CN114770565A - Trimming type intelligent normal regulation and control system for composite material component - Google Patents
Trimming type intelligent normal regulation and control system for composite material component Download PDFInfo
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- CN114770565A CN114770565A CN202210139666.XA CN202210139666A CN114770565A CN 114770565 A CN114770565 A CN 114770565A CN 202210139666 A CN202210139666 A CN 202210139666A CN 114770565 A CN114770565 A CN 114770565A
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- dust
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- end effector
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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
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- 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
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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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
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a modified intelligent normal regulation and control system for a composite material component, and belongs to the field of robot automation control. The system is mainly used for automatic modification of the special-shaped composite material, and is used for calculating and compensating the normal direction of a cutter and a workpiece at the position where the curvature of the workpiece changes, so that the modification quality and precision of the special-shaped composite material are ensured. The system includes a robot, a revision end effector, a normal sensor, and an integrated control system. The integrated control system collects data of the normal sensor to calculate in real time and feeds a correction compensation value back to the robot, and normal regulation and control of a modification process are achieved.
Description
Technical Field
The invention discloses a modification type intelligent normal regulation and control system for a composite material component, and belongs to the field of robot automation control.
Background
A large number of composite material components are applied in the aerospace field, and the airplane has strict precision requirements on the external dimensions of key parts. In the automatic type-repairing process of a robot, the traditional mode adopts an end effector to power up a main shaft to directly drive a type-repairing tool to perform type-repairing treatment on a part, and the mode can realize the part with a relatively regular shape and small curvature change, but cannot realize the accurate type-repairing treatment on a complex curved surface or a part with large curvature change. Based on the problem, a system capable of compensating and adjusting the tool track and the angle of the parts with different curvatures is designed, the problem of automatic modification of the special-shaped materials can be solved, manual intervention is reduced, and the processing efficiency is improved.
Disclosure of Invention
The invention is designed aiming at the defects in the prior art and method, and aims to realize automatic adjustment and compensation of normal precision in the automatic shaping process of the special-shaped variable curvature composite material robot, improve the shaping precision and ensure the flatness and uniformity of the surface profile of a part after shaping.
A modified intelligent normal control system for a composite member, comprising: the robot comprises a robot 1, a shaping end effector 2 and an integrated control system 3; the modified end effector 2 comprises a PLC remote module 4, an electric spindle 5, a constant force control device 6 and 4 normal sensors 10; the integrated control system 3 comprises an industrial personal computer 15 and a master control PLC 16; the electric main shaft 5 is installed on the constant force control device 6 through a connecting screw, the constant force control device 6 is fixedly installed on a sixth shaft of the robot 1 through a flange, 4 normal sensors 10 are uniformly distributed on the same cross section of the shell of the modified end effector 2, and the normal sensors 10 are connected with the PLC remote module 4; the PLC remote module 4 is connected to the master PLC16 through a ProfiNet bus.
A dust suction pipe joint 13 and a cable pipe joint 14 are arranged at the left rear position of the modified end effector 2.
The shape-modifying end effector 2 is provided with a dust collector; comprises an internal dust suction pipe 7, a dust distributor 8, a dust collection horn cover 9, a dustproof sleeve 11 in a shell, a confluence body 12 and a dust suction pipe interface 13; the dust distributor 8 is connected to the modified end effector 2 through bolts; the dust collection horn cover 9 is arranged on the dust distributor 8, and the dustproof sleeve 11 in the shell is connected with the dust distributor 8; the dust distributor 8 is respectively connected with the two paths of internal dust absorption pipes 7; the two paths of the built-in dust collection pipes 7 are connected with a fluid converging body 12; the dust in the fluid collection body 12 is discharged through the suction pipe joint 13.
The normal sensor 10 is an ultrasonic sensor.
The modification end effector 2 is also provided with 4 anti-collision sensors.
The PLC remote module 4 collects and calculates data of the normal sensor 10, and measures and collects data according to intervals set by a program by adopting a time-sharing gating method.
