (500) does not work and remains off the ground;

After the robot reaches the designated station, the omnidirectional intelligent mobile equipment enters the working mode. The filter (303), the overflow valve (305), the one-way valve (308), and the two-way flow valve (309) are all open and cut off. The valve (312) is normally closed;

The oil of the suspension cylinder (310) successively passes through the bridge circuit composed of the stop valve (312), the one-way valve (308) and the two-way flow valve (309), the hydraulic control one-way valve (307), and the Y-type electromagnetic reversing The valve (306) and the main oil return pipeline are sent to the oil return port of the hydraulic pump station (302); the hydraulic rod of the suspension cylinder (310) is retracted, driving the omnidirectional moving unit (200) to be stowed upwards and driving the chassis unit (100) ) Sink until the passive support unit (400) steadily touches the ground; the force-sensing support unit (500) is activated, and after the force-sensing support unit (500) supports the ground, the chassis unit (100) is independently supported by the omnidirectional moving unit (200) Switch to the passive support unit (400) and the force-sensing support unit (500) to support the chassis unit (100) together; in the robot work project, the force-sensing support unit (500) can monitor the ground support force in real time; When the ground support force is less than the set support force threshold, it is determined that the force sensing support unit is not stably supported on the ground, that is, a virtual leg state occurs. At this time, the force sensing support unit (500) is adjusted until the monitored ground support force meets the set The support force threshold is used to achieve stable support; otherwise, the force-sensing support unit (500) maintains the current state.

Preferably, the robot is a hybrid processing robot, and the robot is equipped with a measurement and processing integrated end effector and a special numerical control system, which can meet the requirements of precision machining for alignment, face milling, and drilling.

Preferably, the filter (303) is in a normally open state, and its function is to filter out impurities in the oil and prevent the impurities from affecting the normal operation of the valve and the system.

Preferably, the two-position three-way solenoid valve (304) includes three ports: an inlet end, an outlet 1 and an outlet 2. The inlet end is connected to the main oil inlet pipeline, and the outlet 1 is connected to the main oil return pipeline of the active oil-air suspension unit (300) Connected, outlet 2 is normally closed; when the active oil-air suspension unit (300) starts with load, the inlet and outlet 1 of the two-position three-way solenoid valve (304) are opened, and the high-temperature oil flows directly back to the hydraulic pump station (302) , To avoid affecting other valve groups; when the active oil-air suspension unit (300) runs smoothly, the inlet and outlet 1 of the two-position three-way solenoid valve (304) are closed, and the oil flows to the overflow valve (305).

Preferably, the Y-type electromagnetic directional valve (306) has three ports, port 1 is connected to the main oil inlet pipeline, port 2 is connected to one end of the hydraulic control check valve (307), and port 3 is connected to the main oil return pipeline; Y-type solenoid directional valve (306) port 1 and port 2 are opened, and port 3 is closed, which can control the extension of the hydraulic rod of the suspension cylinder (310); Y-type solenoid directional valve (306) port 2 and port 3 are opened, and the port 1 is closed to control the hydraulic rod of the suspension cylinder (310) to retract; the Y-type solenoid valve (306) port 1, port 2 and port 3 are all closed, and the position of the hydraulic rod of the suspension cylinder (310) can be controlled to maintain.

Preferably, the shut-off valve (312) has one end connected to one end of a bridge circuit composed of a one-way valve (308) and a two-way flow valve (309), and the other end is connected to a suspension cylinder (310) and an accumulator (311); The shut-off valve (312) is mainly used for the debugging and maintenance process of the suspension cylinder (310) and the accumulator (311). The shut-off valve (312) is in a normally closed state when the active oil-air suspension unit (300) is working normally.

Preferably, the omnidirectional intelligent mobile equipment includes 4 sets of omnidirectional mobile units (200), and each omnidirectional mobile unit (200) is connected to the chassis unit (100) through a suspension cylinder (310); the omnidirectional intelligent mobile equipment movement mode Down, through the closed-loop control of the speed and steering of the four sets of omnidirectional moving units (200), the precise movement of the mobile equipment in any posture within the two-dimensional platform surface is realized, including straight, horizontal, arbitrary angle oblique, arbitrary arc and zero radius Complex trajectories such as rotation.

