CN110625593A - End effector of intelligent hole making robot - Google Patents
End effector of intelligent hole making robot Download PDFInfo
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- CN110625593A CN110625593A CN201910993749.3A CN201910993749A CN110625593A CN 110625593 A CN110625593 A CN 110625593A CN 201910993749 A CN201910993749 A CN 201910993749A CN 110625593 A CN110625593 A CN 110625593A
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- hole making
- end effector
- main shaft
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- 239000012636 effector Substances 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 162
- 238000003825 pressing Methods 0.000 claims abstract description 42
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000005553 drilling Methods 0.000 claims description 26
- 230000003014 reinforcing effect Effects 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000003801 milling Methods 0.000 claims description 8
- 238000005192 partition Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000011179 visual inspection Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 12
- 238000009434 installation Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005056 compaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/0046—Devices for removing chips by sucking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/062—Work-clamping means adapted for holding workpieces having a special form or being made from a special material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an end effector of an intelligent hole making robot, which is fixed at the tail end of a mechanical arm of the robot, and the end effector comprises a bracket, a main shaft mechanism (1), a feeding mechanism (2), a pressing control mechanism (3) and a visual detection mechanism (4); the feeding mechanism (2) is arranged on the bracket, and the electric cylinder top bracing mechanism of the pressing control mechanism (3) comprises a top bracing rear seat (301), a top bracing motor (302), a top bracing guide pipe (311) and a top bracing cylinder (312); the top support cylinder (312) is fixed on a fixed support component of the feeding mechanism (2), the top support guide pipe (311) is arranged in the top support cylinder (312), the rear end of the top support guide pipe is connected with the top support rear seat (301), and a top support motor (302) on the top support rear seat (301) adopts a parallel installation mode; the main shaft mechanism (1) is arranged on the pressing control mechanism (3) and is arranged in the drill bit supporting device (315). The hole making process is stable, the working environment is strong in adaptability, and the automation degree is high.
Description
Technical Field
The invention relates to the field of mechanical structures, in particular to an end effector of an intelligent hole making robot.
Background
At present, with the rapid development of the aviation industry, the technical requirements for aircraft assembly in the aircraft manufacturing process are remarkably increased, and the characteristics of high quality, high efficiency, low cost and digitalization are required. According to the statistics of relevant data of airplane assembly, 150-200 ten thousand assembly connecting pieces of the airplane can be achieved, wherein the incidence rate of fatigue failure accidents caused by the connection positions of airplane structures is 70%, and the incidence rate of fatigue cracks caused by the connection hole positions is 80%, so that the efficient hole making by using an industrial mechanical arm is the key direction of the flexible research of the aviation assembly technology. The strengthening of national comprehensive strength and industrial modernization can be reflected in the development of the aviation industry, and the hole making technology is a key technology in the aviation industry, and can influence the requirements and the development of hole making machines in the aircraft manufacturing industry.
At present, the research on the intelligent hole making system in China is in the aspect of drilling and riveting equipment, and the research on the intelligent hole making is less.
Disclosure of Invention
The invention aims to provide an end effector of an intelligent hole making robot, which has the advantages of stable hole making process, strong real adaptability of working environment and high automation degree.
