CN114789460A - Full-automatic patch attaching robot and method - Google Patents
Full-automatic patch attaching robot and method Download PDFInfo
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- CN114789460A CN114789460A CN202210502002.5A CN202210502002A CN114789460A CN 114789460 A CN114789460 A CN 114789460A CN 202210502002 A CN202210502002 A CN 202210502002A CN 114789460 A CN114789460 A CN 114789460A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004140 cleaning Methods 0.000 claims abstract description 60
- 239000003292 glue Substances 0.000 claims abstract description 37
- 239000011888 foil Substances 0.000 claims abstract description 31
- 239000007788 liquid Substances 0.000 claims abstract description 31
- 238000005498 polishing Methods 0.000 claims abstract description 17
- 238000000227 grinding Methods 0.000 claims description 18
- 239000004744 fabric Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 230000017525 heat dissipation Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 4
- 238000002955 isolation Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 238000005192 partition Methods 0.000 claims description 2
- 238000004026 adhesive bonding Methods 0.000 abstract description 2
- 229910001651 emery Inorganic materials 0.000 abstract 1
- 230000006378 damage Effects 0.000 description 3
- -1 polytetrafluoroethylene Polymers 0.000 description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 3
- 239000004810 polytetrafluoroethylene Substances 0.000 description 3
- 238000010998 test method Methods 0.000 description 3
- 241000755266 Kathetostoma giganteum Species 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- 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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic patch robot and a method, comprising the following steps: motor box I, connection fixed plate, flange, mecanum wheel A, motor box II, camera I, slide rail, master control platform, shell, slider, mounting box, division board, mecanum wheel B, the module of polishing, cleaning solution module, clean module, glue liquid module, paste module, camera II and camera III. The module of polishing comprises mounting panel I, motor box II, servo electric jar I and emery wheel. The invention integrates multiple processes of surface polishing, surface cleaning, surface gluing, autonomous surface mounting and the like, realizes the automation of the whole process of the operation of mounting the strain gauge, reduces the manual operation errors and improves the quality of the surface mounting operation; moreover, the Mecanum wheels are matched with the main control console, so that the strain foil-sticking robot can automatically and omni-directionally walk, and the flexibility of an operation path is improved; the mode that the piece was got to large capacity foil gage storehouse and sucking disc has improved paster work efficiency.
Description
Technical Field
The invention relates to the field of intelligent equipment for monitoring and inspecting structural safety, in particular to a full-automatic patch robot and a method.
Background
Large-scale important civil engineering structures, such as bridges, dams, nuclear power plants, ocean oil production platforms and the like, have service lives of dozens of years or even hundreds of years, are inevitably damaged and accumulated under the influence of adverse factors such as fatigue corrosion effects and material aging, and the like, such structures are required to bear various external forces during working operation, the external forces are called loads in engineering, the loads are main bases for strength and rigidity calculation, and a resistance strain test method is usually adopted to obtain the stress distribution condition and the internal force condition of the structure under the load action, so that the method is the most commonly used actual test method at present.
However, in the resistance strain test method, the adhesion quality of the strain gauge has a great influence on the experiment and the test result. The sticking of foil gage has been carried out by manual sticking, which has problems of heavy workload, long working time, etc., different techniques for sticking foil gage of workers are different in height, which may cause problems of uneven sticking thickness of foil gage, damage and poor sticking precision of foil gage, and the glue used for sticking may cause great harm to the body of workers.
Therefore, some devices for auxiliary foil bonding have been developed in this application field, but the existing devices for auxiliary foil bonding have complicated operation procedures, low automation degree and poor flexibility, and still have many problems in use, mainly including the following points:
1. the conventional auxiliary strain foil sticking device only sticks a strain foil, and the work of polishing, cleaning and the like on the surface of a component still needs manual operation, so that the work efficiency is reduced;
2. the conventional auxiliary strain foil sticking device needs workers to carry out patch sticking work in a designated working place in a handheld or fixed mounting mode and the like, and cannot realize autonomous movement;
3. the conventional auxiliary strain foil sticking device cannot realize the function of carrying a large number of strain foils, and for large-scale structures such as bridges, dams, nuclear power plants, ocean oil extraction platforms and the like, the strain foils need to be frequently supplemented, and continuous and efficient strain foil sticking cannot be performed;
4. the existing auxiliary strain gauge pasting device cannot control the pressing force of the strain gauge in real time, so that the phenomenon that the strain gauge is not firmly pasted or the strain gauge is damaged is easily caused, and the working cost is increased.
Therefore, in order to improve the quality and efficiency of foil gage pasting operations in the application of structural safety monitoring and inspection scenes such as bridges, dams, nuclear power plants, offshore oil production platforms and the like, improve the automation degree of the foil gage pasting, reduce the problems of poor quality and high error rate of manual excessive operations, and reduce the overall operation cost, the invention provides a full-automatic foil gage pasting robot and a method thereof.