Preferably, the passive support unit (400) includes: a ball head support (401), a locking block (402), and a ball head flange (403); the omnidirectional intelligent mobile equipment includes a total of 3 sets of passive support units (400), Taking the robot installation base as the geometric position center, the three sets of passive support units (400) are connected in an equilateral triangle, two of which are installed on both sides of the front of the chassis unit (100) and arranged symmetrically along the geometric position center. The sleeve is located at the center of the rear of the chassis unit (100). This arrangement can quickly form a stable support surface through a three-point adaptive alignment method, ensuring that the chassis unit (100) is fast and stable.

Preferably, the force sensing active support unit (500) includes: a servo motor (501), a reducer (502), a ball screw jack (503), a force sensor (504) and a ball flange (505), The omnidirectional intelligent mobile equipment is equipped with a total of 2 sets of force-sensing active support units (500), which are respectively installed on both sides of the rear of the chassis unit (100), and are arranged symmetrically with the robot installation base as the center;

Preferably, in the robot work project, the force-sensing support unit (500) can monitor its support force to the ground in real time; when the monitoring support force is less than the set support force threshold, it is determined that the force-sensing support unit is not stably supported on the ground, That is, a virtual leg state occurs, and at this time, the force-sensing support unit (500) is adjusted until the monitored ground support force meets the set support force threshold to achieve stable support; otherwise, the force-sensing support unit (500) maintains the current state.

Compared with the prior art, the advantages of the present invention are:

(1) The present invention proposes a flexible omnidirectional intelligent mobile equipment for hybrid processing robots, which can simultaneously meet the functional performance of fast and stable support, precise mobile positioning, and effective vibration suppression corresponding to the three modes of standby, mobile, and work of the robot. need.

(2) The present invention proposes a flexible omnidirectional intelligent mobile equipment for hybrid processing robots, which helps the hybrid processing robot to achieve efficient switching between standby, mobile and working modes.

(3) The active oil and gas suspension unit proposed in the present invention is beneficial to buffering and damping the equipment under uneven ground conditions, ensuring real-time landing of the omnidirectional mobile unit, and realizing accurate mobile positioning of the equipment; the active oil and gas suspension unit has both a lifting function and a module The modern and compatible design effectively reduces costs and reduces installation space.

(4) The organic combination of adaptive passive support and force-sensing active support proposed in the present invention can effectively suppress chassis vibration caused during the processing of the hybrid robot, ensure processing stability, and improve processing accuracy.

Description of the drawings

Figure 1 is a schematic diagram of a high-precision omnidirectional intelligent mobile equipment for hybrid processing robots;

Figure 2a is a schematic diagram of mobile equipment in mobile mode;

Figure 2b is a schematic diagram of mobile equipment in working mode;

Figure 3 is a schematic diagram of the structure of the chassis unit;

Figure 4 is a schematic diagram of an omnidirectional mobile unit;

Figure 5 is a schematic diagram of the structure of the active oil and gas suspension unit;

Figure 6 is the working principle diagram of the active oil and gas suspension unit;

Figure 7 is a schematic diagram of the passive support unit structure;

Fig. 8 is a schematic diagram of the structure of a force-sensing active support unit.

detailed description

The present invention will be described in detail below with reference to the drawings and specific embodiments.

The present invention is a flexible omnidirectional intelligent mobile equipment for hybrid processing robots, which includes: chassis unit (100), omnidirectional mobile unit (200), active oil and gas suspension unit (300), passive support unit (400), force Perceived support unit (500); omnidirectional intelligent mobile equipment, divided into standby mode, mobile mode and working mode; the equipment enters the standby mode, and the passive support unit (400) independently supports the chassis unit (100); the equipment enters the mobile mode , Before the robot moves to the designated station, the passive support unit (400) alone supports the chassis unit (100) to the omnidirectional mobile unit (200) to support the chassis unit (100) alone; the omnidirectional mobile unit (200) will The robot moves to the designated station; after the equipment arrives at the designated station, it enters the working mode, and the omnidirectional moving unit (200) supports the chassis unit (100) alone and switches to the passive support unit (400) and the force sensing support unit (500) With common support, the force-sensing support unit (500) can monitor the ground support force in real time, and adjust the ground support force when a virtual leg state occurs, so as to achieve stable support during the robot processing process.

