CN102294502A - Sucker type integrated robot - Google Patents
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- CN102294502A CN102294502A CN201110143713XA CN201110143713A CN102294502A CN 102294502 A CN102294502 A CN 102294502A CN 201110143713X A CN201110143713X A CN 201110143713XA CN 201110143713 A CN201110143713 A CN 201110143713A CN 102294502 A CN102294502 A CN 102294502A
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Abstract
The invention relates to a sucker type integrated robot in the technical field of robots. The robot comprises a rack, a hole forming mechanism, a control module and six leg mechanisms, wherein the six leg mechanisms are fixedly arranged at the periphery of the rack, respectively; the output end of a sensing mechanism is connected with the control module to output six-dimensional force sensing data; the hole forming mechanism and the control module are fixedly arranged on the rack; and the control end of the hole forming mechanism is connected with the output end of the control module to receive a control instruction. In the invention, a travelling, hole forming and operating integrated design scheme is adopted, and the sucker type integrated robot can be applicable to circular automatic hole forming for the butt joint of each section of the body (such as butt joint of various sections like a nose, a front body, a middle body, a middle-rear body and the like), automatic hole forming of longitudinal splicing of wall panel of the body barrel section, and automatic hole forming on the surface of the wall panel of a plane component (such as connection of a wing covering and a reinforcing rib), etc. The robot system provided by the invention has the advantages of good flexibility, adaptation to various workpieces, short construction period, lower cost, light weight and convenience in application.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically is a kind of sucked type integrated robot.
Background technology
The section hoop butt joint of each of aircraft manufacturing process middle machine body, fuselage tube section wallboard are longitudinal spliced, and being connected etc. of wing cover and ribs all need carry out the drilling operation at fuselage surface, mainly at present adopt manual type to carry out drilling.Artificial hand-held boring bar tool is holed, on the one hand because the more employing carbon fiber of aircaft configuration meets material, be easy to generate cracking, aliquation, precision is not enough, drilling quality is low, the efficient of hand-made hole is also relatively low on the other hand, automation, flexibility, the digital development direction of the advanced mounting technology of the current aircraft of incompatibility.
Find through retrieval prior art, CN201645049U discloses a kind of fibrous composite aircraft target ship laser accurate drilling device, two columns are installed in the base two ends respectively, can be along z to moving, circulator rotates around the x axle, enclose frame and be enclosed in the aircraft target ship both sides, two ends are fixed on encloses on the frame, enclose the frame two ends and be connected the column top by circulator respectively, around y to rotation, thereby realize the multi-dimensional movement of drilling unit, carry out the drilling operation of aircraft surfaces.Document " the automatic drilling equipment of flexible guide rail control technology " (aero-manufacturing technology, 2009 24 phases, the 58-60 page or leaf) a kind of flexible guide rail drilling system has been proposed, form by the travelling car that has the vacuum cup flexible guide rail and have a main spindle box, flexible guide rail is layed in aircraft surfaces, travelling car moves on guide rail, and the drilling assembly that it has can feeding on the direction of vertical surface of the work, realizes drilling processing.
But the prior art still needs to install auxiliary equipment such as column, guide rail, makes cost higher on the one hand, also is unfavorable for the flexibility development of aircraft manufacturing on the other hand.Other any auxiliary equipment need not installed by the integrated drilling of sucked type robot, can be implemented in aircraft surfaces and move and the integrated operation of drilling, have simplified work flow, have improved drilling efficient.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of sucked type integrated robot is provided, adopt walking drilling operation integrated design scheme, can be used for each section butt joint ring of fuselage to the longitudinal spliced automation drilling of automation drilling (docking between as each section such as head, forebody, middle machine body, middle rear body), fuselage tube section wallboard, aerofoil base part panel surfaces automation drilling (as being connected of wing cover and ribs) etc.The advantage of this robot system is: flexible good, can adapt to various workpieces, and short implementation cycle, cost is lower and in light weight easy to use.