Disclosure of Invention
Technical problem to be solved
The invention aims to: the working procedures of surface polishing, surface cleaning, surface gluing and automatic surface mounting are integrated, automation of the whole process of foil gage pasting operation is realized, and the problem that only foil gages are pasted in working steps related to the conventional foil gage pasting assisting device is solved; the Mecanum wheels are matched with the main control console, so that full-automatic all-directional walking of the strain foil pasting robot is realized, and the problems that the conventional auxiliary strain foil pasting device cannot realize autonomous movement and is low in automation degree are solved; the mode of automatically taking the strain gauge by adopting the large-capacity strain gauge bin and the sucker is adopted, so that the problem that strain gauges are required to be frequently supplemented when the conventional auxiliary strain gauge pasting device is used for pasting the strain gauges on large-scale structures such as bridges, dams, nuclear power stations, ocean oil extraction platforms and the like is solved; the pressure sensor is added into the sucker, so that the load applied to the foil gage pasting can be fed back in real time, the problem that the existing foil gage pasting device is not firm in pasting the foil gage or causes the foil gage to be damaged easily when pasting work is solved, the pasting precision is improved, and the working cost is reduced.
(II) technical scheme
The following technical scheme is adopted to solve the technical problems of the invention: a full-automatic patch robot comprises a motor box I, a connecting fixing plate, a connecting flange, a Mecanum wheel A, a motor box II, a camera I, a sliding rail, a main control console, a shell, a sliding block, a mounting box, an isolating plate, a Mecanum wheel B, a polishing module, a cleaning solution module, a cleaning module, a glue solution module, a pasting module, a pressure sensor, a contact plate, a camera II and a camera III; the polishing module consists of a mounting plate I, a motor box III, a servo electric cylinder I and a grinding wheel; the cleaning solution module consists of a mounting plate II and a cleaning solution pump; the cleaning module consists of a mounting plate III, a motor box IV, a servo electric cylinder II and a water absorption cloth wheel; the glue liquid module consists of a mounting plate IV and a glue liquid pump; the sticking module consists of a mounting plate V, a strain gauge bin, a servo electric cylinder III, a mounting platform, a rotating shaft, a vacuum generator, a sucker and a contact plate; the connecting and fixing plate is provided with a connecting hole I, a connecting hole I and a connecting hole II, the connecting flange is provided with a mounting hole II, a mounting hole III and a connecting hole III, the slide rail is provided with a slide way and a countersunk hole, the shell is provided with a camera mounting groove I, a cavity, a heat dissipation groove, a connecting hole IV, a connecting hole V, a camera mounting groove II and a camera mounting groove III, the slider is provided with a clamping column and a connecting hole VI, the mounting box is provided with a connecting hole VII, a polishing module mounting groove, a cleaning solution module mounting groove, a cleaning module mounting groove, a connecting hole VIII, a glue liquid module mounting groove and a pasting module mounting groove, the isolation plate is provided with a connecting hole IX, the servo electric cylinder I is provided with a cylinder body I and an electric push rod I, the servo electric cylinder II is provided with a cylinder body II and an electric push rod II, and the mounting plate V is provided with a T-shaped groove, the strain gauge bin is provided with a T-shaped column and a bin opening, the servo electric cylinder III is provided with a cylinder body III and an electric push rod III, the mounting platform is provided with a mounting hole IV and a mounting hole V, the vacuum generator is provided with an air hole I, an air vent pipe, an air pump box, a mounting hole VI and an air outlet hole, the sucker is provided with a connecting hole X, a protruding cylinder, a mounting groove and an air hole II, the contact plate is provided with an air hole III and a connecting hole XI, the Mecanum wheel is fixedly connected with the connecting flange through the connecting hole III, the motor box I is arranged in the mounting hole I and is fixedly connected with the connecting fixing plate through a bolt and the connecting hole I, a rotating shaft of the motor box I is arranged in the mounting hole II and is fixedly connected with the connecting flange through the mounting hole III, the shell and the connecting fixing plate are in bolt connection with the connecting hole II through the connecting hole IV, the pair of Mecanum wheel A and the pair of Mecanum wheel B are respectively arranged at four corners of the shell in a diagonal mounting mode, the camera I is arranged in the camera mounting groove I, the camera II and the camera III are respectively arranged in the camera mounting groove II and the camera mounting groove III in a symmetrical mounting mode, the motor box II is fixedly arranged with the sliding rail, the sliding rail and the shell are in flat head screw connection with the connecting hole V through the counter sink, the clamping column is arranged in the slideway, the sliding block is in bolt connection with the mounting box through the connecting hole VI and the connecting hole VIII, the motor box III is fixedly connected with the cylinder body I, the grinding wheel is arranged on the electric push rod I, the servo electric cylinder I is fixedly connected with the mounting plate I to form a grinding module, the mounting plate I is arranged in the grinding module mounting groove, the mounting plate II is fixedly connected with a cleaning solution pump to form a cleaning solution module, the mounting plate II is arranged in the cleaning solution module mounting groove, the motor box IV is fixedly connected with the cylinder body II, the cloth wheel is arranged on the electric push rod II, the servo electric cylinder II is fixedly connected with the mounting plate III, constitute clean module, mounting panel III is installed in clean module mounting groove, mounting panel IV and glue liquid pump fixed connection, constitute the glue liquid module, mounting panel IV is installed in glue liquid module mounting groove, T shape post is installed in the T-slot, servo electric cylinder III and mounting panel V fixed connection, electric putter III is installed in mounting hole IV, the pivot is installed in mounting hole V, mounting hole VI fixed connection is passed through with the pivot in vacuum generator, the sucking disc carries out bolted connection through connecting hole X and connecting hole XI with the contact plate, the protruding cylinder is installed in gas pocket I, constitute and paste the module, mounting panel V is installed in pasting the module mounting groove.