The present invention is a flexible omnidirectional intelligent mobile equipment for hybrid processing robots, which can be applied to in-situ hole making, grinding and polishing, spraying, assembly, welding, measurement and other operation scenarios of large structural parts; the equipment can meet the requirements of robots at the same time. The three modes of standby, mobile, and work correspond to the functional performance requirements of fast and stable support, precise mobile positioning, and effective vibration suppression, and can achieve efficient switching between multiple modes.

As shown in Figure 1, a flexible omnidirectional intelligent mobile equipment for hybrid processing robots is characterized by: a chassis unit (100), an omnidirectional mobile unit (200), an active oil and gas suspension unit (300), and a passive Support unit (400), force sensing support unit (500);

As shown in Figure 3, the chassis unit (100) is tailor-welded by square steel pipe profiles and load-bearing steel plates, and the whole is a rectangular parallelepiped; the chassis unit (100) is a rigid load-bearing structure on which a robot is loaded, and its interior and surface are omnidirectional Other components of smart mobile equipment provide installation space and interfaces.

The robot is a hybrid processing robot. The robot is equipped with a measurement-processing integrated end effector and a special numerical control system, which can meet the needs of precision machining for alignment, face milling, and drilling.

As shown in Figure 4, the omnidirectional mobile unit (200) is a module based on the Mecanum wheel set. The omnidirectional intelligent mobile equipment includes 4 sets of omnidirectional mobile units (200), which are distributed symmetrically in the center, and each set of omnidirectional mobile The units (200) are all connected with the chassis unit (100) through the suspension cylinder (310); in the omnidirectional smart mobile equipment mobile mode, the four sets of omnidirectional mobile units (200) are controlled by closed-loop control of the speed and steering to realize the mobile equipment in the second The precise movement of any posture in the dimensional platform, including straight, horizontal, oblique at any angle, arbitrary arc, and zero-radius rotation and other complex trajectories.

As shown in Figures 5 and 6, the active oil-air suspension unit (300) includes: a servo motor (301), a hydraulic pump station (302), a filter (303), a two-position three-way solenoid valve (304), Relief valve (305), Y-type solenoid directional valve (306), hydraulic control check valve (307), check valve (308), two-way flow valve (309), suspension cylinder (310), accumulator (311), stop valve (312);

The servo motor (301) is used to drive the hydraulic pump station (302), drive the hydraulic pump station (302) to output and recover oil, the oil outlet of the hydraulic pump station (302) is connected to the inlet end of the filter (303), the filter The outlet end of (303) is connected to the main oil inlet pipe of the active oil-air suspension unit (300); the inlet end of the two-position three-way solenoid valve (304) is connected to the main oil inlet pipe, and the outlet 1 is connected to the active oil-air suspension unit (300) The main oil return pipeline is connected with the outlet 2 in a normally closed state; the inlet end of the overflow valve (305) is connected to the main oil inlet pipeline, and the outlet end is connected to the main oil return pipeline; the Y-type electromagnetic directional valve (306) has three ports , Port 1 is connected to the main oil inlet pipeline, port 2 is connected to one end of the hydraulic control check valve (307), and port 3 is connected to the main oil return pipeline; the other end of the hydraulic control check valve (307) is connected to four check valves ( One end of the bridge circuit composed of 308) and the two-way flow valve (309), and the other end of the bridge circuit is connected to the suspension cylinder (310) and the accumulator (311) through a stop valve (312);

Preferably, the omnidirectional intelligent mobile equipment has a standby mode, a mobile mode and a working mode;

Preferably, the hydraulically controlled one-way valve (307) controls the one-way flow of oil from the bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) toward the Y-type electromagnetic reversing valve (306);

The force sensing support unit (500) does not work and remains off the ground.