The present invention is achieved by the following technical solutions, the present invention includes: frame, drilling mechanism, control module and six groups of shank mechanisms, wherein: six shank mechanisms be fixedly set in respectively frame around and the output of sensing mechanism link to each other with control module exporting sextuple power sensing data, drilling mechanism and control module are fixedly set on the frame and the control end of drilling mechanism links to each other with the output of control module and receive control instruction.
Described frame is provided with the sensor groups that links to each other with control module, and the traffic information and the three-dimensional pose data of frame are made of and are exported to control module to this sensor groups vision sensor and pose sensor.
Described drilling mechanism comprises: drilling actuator and the laser method of fixedlying connected with it are to detector, wherein: the control end of drilling actuator links to each other with control module and receives boring instruction, and laser method links to each other with control module and exports the method phase position numerical value of drilling actuator to the output of detector.
Described shank mechanism comprises: electronic leading screw group, negative pressure sucker and sensing mechanism that upper mounting plate, lower platform and two ends link to each other with upper and lower platform respectively, wherein: upper mounting plate is fixedlyed connected with frame, lower platform, sensing mechanism and negative pressure sucker are connected in series successively, and sensing mechanism links to each other with control module and exports sextuple power sensing data.
The control end of described electronic leading screw group links to each other with control module and receives control instruction, works alone to realize autonomous locomotive function between described six shank mechanisms are mutual.
Totally three and be three side chain parallel-connection structure settings of described electronic leading screw groups make each shank mechanism have the individual free degree.
Described control module comprises: state computation unit, motion control unit, trajectory planning unit, gait planning unit, path planning unit and human-computer interface module, wherein: the state computation unit is according to measurement value sensor calculating robot state, motion control unit control robot body and joint motions, the movement locus of trajectory planning unit planning robot's health and foot, the gait planning unit planning robot gait of creeping, path planning unit planning robot's mobile route, human-computer interface module provide man-machine interactive interface and receive input parameter.
Described robot body and joint motions comprise: the absorption affinity of the position in motor and joint, speed and moment and sucker.
Six of robot legs can not only be realized autonomous locomotive function among the present invention, and when sucker is fixed on a certain position, robot leg mechanism and health constitute parallel operation mechanism, and the robot health drives terminal drilling mechanism, and the motion by the control robot leg realizes the posture adjustment action.The leg structure adopts three side chain parallel institutions, its compact conformation, rigidity are big, the integrated design scheme can reduce drive motors number, simplified control system and alleviate equipment weight, and the mid portion of robot frame can be saved out, therefore the robot interior working space is openr, is convenient to install other actuators and sensor.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the robot leg structure chart.
Fig. 3 is the control module composition diagram.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figure 1, present embodiment comprises: frame 1, drilling mechanism 2, control module 3 and six groups of shank mechanisms 4, wherein: six shank mechanisms 4 be fixedly set in respectively frame 1 around and the output of sensing mechanism 13 link to each other with control module 3 to export sextuple power sensing data, drilling mechanism 2 and control module 3 are fixedly set on the frame 1 and the control end of drilling mechanism 2 links to each other with the output of control module 3 and receive control instruction.
Described frame 1 is provided with the sensor groups that links to each other with control module 3, and the traffic information and the three-dimensional pose data of frames 1 are made of and are exported to control module 3 to this sensor groups vision sensor 5 and pose sensor 6.
Described drilling mechanism 2 comprises: drilling actuator 7 and the laser method of fixedlying connected with it are to detector 8, wherein: the control end of drilling actuator 7 links to each other with control module 3 and receives boring instruction, and laser method links to each other with control module 3 and exports the normal direction position numerical value of drilling actuator 7 to the output of detector 8.
As shown in Figure 2, described shank mechanism 4 comprises: electronic leading screw group 11, negative pressure sucker 12 and sensing mechanism 13 that upper mounting plate 9, lower platform 10 and two ends link to each other with upper and lower platform respectively, wherein: upper mounting plate 9 is fixedlyed connected with frame 1, lower platform 10, sensing mechanism 13 and negative pressure sucker 12 are connected in series successively, and sensing mechanism 13 links to each other with control module 3 and exports sextuple power sensing data.
