CN115401461A - Industrial robot end effector based on drilling, riveting and milling integration - Google Patents
Industrial robot end effector based on drilling, riveting and milling integration Download PDFInfo
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- CN115401461A CN115401461A CN202210914930.2A CN202210914930A CN115401461A CN 115401461 A CN115401461 A CN 115401461A CN 202210914930 A CN202210914930 A CN 202210914930A CN 115401461 A CN115401461 A CN 115401461A
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- 238000005553 drilling Methods 0.000 title claims abstract description 23
- 239000012636 effector Substances 0.000 title claims abstract description 20
- 238000003801 milling Methods 0.000 title claims abstract description 16
- 230000010354 integration Effects 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 35
- 239000000428 dust Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000007664 blowing Methods 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 31
- 238000005516 engineering process Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
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- 238000012545 processing Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 239000002648 laminated material Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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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
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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
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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
- B25J11/0055—Cutting
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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
- B25J11/007—Riveting
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Abstract
The invention discloses an industrial robot end effector based on drilling, riveting and milling integration, which comprises: set up in the terminal integrated main shaft system of modularization of industrial robot, machine vision benchmark hole site detecting system, normal direction alignment pressure foot system, insert the nail and send the nail system, the riveting system, normal direction alignment pressure foot system sets up in industrial robot terminal foremost, the center of the integrated main shaft system of modularization and the center of normal direction alignment pressure foot system are located same axis, the side of the integrated main shaft system of modularization is equipped with machine vision benchmark hole site detecting system in proper order, riveting system and insert the nail and send the nail system, vision benchmark hole site detecting system, the riveting system all is located same horizontal plane with the integrated main shaft system of modularization, vision benchmark hole site detecting system, the riveting system all is connected with servo motor with the integrated main shaft system of modularization, riveting system and insert the nail and send the nail headtotail. The industrial robot end effector has the characteristics of high modularization degree and high control reliability.
Description
Technical Field
The invention relates to the technical field of end effectors, in particular to an industrial robot end effector based on drilling, riveting and milling integration.
Background
The aerospace equipment manufacturing industry is the basic industry of high-tech struts and has the characteristics of dense knowledge and technology, complex system, high quality reliability requirement and the like. The 'industrial 4.0' wave in the comparatively large environment of aerospace manufacturing enterprises in China has a large gap, which is mainly expressed in the following two aspects: the manufacturing technology is weak in foundation, advanced manufacturing technology is not sufficient in research and application, and the overall process level is not high. Aerospace manufacturing enterprises always follow a production mode mainly based on development, single-piece production and small-batch production, the manufacturing technical capacity and level are in the leading position in certain single aspects, but the overall technical level is still not high; the manufacturing equipment has low flexibility and intelligence degree, and a large number of special tools and clamps are adopted, so that the method is difficult to adapt to the characteristics of various aerospace products in small batch, the production cost of an enterprise is increased, the production efficiency of the enterprise is reduced, and the development of the aerospace equipment manufacturing industry is restricted.
The aerospace equipment manufacturing is an important component of the manufacturing industry in China, the requirements on the advancement, the intellectualization and the reliability of the manufacturing technology are particularly critical, and the development of the aerospace equipment can also greatly promote the development of the manufacturing industry. The intelligent manufacturing is used as a new manufacturing mode and technology, can provide a new solution for manufacturing high-quality complex parts, and is more suitable for the production requirement of multiple varieties of small-batch products. The intelligent manufacturing can utilize the robot technology, the sensing technology and the intelligent technology to realize the unmanned manufacturing process and improve the production efficiency and the reliability of products.
In recent years, robot hammer riveting has become a hotspot of research of scholars at home and abroad, and numerous scholars and experts at home and abroad analyze the influence of robot hammer riveting vibration on riveting quality, and point out that in the robot hammer riveting process, technological parameters are optimized, so that the vibration frequency is prevented from being close to the natural frequency of the robot, the posture of the robot is reasonably planned, and the robot hammer riveting quality is further improved. Another study was conducted by researchers on the accessibility of robot rivet-hammering tools and path planning for obstacle avoidance when robots are applied to a typical scenario (beam-rib combination) in aerospace manufacturing and assembly.
Disclosure of Invention
Based on the technical scheme, the invention provides the drilling, riveting and milling integration-based industrial robot end effector which has the characteristics of high modularization degree and high control reliability.