The purpose of the invention is realized by the following technical scheme:
an end effector of an intelligent hole making robot is fixed at the tail end of a mechanical arm of the robot and comprises a bracket, a main shaft mechanism 1, a feeding mechanism 2 and a pressing control mechanism 3; the feeding mechanism 2 is arranged on the bracket, and the pressing control mechanism 3 is arranged on a fixed part of the feeding mechanism 2;
the pressing control mechanism 3 comprises an electric cylinder top support mechanism, a top support mechanism pushing plate 307, a drill bit supporting device 315, a pressing touch sensor 316 and a drilling force sensor 313, wherein the electric cylinder top support mechanism, the top support mechanism pushing plate, the drill bit supporting device 315, the pressing touch sensor 316 and the drilling force sensor 313 are symmetrically arranged at the left end and the right end of a fixed supporting part fixed on the feeding mechanism 2;
the electric cylinder top bracing mechanism comprises a top bracing rear seat 301, a top bracing motor 302, a top bracing guide pipe 311 and a top bracing cylinder 312; the top support cylinder 312 is fixed on a fixed support part of the feeding mechanism 2, the top support guide pipe 311 is arranged in the top support cylinder 312, the rear end of the top support guide pipe 311 is connected with the top support rear seat 301, and a top support motor 302 on the top support rear seat 301 is arranged in parallel with the top support guide pipe 311 and drives the top support guide pipe 311 to linearly reciprocate in the top support cylinder 312;
the front ends of the two top support guide pipes 311 are fixed at the left end and the right end of a top support mechanism pushing plate 307, a drill bit supporting device 315 is arranged at the central hole of the top support mechanism pushing plate 307, and a pressing touch sensor 316 and a fixed pressing ring 317 are sequentially arranged in front of the drill bit supporting device 315; the fixed clamp ring 317 is in contact with the workpiece and measures the pressing force by pressing the tactile sensor 316; the drill bit supporting device 315 is provided with a drilling force sensor 313 for measuring drilling mechanical parameters;
the spindle mechanism 1 is mounted on the pressing control mechanism 3 and is disposed in the drill bit support device 315.
The compressing control mechanism 3 further comprises a chip suction pipe 318, a chip suction opening of the chip suction pipe 318 is arranged above the fixed compressing ring 317, and the chip suction pipe 318 is connected with a negative pressure pipeline.
The spindle mechanism 1 comprises a drill 101, a spring chuck tool shank 102 and a milling electric spindle 103, wherein the milling electric spindle 103 is connected with the drill 101 through the spring chuck tool shank 102.
The feeding mechanism 2 comprises a tail end reinforcing framework 213 as a fixed supporting part, a main shaft fixing flange seat 219 as a moving part, a first slide rail mechanism, a second slide rail mechanism and a lead screw-nut transmission mechanism;
the fixed guide rails of the first slide rail mechanism and the second slide rail mechanism are fixed in the tail end reinforcing framework 213, and the main shaft fixing flange seat 219 is fixed on the movable sliding blocks of the first slide rail mechanism and the second slide rail mechanism; a sliding nut of the screw-nut transmission mechanism is fixed on the main shaft fixing flange seat 219; the screw-nut transmission mechanism drives the sliding nut to move through the rotation of the screw, and drives the main shaft fixing flange seat 219 to move, so that feeding is realized.
The first slide rail mechanism comprises a first guide rail 206 as a fixed guide rail and a first slide block 207 as a movable slide block; the first rail 206 is fixed to the upper left side of the end reinforcing frame 213, and the first slider 207 is slidably provided on the first rail 206.
The second slide rail mechanism comprises a second guide rail 217 serving as a fixed guide rail and a second slide block 218 serving as a movable slide block; the second rail 217 is fixed to the upper right inside the terminal reinforcing frame 213, and the second slider 218 is provided to slide on the second rail 217.
The screw-nut transmission mechanism comprises a transmission nut 214 serving as a sliding nut, a screw 209, a fixed shaft sleeve 210, a coupler 203, a partition plate 202 and a feeding motor 201;
the clapboard 202 is fixed below the rear end of the tail end reinforcing framework 213, the feeding motor 201 is fixed behind the clapboard 202 through the fixed shaft sleeve 210, the output shaft of the feeding motor 201 is connected through the shaft coupling 203 and drives the screw 209 to rotate, and the transmission nut 214 is arranged on the driving screw 209 to slide.
The support comprises a spindle head connecting flange 211, a spindle head supporting plate 212 and a spindle head backing plate 216;
the upper surface of the spindle head connecting flange 211 is fixed at the tail end of the mechanical arm, the lower surface of the spindle head connecting flange is connected with a spindle head supporting plate 212 through a spindle head backing plate 216, and the spindle head supporting plate 212 is connected with a fixed supporting part of the feeding mechanism 2.