A path planning module, a control module, a data input/output module and a power supply module are arranged in the main control console, and the action of the robot is controlled through the main control console, so that the robot can drive to a specified position to complete patch pasting work by avoiding obstacles.
Be provided with cavity and radiating groove on the shell, the cavity is used for providing the space for installing the slide rail, and the radiating groove is used for the shell heat dissipation and subtracts the weight.
The slide rail is provided with a slide way and a counter bore, the slide way is used for installing the slide block, and the slide way limits the stroke of the slide block so that the slide block can move within a specified range.
A steering engine is arranged in the rotating shaft, the steering engine is started once, and the rotating shaft is controlled to drive the vacuum generator and the sucker to rotate for 180 degrees.
Be provided with mounting groove and gas pocket II on the sucking disc, the mounting groove is used for installing pressure sensor, and gas pocket II is used for adsorbing and release foil gage.
And a power supply system and a remote control system are arranged in the motor box I, the motor box II, the motor box III, the motor box IV, the servo electric cylinder I, the servo electric cylinder II, the servo electric cylinder III and the master console.
The contact plate is a polytetrafluoroethylene plate, the strength of the polytetrafluoroethylene plate meets the requirement, the polytetrafluoroethylene plate has the performance of non-sticking glue, and the strain gauge with the glue can be arranged on a target member and is not stuck.
The method comprises the following steps:
s1: inputting path information required to walk into a main control console, and enabling the robot to avoid obstacles through environment information fed back by a camera I, and driving to a first specified working position according to the input path information through the control of the main control console;
s2: starting a servo electric cylinder I to control an electric push rod I to fall to a specified position; closing the servo electric cylinder I, starting the motor box III to enable the grinding wheel to grind the surface of the target component, closing the motor box III after grinding operation, starting the servo electric cylinder I, and returning the electric push rod I to the original position;
s3: starting a motor box II, driving the mounting box to move along the slide rail by the slide block, moving the cleaning solution module to a working area, closing the motor box, starting a cleaning solution pump, and spraying the cleaning solution on the surface of a target component;
s4: the cleaning module is moved to a working area by driving the mounting box to move along the slide way, the motor box II is closed, and the servo electric cylinder II is started to control the electric push rod II to fall to a specified position; closing the servo electric cylinder II, starting the motor IV to enable the water absorption cloth wheel to perform cleaning work on the surface of a target component, closing the motor box IV after the cleaning work is finished, starting the servo electric cylinder II, and returning the electric push rod II to the original position;
s5: starting a motor box II, driving the mounting box to move along the slide rail by the sliding block, moving the glue module to a working area, closing the motor box II, starting a glue liquid pump, and spraying glue liquid on the surface of a target component;
s6: starting a motor box II, driving a mounting box to move along a slide way by a sliding block, moving a pasting module to a working area, closing the motor box II, starting a steering engine to enable a sucker to be aligned to a bin opening, starting a vacuum generator to absorb a strain gauge, starting the steering engine to enable the sucker to be aligned to the surface of a target component, starting a servo electric cylinder III to enable the sucker to descend, stopping descending when a pressure sensor returns data to a specified value, pasting for 90s, starting the servo electric cylinder III, returning the sucker to the original position, starting the motor box II, driving the mounting box by the sliding block to the original position, and completing one-time pasting work;
s7: if the robot does not finish the patch work of all target points, the robot drives to the next designated working position according to the input path information, the steps from S2 to S6 are repeated until the patch work of all the target points is finished, the whole pasting work process is monitored and recorded by the camera II and the camera III, and if errors or work failure and other problems are caused in the working process, a worker can remotely control the robot to stop working through the main control console.