As shown in Figure 2a, the omnidirectional intelligent mobile equipment enters the mobile mode before moving to the designated station; the robot does not work, the filter (303), the overflow valve (305), the one-way valve (308), the two-way flow valve (309) are in an open state, and the shut-off valve (312) is in a normally closed state;

Preferably, the hydraulically controlled one-way valve (307) controls the one-way flow of oil from the Y-shaped electromagnetic directional valve (306) to the bridge circuit composed of four one-way valves (308) and a two-way flow valve (309);

The oil of the hydraulic pump station (302) sequentially passes through the main oil inlet pipeline, filter (303), overflow valve (305), Y-type electromagnetic reversing valve (306), hydraulic control check valve (307), and one-way The bridge circuit composed of the valve (308) and the two-way flow valve (309), the stop valve (312), is sent to the suspension cylinder (310) and the accumulator (311);

The force sensing support unit (500) does not work and remains off the ground.

As shown in Figure 2b, after the robot arrives at the designated station, the omnidirectional intelligent mobile equipment enters the working mode;

The filter (303), the overflow valve (305), the one-way valve (308), and the two-way flow valve (309) are all in an open state, and the stop valve (312) is in a normally closed state;

Preferably, as shown in Figure 7, the passive support unit (400) is mainly composed of a ball head support (401), a locking block (402), and a ball head flange (403); the omnidirectional intelligent mobile equipment contains a total of 3 sets The passive support unit (400), with the robot installation base as the geometric center, the three sets of passive support units (400) are connected in an equilateral triangle, two of which are installed on both sides of the front of the chassis unit (100), along the geometric The position center is symmetrically arranged, and the third set is located at the rear center of the chassis unit (100). This arrangement can quickly form a stable support surface through a three-point adaptive alignment method to ensure that the chassis unit (100) is quickly stable.

Preferably, as shown in Figure 8, the force sensing active support unit (500) is mainly composed of a servo motor (501), a reducer (502), a ball screw jack (503), a force sensor (504) and a ball head method Blue plate (505) composition; ball screw screw jack (503) compared with conventional trapezoidal screw screw jack, the clearance between the motion mechanisms is greatly reduced, which is beneficial to improve the stability of the chassis unit (100) during the robot working process; ball head method The blue plate (505) can quickly and adaptively support the ground; the force sensor (504) can feed back ground support force parameters in real time. When the monitored support force is less than the set support force threshold, it is determined that the force sensing support unit is not stably supported on the ground. On the ground, the virtual leg state appears. At this time, the closed-loop control adjustment 503-ball screw screw jack is used for adjustment and compensation to achieve stable support; otherwise, the force-sensing support unit (500) maintains the current state.

A further solution for improving the accuracy of movement in the omnidirectional intelligent mobile equipment movement mode of the present invention: set the ground flatness to A, the equipment moving speed to B, the compressible amount of air in the pipeline of the active oil and gas suspension unit (300) to C, and the energy storage The compressible amount of the device (311) is D, and the response speed of the accumulator (311) is E, then the preferred conditions are: C+D>2A, E>3B. These preferred constraint conditions are met, and the movement accuracy can be further improved.

The omnidirectional intelligent mobile equipment of the present invention is a further solution for realizing rapid and stable support and improving the vibration suppression effect in standby and working modes: the installation position of the ball support (401) and the chassis unit (100) adopts a stop limit structure to eliminate the matching gap, The ball support (401), the locking block (402), and the ball flange (403) are matched with the spherical surface pair using fine grinding to achieve a small clearance fit. Apply a proper amount of grease between the spherical surface pair to ensure the passive support unit (400) on the one hand Under the condition of uneven ground, self-adaptive alignment forms a stable support surface. On the other hand, it avoids that the chassis stability of the hybrid processing robot is reduced due to excessive installation and fit clearance.