The end effector of the intelligent hole making robot further comprises a visual detection mechanism 4, wherein the visual detection mechanism 4 comprises two positioning cameras 401 which are respectively fixed on two sides of a fixed supporting part of the feeding mechanism 2, lenses are aligned to the positions of the drill holes, the surface of a workpiece is calibrated by running a binocular calibration program of a computer, a binocular stereo matching program is run, and three-dimensional image information of the workpiece is collected.
The vision inspection mechanism 4 further comprises a camera 403 which is fixed above the fixed support part of the feeding mechanism 2, the lens is aligned with the position of the drill hole, the image information of the drill hole is collected, and three-dimensional point cloud data is obtained by operating a three-dimensional reconstruction program of a computer so as to perform precise hole making operation.
According to the technical scheme provided by the invention, the end effector of the intelligent hole making robot provided by the embodiment of the invention has the advantages that the hole making process involves an industrial mechanical arm to move the hole making end effector to the correct position of a hole. Before hole making, the workpiece is fixed by using the pressing device, and the robot hole making system moves so as to avoid repeated positioning of the workpiece, ensure that the robot keeps stable in the whole hole making circulation and be beneficial to improving the hole making efficiency and the hole making precision. The hole making process is stable, the working environment is strong in adaptability, and the automation degree is high.
The invention has the advantages that:
(1) the invention can automatically identify the reference hole, acquire coordinate values, automatically complete the drilling and reaming work at one time by adopting the composite integral cutter and has the pecking and drilling functions.
(2) The sequence of drilling the workpiece in the invention is as follows: the drill bit is pressed and then sucked, the purpose is to fix the end effector, the chip sucking mechanism can suck out the chips generated by high-speed cutting of the drill bit in time, the rigidity of a hole making system can be improved, the hole making quality is prevented from being influenced by vibration in the hole making process, and meanwhile, the workpiece is not damaged.
(3) The compaction control mechanism 3 of the invention is internally provided with a plurality of pressure sensors, so that after the main shaft is fed along the normal direction of the hole making point, the top support motor in the electric cylinder top support mechanism still rotates for a certain angle to ensure that the hole making operation is more stable and the position controllability is easy to realize,
(4) the visual detection mechanism 4 is provided with an industrial camera and a camera, is provided with a binocular calibration program, a binocular stereo matching program and a three-dimensional reconstruction program, and obtains three-dimensional data of a workpiece to be drilled through a perfect matching algorithm and three-dimensional point cloud data so as to complete accurate drilling operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic perspective view of an end effector of an intelligent hole making robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a spindle mechanism of an end effector of an intelligent hole making robot according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a compaction control mechanism of an end effector of an intelligent hole making robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a compaction control mechanism of an end effector of an intelligent hole making robot according to an embodiment of the present invention;
fig. 5 is a first structural diagram illustrating a feeding mechanism and a bracket of an end effector of an intelligent hole making robot according to an embodiment of the present invention;
fig. 6 is a structural schematic diagram of a feeding mechanism and a bracket of an end effector of an intelligent hole making robot according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a visual detection mechanism of an end effector of an intelligent hole making robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Examples
As shown in fig. 1, an end effector of an intelligent hole making robot, which can be applied to an intelligent hole making robot, is fixed at the end of a mechanical arm of the robot, and comprises a support, a spindle mechanism 1, a feeding mechanism 2 and a pressing control mechanism 3; the feeding mechanism 2 is arranged on the bracket, and the pressing control mechanism 3 is arranged on a fixed part of the feeding mechanism 2; the fixed part of the feed mechanism 2 is subsequently referred to as the end reinforcing frame 213.