The control end of described electronic leading screw group 11 links to each other with control module 3 and receives control instruction, and described six shank mechanisms 4 work alone to realize autonomous locomotive function between mutually.
Totally three and be three side chain parallel-connection structure settings of described electronic leading screw groups 11 make each shank mechanism 4 have 3 frees degree.
As shown in Figure 3, described control module 3 comprises: state computation unit 14, motion control unit 15, trajectory planning unit 16, gait planning unit 17, path planning unit 18 and human-computer interface module 19, wherein: state computation unit 14 is according to measurement value sensor calculating robot state, motion control unit 15 control robot body and joint motions, the movement locus of trajectory planning unit 16 planning robot's healths and foot, the gait planning unit 17 planning robots gait of creeping, path planning unit 18 planning robot's mobile routes, human-computer interface module 19 provides man-machine interactive interface and receives input parameter.
Be provided with hold-down mechanism 20 and protective device 21 on the described frame 1 in addition, wherein: hold-down mechanism 20 is fixedlyed connected with drilling mechanism 2, and protective device 21 is connected with the frame upper fixed.
Described hold-down mechanism comprises: compact heap 22 and thrust device 23, wherein: compact heap 22 is arranged at the below of hold-down mechanism and is positioned at drilling actuator 7 peripheries, and thrust device 23 upper and lower ends are fixedlyed connected with compact heap 22 with drilling mechanism 2 respectively.
Described protective device comprises: steel wire rope 24 and tensile force controller 25, wherein: steel wire rope 24 is connected with frame 1 upper fixed by tensile force controller 25.
This device course of work is as follows:
When sucker was fixed on a certain position, robot leg mechanism and health constituted parallel operation mechanism, and the robot health drives terminal drilling mechanism, and the motion by the control robot leg realizes the posture adjustment action.Shank mechanism 4 adopts three side chain parallel institutions, has 3 frees degree, and its compact conformation, rigidity are big.
The drilling robot of this device can reduce drive motors number, simplified control system and alleviate equipment weight, and the mid portion of robot frame can save out, and the robot interior working space is openr, is convenient to install other actuators and sensor.
Terminal drilling actuator system 2 is installed on complete machine framework 1 middle part, and hold-down mechanism 20 is installed on the actuator system, and its feeding and compress each and have one degree of freedom separately is by motor-driven independently.Vision sensor 5 and pose sensor 6 are installed on the complete machine framework 1, and by vision sensor 5, robot discerns the position that needs boring automatically; By pose sensor 6, the robot leg portion mechanism is adjusted terminal drilling actuator pose automatically, thereby realizes that normal centering guarantees the drilling precision.Operating personnel send instruction for control module 3 by man-machine interaction and trajectory planning cellular system, thereby the control robot carries out the drilling operation.In addition, steel wire rope safety guard 21 is installed also on the complete machine framework, causes the drilling robot to fall damage to prevent negative-pressure adsorption device catastrophic failure.
Claims (9)
1. sucked type integrated robot, comprise: frame, drilling mechanism, control module and six groups of shank mechanisms, it is characterized in that: six shank mechanisms be fixedly set in respectively frame around and the output of sensing mechanism link to each other with control module exporting sextuple power sensing data, drilling mechanism and control module are fixedly set on the frame and the control end of drilling mechanism links to each other with the output of control module and receive control instruction;
Described shank mechanism comprises: electronic leading screw group, negative pressure sucker and sensing mechanism that upper mounting plate, lower platform and two ends link to each other with upper and lower platform respectively, wherein: upper mounting plate is fixedlyed connected with frame, lower platform, sensing mechanism and negative pressure sucker are connected in series successively, and sensing mechanism links to each other with control module and exports sextuple power sensing data.
2. sucked type integrated robot according to claim 1, it is characterized in that, described frame is provided with the sensor groups that links to each other with control module, and the traffic information and the three-dimensional pose data of frame are made of and are exported to control module to this sensor groups vision sensor and pose sensor.
3. sucked type integrated robot according to claim 1, it is characterized in that, described drilling mechanism comprises: drilling actuator and the laser method of fixedlying connected with it are to detector, wherein: the control end of drilling actuator links to each other with control module and receives boring instruction, and laser method links to each other with control module and exports the method phase position numerical value of drilling actuator to the output of detector.