Claims

A flexible omnidirectional intelligent mobile equipment for hybrid processing robots, which is characterized by comprising: a chassis unit (100), an omnidirectional mobile unit (200), an active oil and gas suspension unit (300), a passive support unit (400), Force sensing support unit (500);

A hybrid processing robot is provided on the chassis unit (100);

The active oil-air suspension unit (300) includes: servo motor (301), hydraulic pump station (302), filter (303), two-position three-way solenoid valve (304), overflow valve (305), Y-type Electromagnetic reversing valve (306), hydraulically controlled one-way valve (307), one-way valve (308), two-way flow valve (309), suspension cylinder (310), accumulator (311), shut-off valve (312) ；

Servo motor (301) is used to drive hydraulic pump station (302), drive hydraulic pump station (302) to output and recover oil, drive hydraulic pump station (302) with oil outlet and oil return; hydraulic pump station (302) The oil outlet is connected to the inlet end of the filter (303), and the outlet end of the filter (303) passes through the main oil inlet line and the inlet end of the two-position three-way solenoid valve (304) and the inlet end of the overflow valve (305) Connect with port 1 of Y-type solenoid directional valve (306);

Two-position three-way solenoid valve (304), specifically one inlet and two outlets, the two outlets are outlet 1 and outlet 2, respectively;

The inlet end of the two-position three-way solenoid valve (304) is connected to the main oil inlet pipeline, and the outlet 1 is connected to the oil return port of the driving hydraulic pump station (302) through the main oil return pipeline of the active oil-air suspension unit (300), and outlet 2 In a normally closed state; the inlet end of the overflow valve (305) is connected to the main oil inlet pipeline, and the outlet end is connected to the oil return port of the driving hydraulic pump station (302) through the main oil return pipeline of the active oil-air suspension unit (300); Y Type solenoid directional valve (306) has three ports, port 1 is connected to the main oil inlet pipe, port 2 is connected to one end of the hydraulic control check valve (307), and port 3 passes through the main oil return pipe of the active oil-air suspension unit (300) The circuit is connected to the oil return port of the driving hydraulic pump station (302); the other end of the hydraulic control check valve (307) is connected to one end of a bridge circuit composed of four one-way valves (308) and a two-way flow valve (309), The other end of the bridge circuit is connected to the suspension cylinder (310) and the accumulator (311) through a shut-off valve (312);

The chassis unit (100) is connected to the omnidirectional moving unit (200) through a suspension cylinder (310);

The passive support unit (400) and the force sensing support unit (500) are installed at the bottom of the chassis unit (100);

Omnidirectional intelligent mobile equipment, with standby mode, mobile mode and working mode;

When the omnidirectional intelligent mobile equipment enters the standby mode, the robot does not work, the filter (303), the overflow valve (305), the one-way valve (308), and the two-way flow valve (309) are all open, and the stop valve ( 312) is normally closed;

The inlet and outlet 1 of the two-position three-way solenoid valve (304) are closed, and the outlet 2 is normally closed;

Port 2 and port 3 of the Y-type solenoid directional valve (306) are in the open state, and port 1 is in the closed state;

The hydraulically controlled one-way valve (307) controls the one-way flow of oil from the bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) to the Y-type solenoid directional valve (306);

A bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) controls the oil along the one-way valve (308) a, two-way flow valve (309), and one-way valve (308) c route One-way circulation

The oil of the suspension cylinder (310) successively passes through the bridge circuit composed of the stop valve (312), the one-way valve (308) and the two-way flow valve (309), the hydraulic control one-way valve (307), and the Y-type electromagnetic reversing The valve (306) and the main oil return pipeline are sent to the oil return port of the hydraulic pump station (302); the hydraulic rod of the suspension cylinder (310) is retracted, driving the omnidirectional moving unit (200) to be stowed upwards and driving the chassis unit (100) ) Sink until the passive support unit (400) steadily touches the ground, the chassis unit (100) is supported by the omni-directional moving unit (200) alone, and the chassis unit (100) is supported by the passive support unit (400) alone;

The force-sensing support unit (500) does not work and remains off the ground;