In order to achieve the purpose, the invention adopts the following technical scheme: an industrial robot end effector based on drilling, riveting and milling integration comprises: the system comprises a modularized integrated main shaft system, a machine vision reference hole site detection system, a normal alignment pressure foot system, a plug pin feeding system and a riveting system, wherein the modularized integrated main shaft system, the machine vision reference hole site detection system, the normal alignment pressure foot system, the plug pin feeding system and the riveting system are arranged at the tail end of the industrial robot, the normal alignment pressure foot system is arranged at the foremost end of the tail end of the industrial robot, the center of the modularized integrated main shaft system and the center of the normal alignment pressure foot system are located on the same axis, the machine vision reference hole site detection system, the riveting system and the plug pin feeding system are sequentially arranged on the side edge of the modularized integrated main shaft system, the vision reference hole site detection system and the riveting system are located on the same horizontal plane with the modularized integrated main shaft system, the vision reference hole site detection system and the riveting system are connected with the modularized integrated main shaft system, and the riveting system is connected with the plug pin feeding system.
Further, the normal alignment pressure foot system comprises: controller, shell and set up force sensor, pressure angle nose point, dust absorption passageway, the automatic bits device that removes, alignment governing system in the shell, alignment governing system sets up in the rear of pressure angle nose point, force sensor sets up in alignment governing system's rear, the controller is connected with force sensor, alignment governing system respectively, the pressure angle nose point contacts with the machined part, be equipped with the hole in the pressure angle nose point, the hole is connected with dust absorption passageway, dust absorption passageway is connected with the automatic bits device that removes.
Further, the machine vision reference hole position detection system comprises: the frame, camera and optical lens constitute, be equipped with the camera in the frame, the front end of camera is equipped with optical lens, be equipped with the recess on the frame, through slide rail and industrial robot end-to-end connection.
Further, the modular integrated spindle system comprises: the feeding servo is connected with the electric main shaft through a lead screw, the electric main shaft is arranged on the feeding sliding table, the tool handle is arranged on the electric main shaft, the tool is arranged on the tool handle, and the limit switch is arranged below the electric main shaft; and the limit switch and the feeding servo are connected with a PLC control system.
Further, still include cutter detecting system, cutter detecting system comprises correlation photoelectric switch, alarm module, correlation photoelectric switch sets up on industrial robot terminal, and is relative with the integrated main shaft system of modularization, alarm module sets up on industrial robot terminal, correlation photoelectric switch, alarm module all are connected with PLC control system.
Further, the plug pin nail feeding system comprises: store up nail device, rivet sucking disc, rivet, gas blowing device, blow and bind the device, store up the nail device and set up on industrial robot tip, be equipped with the rivet among the nail device of storing up, the rivet passes through gas blowing device and is connected with blowing the nail device, blow and bind the device and rivet system connection.
Further, the riveting system comprises: the rivet hammer comprises a rivet hammer gun, an air hammer support, a hammer riveting rod, a hammer riveting driving device, a rivet head and a rivet selecting mechanism, wherein the hammer riveting gun and the hammer riveting rod are connected through the air hammer support, the hammer riveting gun and the air hammer support are arranged on the hammer riveting driving device, the hammer riveting driving device is connected with the tail end of the industrial robot in a sliding mode, the other end of the hammer riveting rod is connected with the rivet head, the rivet head is connected with the rivet selecting mechanism, and the rivet selecting mechanism is connected with the tail end of the industrial robot.
Compared with the prior art, the invention has the following beneficial effects: the drilling, riveting and milling integrated industrial robot end effector integrates a machine vision reference hole site detection system, a normal alignment pressure foot system, a nail inserting and feeding system and a riveting system, so that the requirement that one device finishes multiple functions is met, the production efficiency is improved, and the production automation is realized; the automatic scrap removing device is arranged in the normal alignment pressure foot system, so that the problem of cleanness of a production field in the machining process can be solved, and machining scraps are prevented from splashing; the inserted rivet feeding system can realize the conveying of rivets with different specifications, improves the compatibility and meets the requirements of different working conditions.
Drawings
FIG. 1 is a schematic structural diagram of an industrial robot end effector based on drilling, riveting and milling integration;
FIG. 2 is a schematic structural view of a normal alignment pressure foot system according to the present invention;
FIG. 3 is a schematic structural diagram of a machine vision reference hole site detection system according to the present invention;
FIG. 4 is a schematic structural diagram of a modular integrated spindle system according to the present invention;
fig. 5 is a schematic view of the air hammer riveting system according to the present invention.