(III) advantageous effects
The invention has the beneficial effects that:
(1) a full-automatic paster robot and method, there are polished module, cleaning solution module, clean module, glue liquid module and sticking module, have realized surface polishing, surface cleaning, surface gumming, autonomous paster process are an organic whole, and through the cooperation of slide rail, slide block and mounting box, have realized the whole process automation of the operation of pasting the foil gage, has improved the quality of paster operation, have solved the problem that the function of the existing paster device is single, the working efficiency is low;
(2) the robot for sticking the strain gauge can automatically move to a working place and automatically complete the work of sticking the strain gauge according to the required requirements by matching the Mecanum wheel, the main control console and the camera, so that the flexibility of a working path is improved;
(3) the function of carrying a large number of strain gauges is realized by adopting a large-capacity strain gauge bin and a mode of automatically taking the gauge by a sucker, the requirement of continuously pasting the strain gauges on a large-scale component is met, and the working efficiency of pasting the gauge is improved;
(4) pressure sensor has been added in the sucking disc, through pressure sensor to servo electric cylinder feedback real-time pressure data's function, makes servo electric cylinder stop the decline pressurization when pressure reaches appointed numerical value, has solved current paster device and has easily caused pasting the phenomenon that the foil gage is not firm or cause the foil gage to damage pasting the during operation, has improved the paster precision, has reduced working cost.
Description of the drawings:
FIG. 1 is an overall view showing the appearance of the present invention;
FIG. 2 is an overall sectional view of the appearance of the present invention;
FIG. 3 is a schematic view of a coupling flange according to the present invention;
FIG. 4 is a schematic view of a slide rail according to the present invention;
FIG. 5 is a schematic view in half section of the housing of the present invention;
FIG. 6 is a bottom view of the housing of the present invention;
FIG. 7 is a schematic view of a slider of the present invention;
FIG. 8 is a schematic view of the mounting box of the present invention;
FIG. 9 is a schematic view of a sanding module of the present invention;
FIG. 10 is a schematic view of a cleaning liquid module of the present invention;
FIG. 11 is a schematic view of a pasting module according to the present invention;
FIG. 12 is a schematic view of the module installation of the present invention;
FIG. 13 is a schematic view of the mounting plate V of the present invention;
FIG. 14 is a schematic view of a strain gage cartridge of the present invention;
FIG. 15 is a schematic view of a vacuum generator of the present invention;
FIG. 16 is a schematic view of a suction cup of the present invention;
FIG. 17 is a flow chart of the method of the present invention.
In the figure, 1, a motor box I; 2. connecting a fixing plate; 201. a connecting hole I; 202. a mounting hole I; 203. a connecting hole II; 3. a connecting flange; 301. a mounting hole II; 302. mounting holes III; 303. connecting holes III; 4. mecanum wheel A; 5. a motor box II; 6. a camera I; 7. a slide rail; 701. a slideway; 702. countersinking; 8. a master console; 9. a housing; 901. a camera mounting groove I; 902. a cavity; 903. a heat sink; 904. a connecting hole IV; 905. a connecting hole V is formed; 906. a camera mounting groove II; 907. a camera mounting groove III; 10. a slider; 1001. clamping the column; 1002. a connecting hole VI; 11. mounting a box; 1101. connecting holes VII; 1102. polishing the module mounting groove; 1103. a cleaning solution module mounting groove; 1104. cleaning the module mounting groove; 1105. a connecting hole VIII; 1106. glue liquid module mounting grooves; 1107. pasting a module mounting groove; 12. a separator plate; 1201. connecting a hole IX; 13. mecanum wheel B; 14. a mounting plate I; 15. a motor box III; 16. a servo electric cylinder I; 1601. a cylinder body I; 1602. an electric push rod I; 17. a grinding wheel; 18. mounting a plate II; 19. a cleaning liquid pump; 20. mounting a plate III; 21. a motor box IV; 22. a servo electric cylinder II; 2201. a cylinder body II; 2202. an electric push rod II; 23. a water-absorbing cloth wheel; 24. a mounting plate IV; 25. a glue solution liquid pump; 26. mounting a plate V; 2601. a T-shaped slot; 27. a strain gage bin; 2701. a T-shaped post; 2702. a bin opening; 28. a servo electric cylinder III; 2801. a cylinder body III; 2802. an electric push rod III; 29. mounting a platform; 2901. a mounting hole IV; 2902. a mounting hole V; 30. a rotating shaft; 31. a vacuum generator; 3101. air holes I; 3102. a breather pipe; 3103. an air pump box; 3104. a mounting hole VI; 3105. an air outlet; 32. a suction cup; 3201. a connecting hole X; 3202. a projecting cylinder; 3203. mounting grooves; 3204. air holes II; 33. a pressure sensor; 34. a contact plate; 3401. air holes III; 3402. connecting hole XI; 35. a camera II; 36. and a camera III.