The robot 1 carries the modified end effector 2 to move along the measured surface, the distance from the surface of a workpiece to the normal sensor 10 is measured, the PLC remote module 4 carries out filtering algorithm processing on the measured value in real time, and the measured value is transmitted to the master control PLC16 through a ProfiNet bus to carry out trajectory compensation.
The working method of the dust collector comprises the following steps: the dust collection horn cover 9 collects dust generated in the grinding or polishing process, the dust is sucked into the dust distributor 8, and the dust distributor 8 divides dust airflow into two paths; when the modified end effector 2 is ground in the left direction, the tangent angle of dust flying out of the cutter head is on the left side, and the dust airflow on the left side of the dust distributor 8 is more; when the modified end effector 2 is polished to the right, the dust flow of one path at the right side of the dust distributor 8 is a little bit; the two dust airflows reach the converging fluid 12 through the machine dust suction pipe 7 to form a path, and then are collected by the dust suction pipe through the dust suction pipe interface 13.
The invention has the advantages and effects that: all parts of the modified end effector 2 designed by the invention are standard and modular, the structure is simple and compact, the installation is convenient, and the mass production can be carried out in the operation of the same type of robots; according to the novel normal measurement method, the PLC remote module 4 is selected to collect and calculate data of the normal sensor 10, electromagnetic interference is reduced, and processing tasks of the master control PLC16 are reduced. The time-sharing gating method is adopted to set interval measurement and data acquisition according to programs, and interference caused by too close installation distance of sensors of the same type is avoided. In practical application, the measurement precision of the normal angle can reach 0.3 degrees, and the normal compensation precision in the modification process is improved; the invention has high automation degree and high compensation speed. The non-contact normal measurement method provided by the invention only needs to complete one-time installation and calibration, and can improve the precision stability in the use process.
Drawings
FIG. 1 is a schematic diagram of the overall composition
Fig. 2 is a three-dimensional view of the revision end effector 2; wherein a is a left view; b is a front view; c is a right view; d is a top view
FIG. 3 is an internal structure view of the revision end effector 2
FIG. 4 is a system control communication block diagram
Detailed Description
The technical scheme of the invention is further detailed in the following with reference to the accompanying drawings 1-4 and the embodiment:
1-3, a modified intelligent normal steering system for a composite material member, comprising: the robot comprises a robot 1, a shaping end effector 2 and an integrated control system 3; the modified end effector 2 comprises a PLC remote module 4, an electric spindle 5, a constant force control device 6 and 4 normal sensors 10; the integrated control system 3 comprises an industrial personal computer 15 and a master control PLC 16; the electric main shaft 5 is arranged on the constant force control device 6 through a connecting screw, and the force and the rotating speed are controlled in the modification process. The constant force control device 6 is fixedly installed on a sixth shaft of the robot 1 through a flange, 4 normal sensors 10 are uniformly distributed on the same cross section of a shell of the modified end effector 2, and a body and a wire part of each normal sensor 10 are installed and distributed inside the modified end effector 2 and connected with the PLC remote module 4; the PLC remote module 4 is connected with the master control PLC16 through a ProfiNet bus to collect and transmit normal data.
The shape-modifying end effector 2 is provided with a dust collector; comprises an internal dust suction pipe 7, a dust distributor 8, a dust collection horn cover 9, a dustproof sleeve 11 in a shell, a confluence body 12 and a dust suction pipe interface 13; the dust distributor 8 is connected to the modified end effector 2 through bolts; the dust collection horn cover 9 is arranged on the dust distributor 8, and the dustproof sleeve 11 in the shell is connected with the dust distributor 8; the dust distributor 8 is respectively connected with the two paths of internal dust absorption pipes 7; the two paths of the built-in dust collection pipes 7 are connected with a fluid converging body 12; the dust in the fluid collection body 12 is discharged through the suction pipe joint 13.
The dust distributor 8 is used for dividing the dust collected by the dust collecting horn cover 9 into two paths to enter the dust suction pipe 7 in the machine, and has the function of flow division and guidance.