As shown in fig. 2, the spindle mechanism 1 includes a drill 101, a collet chuck handle 102, and an electric milling spindle 103, where the electric milling spindle 103 is fixed on a moving part of the feeding mechanism 2, that is, on a spindle fixing flange seat 219, and is positioned through a central hole and may be fixedly connected through a bolt. The milling electric spindle 103 is connected with the drill 101 through a spring chuck tool shank 102. Collet knife handle 102 is an ER collet knife handle. The milling electric spindle 103 drives the spring chuck tool shank 102 to rotate, and the drill bit 101 connected with the spring chuck tool shank 102 rotates to realize the rotation of the spindle, so that the cutting task is completed.
As shown in fig. 3 and 4, the pressing control mechanism 3 includes an electric cylinder top bracing mechanism, a top bracing mechanism thrust plate 307, a drill supporting device 315, a pressing touch sensor 316 and a drilling force sensor 313, which are symmetrically arranged at left and right ends of a fixed supporting component fixed on the feeding mechanism 2.
The electric cylinder top bracing mechanism comprises a top bracing rear seat 301, a top bracing motor 302, a top bracing guide pipe 311 and a top bracing cylinder 312; the top bracing cylinder 312 is fixed on a fixed supporting part of the feeding mechanism 2, and is specifically fixedly connected with ear parts at two sides of the tail end reinforcing framework 213 through eight first hexagon bolts 310, the top bracing guide pipe 311 is arranged in the top bracing cylinder 312, the rear end of the top bracing cylinder is connected with the top bracing rear seat 301, a top bracing motor 302 on the top bracing rear seat 301 is installed in parallel with the top bracing guide pipe 311, and drives the top bracing guide pipe 311 to linearly reciprocate in the top bracing cylinder 312; specifically, the top bracing motor 302 uses electric power as a direct power source, and adopts a parallel installation mode, so that the rotation of the top bracing motor 302 is converted into linear motion through spiral motion between components, and the top bracing conduit 311 is driven to do reciprocating linear motion. The conversion of the screw motion into the linear motion may include a toothed belt transmission mechanism between two parallel axes of the top bracing motor 302 and the top bracing conduit 311, and a sliding nut and a rotating screw mechanism of a sliding screw and a sliding nut of a rotating nut provided at the axis of the top bracing conduit 311 and the top bracing cylinder 312, which are all known to those skilled in the art and will not be described again. In addition, the top bracing motors 302 installed on the top bracing rear seat 301 are respectively fixedly connected with the top bracing rear seat 301 through four first hexagon socket head cap bolts 309.
The front ends of the two top bracing guide tubes 311 are fixed at the left end and the right end of a pushing plate 307 of the top bracing mechanism, and the front ends of the two top bracing guide tubes specifically penetrate through holes at the two ends of the pushing plate 307 of the top bracing mechanism and are connected through a transition piece 308 of a pressure foot of the top bracing mechanism; a drill bit supporting device 315 is installed at the central hole of the pushing plate 307 of the top bracing mechanism, specifically, the drill bit supporting device 315 is fixedly connected through four first cross bolts 304, and a pressing touch sensor 316 and a fixed pressing ring 317 are sequentially arranged in front of the drill bit supporting device 315; specifically, the first inner-angle square bolt 306 is used for fixedly connecting the pushing plate 307 of the jacking mechanism and the pressing tactile sensor 316, and meanwhile, the first inner-angle square bolt 306 is used for fixedly connecting the fixed pressing ring 317 and the pressing tactile sensor 316. The fixed pressing ring 317 is in contact with a workpiece, the pressing force is measured through the pressing touch sensor 316, and the pressing touch sensor 316 senses the pressure signal of the contact surface during feeding and converts the pressure signal into an output electric signal; drill bit strutting arrangement 315 back machine is equipped with drilling force sensor 313, and is concrete through drilling force sensor transition flange 314 installation drilling force sensor 313, and is concrete drilling force sensor 313 front and back both ends realize through eight first flower type bolts 303 with force sensor transition flange 314 fixed connection, and all install on drill bit strutting arrangement 315. The drilling force sensor 313 measures the drilling mechanical parameters; the pressure, internal stress, torque and other quantities generated during hole making are detected and converted into corresponding electric signals. The spindle mechanism 1 is mounted on the pressing control mechanism 3 and disposed inside the drill support device 315, specifically, the drill 101 is disposed inside the drill support device 315.