The specific implementation mode is as follows:
the invention provides a full-automatic patch robot and a method, and the device reduces the workload of manual operation, improves the working quality, enhances the working precision and promotes the working efficiency.
In order to make the technical solutions of the present invention better understood, the present invention is further described below with reference to the accompanying drawings, and the scope of the present invention is not limited to the following descriptions:
as shown in fig. 1 to 17, a full-automatic patch robot and a method thereof, the full-automatic patch robot is composed of a motor box i 1, a connecting fixing plate 2, a connecting flange 3, a mecanum wheel a4, a motor box ii 5, a camera i 6, a slide rail 7, a main console 8, a shell 9, a slider 10, a mounting box 11, a partition plate 12, a mecanum wheel B13, a polishing module, a cleaning solution module, a cleaning module, a glue solution module, a sticking module, a pressure sensor 33, a contact plate 34, a camera ii 35 and a camera iii 36; the polishing module consists of a mounting plate I14, a motor box III 15, a servo electric cylinder I16 and a grinding wheel 17; the cleaning solution module consists of a mounting plate II 18 and a cleaning solution pump 19; the cleaning module consists of a mounting plate III 20, a motor box IV 21, a servo electric cylinder II 22 and a water-absorbing cloth wheel 23; the glue liquid module consists of a mounting plate IV 24 and a glue liquid pump 25; the pasting module consists of a mounting plate V26, a strain gauge bin 27, a servo electric cylinder III 28, a mounting platform 29, a rotating shaft 30, a vacuum generator 31, a sucking disc 32 and a contact plate 34; the connecting and fixing plate 2 is provided with a connecting hole I201, a mounting hole I202 and a connecting hole II 203, the connecting flange 3 is provided with a mounting hole II 301, a mounting hole III 302 and a connecting hole III 303, the slide rail 7 is provided with a slide way 701 and a counter sink 702, the housing 9 is provided with a camera mounting groove I901, a cavity 902, a heat dissipation groove 903, a connecting hole IV 904, a connecting hole V905, a camera mounting groove II 906 and a camera mounting groove III 907, the slide block 10 is provided with a clamping column 1001 and a connecting hole VI 1002, the mounting box 11 is provided with a connecting hole VII 1101, a polishing module mounting groove 1102, a cleaning module mounting groove 1103, a cleaning module mounting groove 1104, a connecting hole VIII 1105, a glue module mounting groove 1106 and a pasting module mounting groove 1107, the isolation plate 12 is provided with a connecting hole IX 1201, the servo electric cylinder I16 is provided with a cylinder body I1601 and an electric push rod I1602, the electric vacuum pump is characterized in that a cylinder body II 2201 and an electric push rod II 2202 are arranged on the servo electric cylinder II 22, a T-shaped groove 2601 is arranged on the mounting plate V26, a T-shaped column 2701 and a bin opening 2702 are arranged on the strain gage bin 27, a cylinder body III 2801 and an electric push rod III 2802 are arranged on the servo electric cylinder III 28, a mounting hole IV 2901 and a mounting hole V2902 are arranged on the mounting platform 29, an air hole I3101, a vent pipe 3102, an air pump box 3103, a mounting hole VI 3104 and an air outlet hole 3105 are arranged on the vacuum generator 31, a connecting hole X3201, a protruding column 3202, a mounting groove 3203 and an air hole II 3204 are arranged on the suction disc 32, an air hole 340III 1 and a connecting hole XI 3402 are arranged on the contact plate 34, a McNamel wheel is fixedly connected with the connecting flange 3 through a connecting hole III 303, the motor box I1 is arranged in the mounting hole I202 and is fixedly connected with the connecting fixing plate 2 through a bolt and the connecting hole I201, the motor box I1 is rotatably arranged in a mounting hole II 301 and fixedly connected with a connecting flange 3 through a mounting hole III 302, a shell 9 and a connecting fixing plate 2 are in bolted connection with a connecting hole II 203 through a connecting hole IV 904, a pair of Mecanum wheels A4 and a pair of Mecanum wheels B13 are respectively arranged at four corners of the shell 9 in a diagonal installation mode, a camera I6 is arranged in a camera mounting groove I901, a camera II 35 and a camera III 36 are respectively arranged in a camera mounting groove II 906 and a camera mounting groove III 907 in a symmetrical installation mode, the motor box II 5 is fixedly arranged with a sliding rail 7, the sliding rail 7 and the shell 9 are in flat-head screw connection with a connecting hole V905 through a countersunk hole 702, a clamping column 1001 is arranged in a sliding way 701, a sliding block 10 and a mounting box 11 are in bolted connection through a connecting hole VI 1002 and a connecting hole VIII 1105, and a motor box III 15 is fixedly connected with a cylinder body I1601, the grinding wheel 17 is installed on an electric push rod I1602, a servo electric cylinder I16 is fixedly connected with a mounting plate I14 to form a grinding module, the mounting plate I14 is installed in a grinding module mounting groove 1102, a mounting plate II 18 is fixedly connected with a cleaning solution liquid pump 19 to form a cleaning solution module, the mounting plate II 18 is installed in the cleaning solution module mounting groove 