4. sucked type integrated robot according to claim 1 is characterized in that, the control end of described electronic leading screw group links to each other with control module and receives control instruction, works alone to realize autonomous locomotive function between described six shank mechanisms are mutual.
5. according to claim 1 or 4 described sucked type integrated robots, it is characterized in that totally three and be three side chain parallel-connection structure settings of described electronic leading screw groups make each shank mechanism have the individual free degree.
6. sucked type integrated robot according to claim 1, it is characterized in that, described control module comprises: the state computation unit, motion control unit, the trajectory planning unit, the gait planning unit, path planning unit and human-computer interface module, wherein: the state computation unit is according to measurement value sensor calculating robot state, motion control unit control robot body and joint motions, the movement locus of trajectory planning unit planning robot's health and foot, the gait planning unit planning robot gait of creeping, path planning unit planning robot's mobile route, human-computer interface module provide man-machine interactive interface and receive input parameter.
7. sucked type integrated robot according to claim 1 and 2 is characterized in that described frame is provided with hold-down mechanism and protective device, and wherein: hold-down mechanism is fixedlyed connected with drilling mechanism, and protective device is connected with the frame upper fixed.
8. sucked type integrated robot according to claim 7, it is characterized in that, described hold-down mechanism comprises: compact heap and thrust device, wherein: compact heap is arranged at the below of hold-down mechanism and is positioned at drilling actuator periphery, and the thrust device upper and lower end is fixedlyed connected with compact heap with drilling mechanism respectively.
9. sucked type integrated robot according to claim 7 is characterized in that, described protective device comprises: steel wire rope and tensile force controller, wherein: steel wire rope is connected with the frame upper fixed by the tensile force controller.
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| CN201110143713XA CN102294502A (en) | 2011-05-31 | 2011-05-31 | Sucker type integrated robot |
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| CN201110143713XA CN102294502A (en) | 2011-05-31 | 2011-05-31 | Sucker type integrated robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| CN103921267A (en) * | 2014-03-18 | 2014-07-16 | 上海交通大学 | All-directional movable manipulator with four feet |
| CN104044138A (en) * | 2014-06-17 | 2014-09-17 | 凯斯特阀门集团有限公司 | 8-UPS (Uninterruptible Power Supply) walking processing parallel robot |
| CN104308839A (en) * | 2014-09-04 | 2015-01-28 | 燕山大学 | Structurally decoupled six-foot drilling and milling robot |
| CN104648516A (en) * | 2015-02-09 | 2015-05-27 | 重庆大学 | Self-adaptive flight adsorption-type wall-climbing robot |
| CN104816761A (en) * | 2015-02-15 | 2015-08-05 | 南京航空航天大学 | Walking mechanism and walking method of crawling robot |
| CN104925161A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Six-leg walking robot in parallel connection driven by rotation |
| CN106240672A (en) * | 2016-09-25 | 2016-12-21 | 羊丁 | A kind of roof drilling robot |
| CN106394720A (en) * | 2016-12-15 | 2017-02-15 | 上海海事大学 | Climbing robot |
| CN107575345A (en) * | 2017-07-27 | 2018-01-12 | 上海交通大学 | A kind of fan blade detection means based on four rotors |
| CN107696056A (en) * | 2017-11-15 | 2018-02-16 | 华北理工大学 | A kind of Industrial robot arm grabbing device |