In this example, the compressing control mechanism 3 further includes a chip suction pipe 318, a chip suction opening of the chip suction pipe 318 is opened above the fixed compressing ring 317, and the chip suction pipe 318 is connected to the negative pressure pipeline. The negative pressure pipeline which finishes the chip suction function is connected with the industrial dust collector.
As shown in fig. 5 and 6, the support includes a spindle head connecting flange 211, a spindle head supporting plate 212 and a spindle head backing plate 216; the upper surface of the spindle head connecting flange 211 is fixed at the end of the mechanical arm, the lower surface of the spindle head connecting flange is connected with a spindle head supporting plate 212 through a spindle head backing plate 216, and the spindle head supporting plate 212 is connected with a fixed supporting part of the feeding mechanism 2, that is, the spindle head supporting plate 212 is connected with an end reinforcing frame 213. The spindle head connection flange 211 passes through the spindle head backing plate 216 and is fixedly connected to the end reinforcing frame 213 by ten second hexagon socket head bolts 215.
As shown in fig. 5 and fig. 6, the feeding mechanism 2 includes a terminal reinforcing frame 213 as a fixed supporting component, a main shaft fixing flange seat 219 as a moving component, a first slide rail mechanism, a second slide rail mechanism and a screw-nut transmission mechanism; the fixed guide rails of the first slide rail mechanism and the second slide rail mechanism are fixed in the tail end reinforcing framework 213, and the main shaft fixing flange seat 219 is fixed on the movable sliding blocks of the first slide rail mechanism and the second slide rail mechanism; a sliding nut of the screw-nut transmission mechanism is fixed on the main shaft fixing flange seat 219; the screw-nut transmission mechanism drives the sliding nut to move through the rotation of the screw, and drives the main shaft fixing flange seat 219 to move, so that feeding is realized.
The first slide rail mechanism comprises a first guide rail 206 as a fixed guide rail and a first slide block 207 as a movable slide block; the first guide rail 206 is fixed at the upper left part in the terminal reinforcing frame 213, two ends of the first guide rail 206 are fixedly connected with the second hexagon bolt 205 through the slide rail fixing block 208 to realize the connection with the terminal reinforcing frame 213, and the first slider 207 is arranged on the first guide rail 206 and can slide on the first guide rail 206.
The second slide rail mechanism comprises a second guide rail 217 serving as a fixed guide rail and a second slide block 218 serving as a movable slide block; the second guide rail 217 is fixed to the upper right inside the terminal reinforcing frame 213, and may be connected by a bolt, and the second slider 218 is provided on the second guide rail 217 and may slide on the second guide rail 217. The spindle fixing flange seat 219 is fixedly connected to the second slider 218 through a fourth hexagon bolt 205.
The screw-nut transmission mechanism comprises a transmission nut 214 serving as a sliding nut, a screw 209, a fixed shaft sleeve 210, a coupler 203, a partition plate 202 and a feeding motor 201; the lead screw 209 may be a ball screw, which forms a ball screw assembly with the drive nut 214.
The clapboard 202 is fixed below the rear end of the tail end reinforcing framework 213, the feeding motor 201 is fixed behind the clapboard 202 through the fixed shaft sleeve 210, the output shaft of the feeding motor 201 is connected through the shaft coupling 203 and drives the screw 209 to rotate, and the transmission nut 214 is arranged on the driving screw 209 to slide. An output shaft of a specific feed motor 201 penetrates through a through hole in the partition plate 202 and then is connected with one end of a coupler 203, the rear end of a lead screw 209 penetrates through another through hole in the partition plate 202 and then is connected with the coupler 203, and the feed motor 201 drives the lead screw 209 to rotate through the coupler 203. The screw 209 is supported by the side fixing plate 204, and the side fixing plate 204 is fixedly connected to the end reinforcing frame 213 by four third hexagon bolts 205. The leading end of the lead screw 209 is mounted in a lead screw hole of the distal end reinforcing frame 213. The main shaft fixing flange seat 219 is fixedly connected with the transmission nut 214 through eight third hexagon socket head bolts 215.