1103, a motor box IV 21 is fixedly connected with a cylinder II 2201, a water suction cloth wheel 23 is installed on an electric push rod II 2202, a servo electric cylinder II 22 is fixedly connected with a mounting plate III 20 to form a cleaning module, the mounting plate III 20 is installed in a cleaning module mounting groove 1104, a mounting plate IV 24 is fixedly connected with a glue liquid pump 25 to form a glue liquid module, the mounting plate IV 24 is installed in a glue liquid module mounting groove 1106, a T-shaped column 2701 is installed in a T-shaped groove 2601, a servo electric cylinder III 28 is fixedly connected with a mounting plate V26, and an electric push rod III 2802 is installed in a mounting hole IV 2901, the rotating shaft 30 is installed in the installation hole V2902, the vacuum generator 31 is fixedly connected with the rotating shaft 30 through an installation hole VI 3104, the suction cup 32 is in bolt connection with the contact plate 34 through a connection hole X3201 and a connection hole XI 3402, the protruding column 3202 is installed in the air hole I3101 to form a pasting module, and the installation plate V26 is installed in the pasting module installation groove 1107.
The working method of the invention is as follows:
inputting the path information required to walk into a main control console 8, when the robot works, avoiding obstacles through environmental information fed back by a camera I6, driving to a first appointed working position according to the inputted path information, starting a servo electric cylinder I16 to control an electric push rod I1602 to descend to the appointed position, closing the servo electric cylinder I16, starting a motor box III 15 to polish the surface of a target component by a grinding wheel 17, closing the motor box III 15 after polishing, starting the servo electric cylinder I16, returning the electric push rod I1602 to the original position, starting a motor box II 5, driving a mounting box 11 by a sliding block 10 to move along a sliding way 701, moving a cleaning solution module to a working area, closing the motor box II 5, starting a cleaning solution pump 19 to spray the surface of the target component, starting the motor box II 5, driving the mounting box 11 by the sliding block 10 to move along the sliding way 701, and moving the cleaning module to the working area, closing a motor box II 5, starting a servo electric cylinder II 22 to control an electric push rod II 2202 to descend to a specified position, closing the servo electric cylinder II 22, starting a motor IV 21 to enable a water-absorbing cloth wheel 23 to clean the surface of a target component, closing the motor box IV 21 after the cleaning work is finished, starting the servo electric cylinder II 22, returning the electric push rod II 2202 to the original position, starting the motor box II 5, driving a mounting box 11 to move along a slideway 701 by a sliding block 10 to enable a glue module to move to a working area, closing the motor box II 5, starting a glue liquid pump 25 to spray the glue liquid to the surface of the target component, driving a motor box II 5 by the sliding block 10 to enable the mounting box 11 to move along the slideway 701 to enable a sticking module to move to the working area, closing the motor box II 5, starting a suction cup 32 to align to a bin opening 2702, starting a vacuum generator 31 to absorb a strain sheet, starting a steering engine to enable the suction cup 32 to align to the surface of the target component, starting the steering engine III, starting the servo electric cylinder 28 to enable the suction cup 32 to descend, and when the pressure sensor 33 returns data to a designated value, stopping descending, pasting for 90s, starting the servo electric cylinder III 28, returning the suction cup 32 to the original position, starting the motor box II 5, moving the slide block 10 to the original position with the mounting box 11 to finish one pasting operation, driving to the next designated working position according to the input path information if the robot does not finish the pasting operation of all target points, and repeating the steps until finishing the pasting operation of all the target points. Camera II 35 and camera III 36 monitor and the record to pasting work whole journey, if produce error or work inefficacy scheduling problem in the course of the work, staff's accessible master control station 8 remote control robot stop work.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (7)
1. A full-automatic patch robot is composed of a motor box I (1), a connecting fixing plate (2), a connecting flange (3), a Mecanum wheel A (4), a motor box II (5), a camera I (6), a sliding rail (7), a main control console (8), a shell (9), a sliding block (10), a mounting box (11), an isolation plate (12), a Mecanum wheel B (13), a polishing module, a cleaning solution module, a cleaning module, a glue solution module, a pasting module, a pressure sensor (33), a contact plate (34), a camera II (35) and a camera III (36); the polishing module consists of a mounting plate I (14), a motor box III (15), a servo electric cylinder I (16) and a grinding wheel (17); the cleaning solution module consists of a mounting plate II (18) and a cleaning solution pump (19); the cleaning module consists of a mounting plate III (20), a motor box IV (21), a servo electric cylinder II (22) and a water-absorbing cloth wheel (23); the glue liquid module consists of a mounting plate IV (24) and a glue liquid pump (25); the sticking module consists of a mounting plate V (26), a strain gauge bin (27), a servo electric cylinder III (28), a mounting platform (29), a rotating shaft (30), a vacuum generator (31), a sucking disc (32) and a contact plate (34); the mounting structure is characterized in that a connecting hole I (201), a mounting hole I (202) and a connecting hole II (203) are formed in the connecting fixing plate (2), a mounting hole II (301), a mounting hole III (302) and a connecting hole III (303) are formed in the connecting flange (3), a slide rail (701) and a counter bore (702) are formed in the slide rail (7), a camera mounting groove I (901), a cavity (902), a heat dissipation groove (903), a connecting hole IV (904), a connecting hole V (905), a camera mounting groove II (906) and a camera mounting groove III (907) are formed in the shell (9), a clamping column (1001) and a connecting hole VI (1002) are arranged on the sliding block (10), and a connecting hole VII (1101), a polishing module mounting groove (1102), a cleaning solution module mounting groove (1103), a cleaning module (1104), a connecting hole (1105) and a cleaning solution mounting groove (1105), The glue liquid module mounting groove (1106) and the sticking module mounting groove (1107) are arranged on the partition plate (12), a connecting hole IX (1201) is formed, a cylinder body I (1601) and an electric push rod I (1602) are arranged on the servo electric cylinder I (16), a cylinder body II (2201) and an electric push rod II (2202) are arranged on the servo electric cylinder II (22), a T-shaped groove 2601 is formed in the mounting plate V (26), a T-shaped column (2701) and a bin opening (2702) are arranged on the strain gage bin (27), a cylinder body III (2801) and an electric push rod III (2802) are arranged on the servo electric cylinder III (28), a mounting hole IV (2901) and a mounting hole V (2902) are arranged on the mounting platform (29), an air hole I (3101), an air vent pipe (3102), an air pump box (3103), a mounting hole VI (3104) and an air outlet (3105) are arranged on the vacuum generator (31), the novel mechanical arm is characterized in that a connecting hole X (3201), a protruding cylinder (3202), a mounting groove (3203) and an air hole II (3204) are arranged on the sucking disc (32), an air hole III (3401) and a connecting hole XI (3402) are arranged on the contact plate (34), the Mecanum wheel is fixedly connected with the connecting flange (3) through a connecting hole III (303), a motor box I (1) is installed in the mounting hole I (202) and fixedly connected with a connecting fixing plate (2) through a bolt and a connecting hole I (201), a rotating shaft of the motor box I (1) is installed in the mounting hole II (301) and fixedly connected with the connecting flange (3) through a mounting hole III (302), the shell (9) and the connecting fixing plate (2) are in bolt connection with the connecting hole II (203) through a connecting hole IV (904), a pair of Mecanum wheels A (4) and a pair of Mecanum wheels B (13) are respectively installed at four corners of the shell (9) in a diagonal installation mode, the camera I (6) is arranged in a camera mounting groove I (901), the camera II (35) and the camera III (36) are respectively arranged in a camera mounting groove II (906) and a camera mounting groove III (907) in a symmetrical mounting mode, the motor box II (5) is fixedly arranged with a sliding rail (7), the sliding rail (7) and a shell (9) are in flat head screw connection with a connecting hole V (905) through a countersunk hole (702), a clamping column (1001) is arranged in a sliding way (701), a sliding block (10) and a mounting box (11) are in bolt connection with a connecting hole VI (1002) and a connecting hole VIII (1105) through a connecting hole VI (1002), the motor box III (15) is fixedly connected with a cylinder body I (1601), a grinding wheel (17) is arranged on an electric push rod I (1602), a servo electric cylinder I (16) is fixedly connected with a mounting plate I (14), a grinding module is formed, the mounting plate I (14) is arranged in a grinding module mounting groove (1102), mounting plate II (18) and cleaning solution liquid pump (19) fixed connection, constitute the cleaning solution module, mounting plate II (18) is installed in cleaning solution module mounting groove (1103), motor box IV (21) and cylinder body II (2201) fixed connection, absorb water cloth wheel (23) is installed on electric putter II (2202), servo electric cylinder II (22) and mounting plate III (20) fixed connection, constitute cleaning module, mounting plate III (20) is installed in cleaning module mounting groove (1104), mounting plate IV (24) and glue liquid pump (25) fixed connection, constitute the glue liquid module, mounting plate IV (24) is installed in glue liquid module mounting groove (1106), T-shaped post (2701) is installed in T-shaped groove (2601), servo electric cylinder III (28) and mounting plate V (26) fixed connection, electric putter III (2802) is installed in mounting hole IV (2901), pivot (30) is installed in mounting hole (2902), the vacuum generator (31) is fixedly connected with the rotating shaft (30) through a mounting hole VI (3104), the sucker (32) is in bolt connection with the contact plate (34) through a connecting hole X (3201) and a connecting hole XI (3402), the protruding cylinder (3202) is mounted in the air hole I (3101) to form a pasting module, and the mounting plate V (26) is mounted in the pasting module mounting groove (1107).