Before the omnidirectional intelligent mobile equipment moves to the designated station, it enters the mobile mode, the robot does not work, the filter (303), the overflow valve (305), the one-way valve (308), and the two-way flow valve (309) are all open State, the shut-off valve (312) is normally closed;

The inlet and outlet 1 of the two-position three-way solenoid valve (304) are closed, and the outlet 2 is normally closed;

The port 1 and port 2 of the Y-type solenoid directional valve (306) are in the open state, and the port 3 is in the closed state;

The hydraulically controlled one-way valve (307) controls the one-way flow of oil from the Y-type electromagnetic directional valve (306) to the bridge circuit composed of four one-way valves (308) and a two-way flow valve (309);

A bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) controls the oil along the one-way valve (308) d, two-way flow valve (309), and one-way valve (308) b route One-way circulation

The oil of the hydraulic pump station (302) passes through the main oil inlet pipe, filter (303), overflow valve (305), Y-type electromagnetic reversing valve (306), and hydraulic control check valve (307) from the oil outlet. ), a bridge circuit composed of a one-way valve (308) and a two-way flow valve (309), and a shut-off valve (312), which is sent to the suspension cylinder (310) and the accumulator (311);

The hydraulic rod of the suspension cylinder (310) extends, driving the omni-directional moving unit (200) to extend downwards and at the same time driving the chassis unit (100) to rise. The hydraulic rod of the suspension cylinder (310) extends a predetermined length and then the position is locked, passive The support unit (400) is completely separated from the ground, and the passive support unit (400) supports the chassis unit (100) alone and switches to the omnidirectional moving unit (200) to support the chassis unit (100) alone;

The force-sensing support unit (500) does not work and remains off the ground;

After the robot reaches the designated station, the omnidirectional intelligent mobile equipment enters the working mode. The filter (303), the overflow valve (305), the one-way valve (308), and the two-way flow valve (309) are all open and cut off. The valve (312) is normally closed;

The inlet and outlet 1 of the two-position three-way solenoid valve (304) are closed, and the outlet 2 is normally closed;

Port 2 and port 3 of the Y-type solenoid directional valve (306) are in the open state, and port 1 is in the closed state;

The hydraulically controlled one-way valve (307) controls the one-way flow of oil from the bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) to the Y-type solenoid directional valve (306);

A bridge circuit composed of four one-way valves (308) and a two-way flow valve (309) controls the oil along the one-way valve (308) a, two-way flow valve (309), and one-way valve (308) c route One-way circulation