As shown in fig. 7, the end effector of the intelligent hole making robot further includes a visual detection mechanism 4, the visual detection mechanism 4 includes two positioning cameras 401, which are respectively fixed on two sides of the fixed support component of the feeding mechanism 2, and the lens is aligned with the position of the drill hole to collect the image information of the drill hole. Specifically, the surface of the workpiece is calibrated by operating a binocular calibration program of the computer, and the three-dimensional image information of the workpiece is acquired by operating a binocular stereo matching program. Specifically, two positioning cameras 401 are fixedly connected to the end reinforcing frame 213 via a positioning camera adjusting frame 402 by four dodecagonal bolts 405.
The vision inspection mechanism 4 further comprises a camera 403 which is fixed above the fixed support part of the feeding mechanism 2, the lens is aligned with the position of the drill hole, the image information of the drill hole is collected, and three-dimensional point cloud data is obtained by operating a three-dimensional reconstruction program of a computer so as to perform precise hole making operation. The specific camera 403 is fixedly connected to the end reinforcing frame 213 by a fifth hexagon bolt 404.
The key of the visual detection mechanism 4 is how to accurately realize the identification and fitting of a space circle (ellipse) through a visual algorithm to realize the space positioning of a workpiece to be processed, a mechanical arm and a hole-making end actuator, the visual detection mechanism 4 adopts a binocular visual algorithm to identify reference circle information to realize the reconstruction of a two-dimensional image to a three-dimensional space, a binocular camera is installed on the hole-making actuator, firstly, internal and external parameters of a visual sensor are calibrated, the image of the workpiece is acquired through binocular vision, the characteristics of a circular hole are extracted, then, the space coordinate of a hole-making point is calculated, the model of the part to be processed is updated by using the identified reference hole information to realize the correction of the actual size of the part, the accurate position of the processed hole is determined, the reference circle information is identified through the visual algorithm, the characteristics of the circular hole are extracted, the space coordinate of the hole-making point is calculated, and the model, the realization is to its actual size's rectifying, confirms the accurate position in processing hole to cooperate industrial robot to accomplish the location of system hole point, guarantee the positioning accuracy in hole.
In summary, in the end effector of the intelligent hole making robot of the present invention, the spindle mechanism 1 and the feeding mechanism 2 are main actuating mechanisms of the end effector, and implement the rotation and feeding functions of the tool. The pressing control mechanism 3 is used for improving the rigidity of a hole making system, preventing the hole making quality from being influenced by vibration in the hole making process, and meanwhile, is responsible for timely removing cuttings generated by high-speed rotation operation of the drill bit. The visual detection mechanism 4 is used for measuring the position of a reference hole of a workpiece, correcting the position information of the hole of the workpiece and ensuring the position precision of hole making. The drilling machine has the advantages of stable drilling process, strong adaptability to working environment, automatic chip suction, high intelligent degree and the like.
The end effector of the intelligent hole making robot is mainly driven by a feed motor 201 to drive a ball screw pair, so that the main shaft mechanism 1 and the feed mechanism 2 realize the hole making movement. Under the system hole environment of complicacy, be difficult to receive the interference, through the connection of arm or semi-auxiliary type system hole equipment, very accurate effectual system hole operation that carries on, it has multiple pressure sensor to compress tightly control mechanism 3 simultaneously, can be so that the system hole process is more stable. The defects that the existing intelligent hole making robot is unstable in hole making operation and poor in universality are overcome.
The hole making method is simple and reliable, good in universality, low in control difficulty, low in cost and good in stability, and ensures the intellectualization of hole making. The intelligent hole making robot can meet the requirement of an intelligent hole making robot for workpieces with larger curvature, and is beneficial to the realization of the practicability and commercialization of the intelligent hole making robot.