The fluid collection body 12 is a box-like structure for collecting any dust within the revision end effector 2.
A dust suction pipe joint 13 and a cable pipe joint 14 are arranged at the left rear position of the modified end effector 2. According to the most smooth postures of the robot 1 and the shaping end effector 2 in the shaping process, the layout can enable the cable pipe and the dust suction pipe to reach the second shaft of the robot along the shortest distance without folding or winding. The design can improve the cluttered and cluttered condition of the pipeline on the robot 1 body and can also eliminate the phenomenon that the pipeline is clamped between the robot 1 and the repair type end effector 2 in certain postures.
The normal sensor 10 is an ultrasonic sensor. The dust filter can be perfectly suitable for the repair site with dust flooding and can filter the region with overlarge particle size on the surface of the part.
And 4 anti-collision sensors are also arranged on the modified end effector 2. Preventing people from getting disorganized or interfering or colliding with other objects.
The PLC remote module 4 collects and calculates data of the normal sensor 10, electromagnetic interference is reduced, and processing tasks of the master control PLC16 are reduced. The time-sharing gating method is adopted, and data are measured and collected according to intervals set by a program. The interference caused by too close installation distance of the sensors of the same type is avoided.
The working method of the dust collector comprises the following steps: the dust collection horn cover 9 collects dust generated in the grinding or polishing process, the dust is sucked into the dust distributor 8, and the dust distributor 8 divides dust airflow into two paths; when the modified end effector 2 is polished in the left direction, the tangent angle of dust flying out of the cutter head is on the left side, and at the moment, the dust airflow on the left side of the dust distributor 8 is a little more; when the modified end effector 2 is polished to the right, the dust flow of one path at the right side of the dust distributor 8 is a little bit; the two dust air flows reach the converging fluid 12 through the machine dust suction pipe 7 to form a path, and then are collected by the dust suction pipe through the dust suction pipe interface 13.
The workflow and each part function is as follows: as shown in fig. 4, after all the devices are installed in the above installation manner, the master control PLC16 controls the robot 1 to drive the shaping end effector 2 and the normal sensor 10 to scan and measure the parts on the tool according to the offline track. The remote PLC module 4 controls the on-off of the 4 normal sensors 10 by adopting a time-sharing gating method, the system measures the distance from the surface of a part to the sensors, and the numerical values measured by certain two sensors are assumed to be a respectively1、a2And the distance between the two sensors is L, and the normal error angle on the distance is calculated as follows: α ═ arcsin ((a)1-a2) L) then carrying out secondary filter algorithm processing on the values, transmitting the normal error angle data measured at each point on the off-line track to the master control PLC16 through a bus, and carrying out compensation modification on the track and controlling the robot to carry out formal modification work by the master control PLC 16. And opening the electric main shaft 5 and dust collection equipment in the shape modification process, wherein the working method of the dust collector comprises the following steps: the dust collecting horn cover 9 collects dust generated in the grinding or polishing processIs sucked into the dust distributor 8, and the dust distributor 8 divides the dust airflow into two paths; when the modified end effector 2 is ground in the left direction, the tangent angle of dust flying out of the cutter head is on the left side, and the dust airflow on the left side of the dust distributor 8 is more; when the modified end effector 2 is polished to the right direction, the dust flow of the right path of the dust distributor 8 is a little bit more; the two dust air flows reach the converging fluid 12 through the machine dust suction pipe 7 to form a path, and then are collected by the dust suction pipe through the dust suction pipe interface 13.
Claims (8)
1. A retrofit intelligent normal control system for a composite member, comprising: the robot comprises a robot (1), a modified end effector (2) and an integrated control system (3); the modified end effector (2) comprises a PLC remote module (4), an electric spindle (5), a constant force control device (6) and 4 normal sensors (10); the integrated control system (3) comprises an industrial personal computer (15) and a master control PLC (16); the electric main shaft (5) is installed on the constant force control device (6) through a connecting screw, the constant force control device (6) is fixedly installed on a sixth shaft of the robot (1) through a flange, 4 normal sensors (10) are uniformly distributed on the same cross section of a shell of the modification end effector (2), and the normal sensors (10) are connected with the PLC remote module (4); the PLC remote module (4) is connected with the master control PLC (16) through a ProfiNet bus.