| CN107962207A (en) * | 2017-10-27 | 2018-04-27 | 上海工程技术大学 | A kind of packaged type parallel connection drilling robot |
| CN111591365A (en) * | 2020-05-22 | 2020-08-28 | 上海交通大学 | Four-degree-of-freedom wheel-foot integrated robot leg and robot |
| CN111687864A (en) * | 2020-06-28 | 2020-09-22 | 清华大学 | Adsorption type parallel machining robot |
| WO2021017205A1 (en) * | 2019-07-31 | 2021-02-04 | 清华大学 | Parallel-suction-type machining robot |
| CN113172770A (en) * | 2021-05-11 | 2021-07-27 | 重庆吉亨标识有限公司 | Accurate drilling device for installing identifier and using method thereof |
| CN113518652A (en) * | 2018-09-26 | 2021-10-19 | 幽灵机器人公司 | Leg and foot type robot |
| CN114603541A (en) * | 2022-01-19 | 2022-06-10 | 南京理工大学 | Modularization mobile robot |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103671462A (en) * | 2013-12-19 | 2014-03-26 | 上海交通大学 | Piezoelectric valveless micropump suction cup based on parallel connection compliant mechanism |
| CN103671462B (en) * | 2013-12-19 | 2015-10-14 | 上海交通大学 | Based on the piezoelectricity valve free pump sucker of parallel connection compliant mechanism |
| CN103921267A (en) * | 2014-03-18 | 2014-07-16 | 上海交通大学 | All-directional movable manipulator with four feet |
| CN103921267B (en) * | 2014-03-18 | 2016-04-13 | 上海交通大学 | Four-footed all-around mobile mechanical arm |
| CN104044138A (en) * | 2014-06-17 | 2014-09-17 | 凯斯特阀门集团有限公司 | 8-UPS (Uninterruptible Power Supply) walking processing parallel robot |
| CN104044138B (en) * | 2014-06-17 | 2018-04-17 | 凯斯特阀门集团有限公司 | Parallel robot is processed in 8 UPS walkings |
| CN104308839A (en) * | 2014-09-04 | 2015-01-28 | 燕山大学 | Structurally decoupled six-foot drilling and milling robot |
| CN104648516A (en) * | 2015-02-09 | 2015-05-27 | 重庆大学 | Self-adaptive flight adsorption-type wall-climbing robot |
| CN104816761A (en) * | 2015-02-15 | 2015-08-05 | 南京航空航天大学 | Walking mechanism and walking method of crawling robot |
| CN104925161A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Six-leg walking robot in parallel connection driven by rotation |
| CN104925161B (en) * | 2015-06-15 | 2017-11-14 | 上海交通大学 | Rotate the Six-foot walking robot in parallel of driving |
| CN106240672A (en) * | 2016-09-25 | 2016-12-21 | 羊丁 | A kind of roof drilling robot |
| CN106394720A (en) * | 2016-12-15 | 2017-02-15 | 上海海事大学 | Climbing robot |
| CN107575345A (en) * | 2017-07-27 | 2018-01-12 | 上海交通大学 | A kind of fan blade detection means based on four rotors |
| CN107962207A (en) * | 2017-10-27 | 2018-04-27 | 上海工程技术大学 | A kind of packaged type parallel connection drilling robot |
| CN107696056A (en) * | 2017-11-15 | 2018-02-16 | 华北理工大学 | A kind of Industrial robot arm grabbing device |
| CN107696056B (en) * | 2017-11-15 | 2024-01-09 | 唐山市宝盈智能设备有限公司 | Industrial robot grabbing device |
| CN113518652A (en) * | 2018-09-26 | 2021-10-19 | 幽灵机器人公司 | Leg and foot type robot |
| WO2021017205A1 (en) * | 2019-07-31 | 2021-02-04 | 清华大学 | Parallel-suction-type machining robot |
| CN111591365A (en) * | 2020-05-22 | 2020-08-28 | 上海交通大学 | Four-degree-of-freedom wheel-foot integrated robot leg and robot |
| CN111687864A (en) * | 2020-06-28 | 2020-09-22 | 清华大学 | Adsorption type parallel machining robot |
| CN111687864B (en) * | 2020-06-28 | 2021-01-12 | 清华大学 | Adsorption type parallel machining robot |
| CN113172770A (en) * | 2021-05-11 | 2021-07-27 | 重庆吉亨标识有限公司 | Accurate drilling device for installing identifier and using method thereof |
| CN114603541A (en) * | 2022-01-19 | 2022-06-10 | 南京理工大学 | Modularization mobile robot |
| CN114603541B (en) * | 2022-01-19 | 2024-05-17 | 南京理工大学 | Modularized movable robot |
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Application publication date: 20111228 |