The invention adopts the special end effector of the robot, and the ingenious structural design ensures that the feeding mechanism can be provided with the visual detection mechanism which is the 'eye' of the intelligent hole making robot, so that the visual positioning of the intelligent hole making robot is more accurate, and the hole making efficiency and the accuracy of the end effector are improved. The end effector has a pressing control mechanism and a chip suction mechanism, the pressing control mechanism works firstly during working, the chip suction mechanism works afterwards, the purpose is to fix the end effector, the chip suction mechanism can suck out chips generated by high-speed cutting of the drill bit in time, the rigidity of a hole making system can be improved, and the hole making quality is prevented from being influenced by vibration in the hole making process. The end effector connecting flange can realize the integral rotation of the end effector, and aims to increase the integral flexibility of the end effector and enable the end effector to work in a complex environment.
The key to enabling the end effector to perform precision drilling is the drilling process of the computer. Calculating internal and external parameters of a camera by operating a binocular calibration program, then operating a binocular stereo matching program to obtain three-dimensional coordinate information of a workpiece to be drilled, and finally operating a three-dimensional reconstruction program to obtain three-dimensional point cloud data. The successful completion of the software is not separated from the perfect matching of the hardware, and the end effector ensures that the compression force is stable and unchanged and the size is adjustable in the hole making process through a compression experiment, so that the optimal compression force is obtained, the hole making quality is ensured, meanwhile, the workpiece is not damaged, the control precision of the feeding distance of the feeding mechanism can be ensured, and further, the dimple facing precision is ensured.
The feeding mechanism 2 and the pressing control mechanism 3 are respectively controlled by respective servo motors, so that mutual interference and coordination can be realized during working, and the drilling process is easier to realize due to the strong torsion of the servo motors and the principle of easy control.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an end effector of intelligence system hole robot, the arm that is fixed in the robot is terminal, its characterized in that: comprises a bracket, a main shaft mechanism (1), a feeding mechanism (2) and a pressing control mechanism (3); the feeding mechanism (2) is arranged on the bracket, and the pressing control mechanism (3) is arranged on a fixed part of the feeding mechanism (2);
the pressing control mechanism (3) comprises an electric cylinder top support mechanism, a top support mechanism pushing plate (307), a drill bit supporting device (315), a pressing touch sensor (316) and a drilling force sensor (313), wherein the electric cylinder top support mechanism, the top support mechanism pushing plate, the drill bit supporting device, the pressing touch sensor and the drilling force sensor are symmetrically arranged at the left end and the right end of a fixed supporting part fixed on the feeding mechanism (2);
the electric cylinder top bracing mechanism comprises a top bracing rear seat (301), a top bracing motor (302), a top bracing guide pipe (311) and a top bracing cylinder (312); the top support cylinder (312) is fixed on a fixed support component of the feeding mechanism (2), the top support guide pipe (311) is arranged in the top support cylinder (312), the rear end of the top support guide pipe is connected with the top support rear seat (301), a top support motor (302) on the top support rear seat (301) is arranged in parallel with the top support guide pipe (311), and drives the top support guide pipe (311) to linearly reciprocate in the top support cylinder (312);
the front ends of the two top support guide pipes (311) are fixed at the left end and the right end of a top support mechanism pushing plate (307), a drill bit supporting device (315) is installed at the central hole of the top support mechanism pushing plate (307), and a pressing touch sensor (316) and a fixed pressing ring (317) are sequentially arranged in front of the drill bit supporting device (315); the fixed compression ring (317) is contacted with the workpiece, and the compression force is measured by compressing the touch sensor (316); the drill bit supporting device (315) is provided with a drilling force sensor (313) for measuring drilling mechanical parameters;
the main shaft mechanism (1) is arranged on the pressing control mechanism (3) and is arranged in the drill bit supporting device (315).