The oil of the suspension cylinder (310) successively passes through the bridge circuit composed of the stop valve (312), the one-way valve (308) and the two-way flow valve (309), the hydraulic control one-way valve (307), and the Y-type electromagnetic reversing The valve (306) and the main oil return pipeline are sent to the oil return port of the hydraulic pump station (302); the hydraulic rod of the suspension cylinder (310) is retracted, driving the omnidirectional moving unit (200) to be stowed upwards and driving the chassis unit (100) ) Sink until the passive support unit (400) steadily touches the ground; the force-sensing support unit (500) starts, and after the force-sensing support unit (500) supports the ground, the chassis unit (100) is independently supported by the omnidirectional moving unit (200) Switch to the passive support unit (400) and the force-sensing support unit (500) to support the chassis unit (100) together; in the robot work project, the force-sensing support unit (500) can monitor the ground support force in real time; When the ground support force is less than the set support force threshold, it is determined that the force sensing support unit is not stably supported on the ground, that is, a virtual leg state occurs. At this time, the force sensing support unit (500) is adjusted until the monitored ground support force meets the set The support force threshold is used to achieve stable support; otherwise, the force-sensing support unit (500) maintains the current state.
The flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: the robot is a hybrid processing robot, and the robot is equipped with an end effector integrated with measurement and processing and a dedicated numerical control system , Which can meet the needs of precision machining for alignment, face milling and drilling.
A flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: the filter (303) is in a normally open state, and its function is to filter out impurities in the oil and avoid Impurities affect the normal operation of valves and systems.
The flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: the two-position three-way solenoid valve (304) includes three ports: an inlet, an outlet 1, and an outlet 2. The inlet end is connected with the main oil inlet pipe, the outlet 1 is connected with the main oil return pipe of the active oil-air suspension unit (300), and the outlet 2 is in a normally closed state; when the active oil-air suspension unit (300) starts with load, the two-position three-way The inlet and outlet 1 of the solenoid valve (304) are opened, and the high-temperature oil flows directly back to the hydraulic pump station (302) to avoid affecting other valve groups; when the active oil-air suspension unit (300) runs smoothly, the two-position three-way solenoid The inlet end and outlet 1 of the valve (304) are closed, and the oil flows to the overflow valve (305).
A flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: Y-shaped electromagnetic reversing valve (306) has three ports, and port 1 is connected to the main oil inlet pipeline , Port 2 is connected to one end of the hydraulically controlled check valve (307), and port 3 is connected to the main oil return pipeline; Port 1 and port 2 of the Y-type electromagnetic reversing valve (306) are opened, and port 3 is closed, which can control the suspension cylinder (310) ) Hydraulic rod extends; Y-type electromagnetic directional valve (306) port 2 and port 3 are opened, port 1 is closed, and the hydraulic rod of the suspension cylinder (310) can be controlled to retract; Y-type electromagnetic directional valve (306) port 1. Both port 2 and port 3 are closed, and the position of the hydraulic rod of the suspension cylinder (310) can be controlled to maintain.
A flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: a stop valve (312), one end is composed of a one-way valve (308) and a two-way flow valve (309) One end of the bridge circuit is connected, and the other end is connected with the suspension cylinder (310) and the accumulator (311); the stop valve (312) is mainly used for the debugging and maintenance process of the suspension cylinder (310) and the accumulator (311) , When the active oil-air suspension unit (300) is working normally, the shut-off valve (312) is in a normally closed state.
The flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: the omnidirectional intelligent mobile equipment includes 4 sets of omnidirectional mobile units (200), and each set of omnidirectional mobile units (200) 200) are connected with the chassis unit (100) through the suspension cylinder (310); in the omnidirectional intelligent mobile equipment movement mode, the mobile equipment is realized on the two-dimensional platform through the closed-loop control of the rotation speed and steering of the four omnidirectional mobile units (200) Accurate movement of any posture in the plane, including complex trajectories such as straight travel, horizontal travel, oblique travel at any angle, arbitrary arc, and zero-radius rotation.
A flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: the passive support unit (400) includes: a ball head support (401), a locking block (402), a ball Head flange (403); the omnidirectional intelligent mobile equipment includes 3 sets of passive support units (400), with the robot installation base as the geometric center, the position connection of the 3 sets of passive support units (400) is an equilateral triangle, of which The two sets are respectively installed on both sides of the front of the chassis unit (100), arranged symmetrically along the geometric center of the chassis unit (100), and the third set is located at the center of the rear of the chassis unit (100). This arrangement can quickly form stability through the three-point adaptive alignment method The supporting surface ensures that the chassis unit (100) is fast and stable.
The flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: the force-sensing active support unit (500) includes: a servo motor (501), a reducer (502), Ball screw screw jack (503), force sensor (504) and ball flange (505), omnidirectional intelligent mobile equipment is equipped with a total of 2 sets of force sensing active support units (500), respectively installed on the chassis unit (100) The two sides of the rear part are arranged symmetrically with the robot installation base as the center.
The flexible omnidirectional intelligent mobile equipment for hybrid processing robots according to claim 1, characterized in that: in the robot work project, the force-sensing support unit (500) can monitor its support force to the ground in real time; When the monitored support force is less than the set support force threshold, it is determined that the force-sensing support unit is not stably supported on the ground, that is, a virtual leg state occurs. At this time, the force-sensing support unit (500) is adjusted to the monitored ground support force to meet the setting The support force threshold of, to achieve stable support; otherwise, the force-sensing support unit (500) maintains its current state.