2. The full-automatic patch robot according to claim 1, wherein: a path planning module, a control module, a data input and output module and a power module are arranged in the main control console (8), and the action of the robot is controlled through the main control console (8), so that the robot can avoid obstacles to run to a specified position to complete patch pasting work.
3. The full-automatic patch robot according to claim 1, characterized in that: be provided with cavity (902) and radiating groove (903) on shell (9), cavity (902) are used for providing the space for installation slide rail (7), and radiating groove (903) are used for shell (9) heat dissipation and subtract heavy.
4. The full-automatic patch robot according to claim 1, wherein: the slide rail (7) is provided with a slide way (701) and a counter bore (702), the slide way (701) is used for installing the slide block (10), and the slide way (701) limits the stroke of the slide block (10) so that the slide block (10) can move in a specified range.
5. The full-automatic patch robot according to claim 1, wherein: a steering engine is arranged in the rotating shaft (30), and the steering engine is started once to control the rotating shaft (30) to drive the vacuum generator (31) and the sucker (32) to rotate for 180 degrees.
6. The full-automatic patch robot according to claim 1, wherein: be provided with mounting groove (3203) and gas pocket II (3204) on sucking disc (32), mounting groove (3203) are used for installing pressure sensor (33), and gas pocket II (3204) are used for adsorbing and release foil gage.
7. A method of a fully automatic patch robot according to any of claims 1-6, characterized by comprising the steps of:
s1: the path information required to walk is input into a main control console (8), the robot avoids obstacles through the environmental information fed back by a camera I (6), is controlled by the main control console (8), and travels to a first designated working position according to the input path information;
s2: starting a servo electric cylinder I (16) to control an electric push rod I (1602) to descend to a specified position; closing the servo electric cylinder I (16), starting the motor box III (15) to enable the grinding wheel (17) to grind the surface of the target component, closing the motor box III (15) after grinding operation to start the servo electric cylinder I (16), and returning the electric push rod I (1602) to the original position;
s3: starting a motor box II (5), driving a mounting box (11) to move along a slide way (701) by a slide block (10), moving a cleaning solution module to a working area, closing the motor box II (5), starting a cleaning solution pump (19), and spraying the cleaning solution on the surface of a target component;
s4: starting a motor box II (5), driving a mounting box (11) to move along a slide way (701) by a slide block (10), moving a cleaning module to a working area, closing the motor box II (5), and starting a servo electric cylinder II (22) to control an electric push rod II (2202) to fall to a specified position; the servo electric cylinder II (22) is closed, the motor IV (21) is started to enable the water absorbing cloth wheel (23) to clean the surface of the target component, the motor box IV (21) is closed after the cleaning work is finished, the servo electric cylinder II (22) is started, and the electric push rod II (2202) returns to the original position;
s5: starting a motor box II (5), driving a mounting box (11) to move along a slide way (701) by a sliding block (10) so as to move a glue module to a working area, closing the motor box II (5), starting a glue liquid pump (25) and spraying glue liquid on the surface of a target component;
s6: starting a motor box II (5), driving a mounting box (11) to move along a slide way (701) by a sliding block (10), moving a pasting module to a working area, closing the motor box II (5), starting a steering engine to enable a sucker (32) to be aligned to a bin opening (2702), starting a vacuum generator (31) to absorb a strain gauge, starting the steering engine to enable the sucker (32) to be aligned to the surface of a target component, starting a servo electric cylinder III (28) to enable the sucker (32) to descend, stopping descending when data transmitted by a pressure sensor (33) reach a specified value, pasting for 90s, starting the servo electric cylinder III (28), enabling the sucker (32) to return to the original position, starting the motor box II (5), driving the mounting box (11) by the sliding block (10) to the original position, and finishing one-time pasting work;
s7: if the robot does not finish the patch work of all target points, the robot drives to the next designated working position according to the input path information, the steps from S2 to S6 are repeated until the patch work of all the target points is finished, the whole process of the patch work is monitored and recorded by the camera II (35) and the camera III (36), and if errors or work failure and other problems occur in the working process, a worker can remotely control the robot to stop working through the main control console (8).
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