2. The end effector of the intelligent hole making robot as claimed in claim 1, wherein the pressing control mechanism (3) further comprises a chip suction pipe (318), a chip suction opening of the chip suction pipe (318) is opened above the fixed pressing ring (317), and the chip suction pipe (318) is connected with a negative pressure pipeline.
3. The end effector of the intelligent hole making robot is characterized in that the spindle mechanism (1) comprises a drill bit (101), a spring chuck tool shank (102) and a milling electric spindle (103), and the milling electric spindle (103) is connected with the drill bit (101) through the spring chuck tool shank (102).
4. The end effector of the intelligent hole making robot according to claim 1 or 2, wherein the feeding mechanism (2) comprises an end reinforcing frame (213) as a fixed supporting component, a main shaft fixing flange seat (219) as a moving component, a first slide rail mechanism, a second slide rail mechanism and a lead screw-nut transmission mechanism;
the fixed guide rails of the first slide rail mechanism and the second slide rail mechanism are fixed in the tail end reinforcing framework (213), and the main shaft fixed flange seat (219) is fixed on the movable sliding blocks of the first slide rail mechanism and the second slide rail mechanism; a sliding nut of the screw rod-nut transmission mechanism is fixed on a main shaft fixed flange seat (219); the screw-nut transmission mechanism drives the sliding nut to move through the rotation of the screw, and drives the main shaft fixing flange seat (219) to move, so that feeding is realized.
5. The end effector of the intelligent hole making robot as claimed in claim 4, wherein said first slide rail mechanism comprises a first guide rail (206) as a fixed guide rail and a first slider (207) as a moving slider; the first guide rail (206) is fixed at the upper left part in the end reinforcing framework (213), and the first sliding block (207) is arranged on the first guide rail (206) to slide.
6. The end effector of the intelligent hole making robot as claimed in claim 4, wherein said second slide rail mechanism comprises a second guide rail (217) as a fixed guide rail and a second slider (218) as a moving slider; the second guide rail (217) is fixed at the upper right part in the end reinforcing framework (213), and the second sliding block (218) is arranged on the second guide rail (217) to slide.
7. The end effector of the intelligent hole making robot as claimed in claim 4, wherein the screw-nut transmission mechanism comprises a transmission nut (214) as a slip nut, a screw (209), a fixed shaft sleeve (210), a coupling (203), a partition plate (202) and a feeding motor (201);
the partition plate (202) is fixed below the rear end of the tail end reinforcing framework (213), the feeding motor (201) is fixed behind the partition plate (202) through the fixing shaft sleeve (210), an output shaft of the feeding motor (201) is connected through the shaft coupling (203) and drives the lead screw (209) to rotate, and the transmission nut (214) is arranged on the driving lead screw (209) to slide.
8. The end effector of an intelligent hole making robot as claimed in claim 1 or 2, wherein said support comprises a spindle head attachment flange (211), a spindle head support plate (212) and a spindle head backing plate (216);
the upper surface of the main shaft head connecting flange (211) is fixed at the tail end of the mechanical arm, the lower surface of the main shaft head connecting flange is connected with a main shaft head supporting plate (212) through a main shaft head backing plate (216), and the main shaft head supporting plate (212) is connected with a fixed supporting part of the feeding mechanism (2).
9. The end effector of the intelligent hole making robot according to claim 1 or 2, further comprising a visual detection mechanism (4), wherein the visual detection mechanism (4) comprises two positioning cameras (401) which are respectively fixed on two sides of a fixed supporting component of the feeding mechanism (2), lenses are aligned with drilling positions, the surface of a workpiece is calibrated by running a binocular calibration program of a computer, and a binocular stereo matching program is run to acquire three-dimensional image information of the workpiece.
10. The end effector of the intelligent hole making robot as claimed in claim 9, wherein the visual inspection mechanism (4) further comprises a camera (403) fixed above the fixed support part of the feeding mechanism (2), the lens is aligned with the position of the drilled hole, the image information of the drilled hole is collected, and three-dimensional point cloud data is obtained by running a three-dimensional reconstruction program of a computer, so as to perform precise hole making operation.
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