2. The modified intelligent normal steering system for composite members of claim 1, wherein: a dust collection pipe interface (13) and a cable pipe interface (14) are arranged at the rear position of the left side of the shaping end effector (2).
3. The modified intelligent normal steering system for composite members of claim 2, wherein: the shape-modifying end executor (2) is provided with a dust collector; comprises an internal dust suction pipe (7), a dust distributor (8), a dust collection horn cover (9), an internal dust-proof sleeve (11), a confluence body (12) and a dust suction pipe interface (13); the dust distributor (8) is connected to the modified end effector (2) through a bolt; the dust collection horn cover (9) is arranged on the dust distributor (8), and the dustproof sleeve (11) in the shell is connected with the dust distributor (8); the dust distributor (8) is respectively connected with two internal dust suction pipes (7); the two built-in dust collection pipes (7) are connected with the confluence body (12); the dust in the fluid (12) is discharged through the dust suction pipe joint (13).
4. The modified intelligent normal control system for composite material members of claim 1, wherein: the normal sensor (10) is an ultrasonic sensor.
5. The modified intelligent normal control system for composite material members of claim 1, wherein: 4 anti-collision sensors are further mounted on the modification end effector (2).
6. The modified intelligent normal control system for composite material members of claim 1, wherein: the PLC remote module (4) collects and calculates data of the normal sensor (10), and measures and collects the data according to intervals set by a program by adopting a time-sharing gating method.
7. The modified intelligent normal steering system for composite members of claim 1, wherein: the robot (1) carries the modified end effector (2) to move along the surface to be measured, the distance from the surface of a workpiece to the normal sensor (10) is measured, the PLC remote module (4) carries out filtering algorithm processing on the measured value in real time, and the measured value is transmitted to the master control PLC (16) through the ProfiNet bus to carry out track compensation.
8. The modified intelligent normal control system for composite material members of claim 3, wherein: the working method of the dust collector comprises the following steps: the dust collecting horn cover (9) collects dust generated in the grinding or polishing process, the dust is sucked into the dust distributor (8), and the dust distributor (8) divides dust airflow into two paths; when the modified end effector (2) is ground in the left direction, the tangent angle of dust flying out of the cutter head is on the left side, and the dust airflow on the left side of the dust distributor (8) is more; when the modified end effector (2) is polished to the right direction, the dust flow at the right path of the dust distributor (8) is a little more; the two dust airflows reach the converging fluid (12) through the dust suction pipe (7) in the machine to form a path, and then are collected by the dust suction pipe through the dust suction pipe interface (13).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210139666.XA CN114770565B (en) | 2022-02-15 | 2022-02-15 | Intelligent normal regulation and control system for repairing composite material component |
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| CN202210139666.XA CN114770565B (en) | 2022-02-15 | 2022-02-15 | Intelligent normal regulation and control system for repairing composite material component |
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| CN114770565B CN114770565B (en) | 2023-06-16 |
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| WO2021171154A1 (en) * | 2020-02-25 | 2021-09-02 | 3M Innovative Properties Company | Robotic repair systems and method |
| CN113579294A (en) * | 2021-07-27 | 2021-11-02 | 中航西安飞机工业集团股份有限公司 | End effector of automatic hole making equipment |
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| CN101623867A (en) * | 2008-07-11 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Equipment and method for enabling robot to track specified path with high precision |
| CN109352663A (en) * | 2018-09-28 | 2019-02-19 | 航天材料及工艺研究所 | A kind of robot automatic and accurate positioning punching device and method towards composite material bay section |
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| CN114770565B (en) | 2023-06-16 |
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