Detailed Description
The technical solution of the present invention is further explained below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an industrial robot end effector based on drilling, riveting and milling integration, which has the functions of reference detection, normal alignment, automatic drilling, dimple facing and air hammer riveting, and comprises: the device comprises a modularized integrated main shaft system 1, a machine vision reference hole site detection system 2, a normal alignment pressure foot system 3, a plug pin feeding system 4 and a riveting system 5, wherein the modularized integrated main shaft system 1, the machine vision reference hole site detection system 2, the normal alignment pressure foot system 3, the plug pin feeding system 4 and the riveting system 5 are arranged at the tail end of the industrial robot; the center of the modularized integrated spindle system 1 and the center of the normal alignment pressure foot system 3 are positioned on the same axis, and the modularized integrated spindle system 1 is a main executing mechanism for drilling; a machine vision reference hole site detection system 2, a riveting system 5 and a plug pin feeding system 4 are sequentially arranged on the side edge of the modular integrated spindle system 1, the machine vision reference hole site detection system 2 and the riveting system 5 are both located on the same horizontal plane with the modular integrated spindle system 1, the machine vision reference hole site detection system 2 and the riveting system 5 are both connected with a servo motor together with the modular integrated spindle system 1, the machine vision reference hole site detection system 2 and the riveting system 5 are driven by the servo motor to horizontally move in the horizontal and vertical directions together with the modular integrated spindle system 1, and the riveting system 5 is connected with the plug pin feeding system 4; the machine vision reference hole site detection system 1 is mainly used for detecting a reference hole, the riveting system 5 is mainly used for riveting a rivet on a workpiece, and the inserted pin feeding system 4 is mainly used for feeding the rivet into the riveting system 5. The industrial robot end effector can realize the functions of drilling and riveting, detection and the like, and comprises the following components: pressure foot compaction, feed control, main shaft speed change, cutter detection, dimple depth detection and the like.
Referring to fig. 2, the normal alignment pressure foot system 3 of the present invention includes: the automatic scrap removing device comprises a controller, a shell 31, a force sensor 32, a pressure angle nose tip 33, a dust suction channel 34, an automatic scrap removing device and an alignment adjusting system 35, wherein the force sensor 32, the pressure angle nose tip 33, the dust suction channel 34, the automatic scrap removing device and the alignment adjusting system 35 are arranged in the shell 31, the alignment adjusting system 35 is arranged behind the pressure angle nose tip 33, the force sensor 32 is arranged behind the alignment adjusting system 35, the controller is respectively connected with the force sensor 32 and the alignment adjusting system 35, the pressure angle nose tip 33 is in contact with a workpiece, an inner hole is formed in the pressure angle nose tip 33 and is connected with the dust suction channel 34, the dust suction channel 34 is connected with the automatic scrap removing device, and the dust suction channel 34 is a channel for discharging scraps and then enters the scrap collecting device. The force sensor 32 is used for measuring whether the uniformity of the force in each direction on the pressure angle nose tip 33 is consistent, if the force is inconsistent, the position is adjusted through the alignment adjusting system 35, so that the force in each direction measured by the force sensor 32 is the same. The normal alignment pressure foot system 3 has an automatic normal alignment function, so that the axis of a cutter is vertical to a processing surface, and the normal alignment pressure foot system 3 has a protection function, so that the pressure foot system is prevented from generating displacement to damage a product after the product is compressed. During hole making, the hole position and the hole normal direction are automatically determined, the adjusting precision is less than or equal to 0.25 degrees, the adjusting angle range is +/-3 degrees, and the hole normal direction automatic calibration function is realized. The pressing force of the normal alignment pressure foot system on the surface of the workpiece can reduce interlayer gaps, increase the rigidity in the hole making process and improve the hole making quality.
Because errors exist in the manufacturing and assembling processes of the workpiece, the deviation exists between the hole site to be processed and the theoretical digital analog, and the system needs to photograph the reference hole on the workpiece before processing, so that the hole site information of the theoretical digital analog is corrected; the datum finding is an important link in automatic hole making by a robot, and the link directly influences the position precision in the whole hole making process. The task of the reference detection is to detect the actual position of the reference hole under the product coordinate system, correct the deviation between the actual position and the theoretical position, and then control the industrial robot to perform hole making according to the position of the hole to be processed in the digifax. Referring to fig. 3, the system 2 for detecting a reference hole position in machine vision according to the present invention comprises: frame 21, camera 22 and optical lens 23 constitute, are equipped with camera 22 in the frame 21, and camera 22's front end is equipped with optical lens 23, is equipped with the recess on the frame 21, through slide rail and industrial robot end connection. According to the invention, the camera 22 can realize automatic detection of a tool reference and a product reference, and according to reference detection information, the extraction of a processing reference coordinate is realized by combining position and posture information of an industrial robot, so that the position of a reference point on a workpiece is accurately measured, the automatic alignment error of a reference hole is ensured to be less than or equal to 0.05mm, and the error compensation function is realized. The machine vision reference hole site detection system can detect functions of round holes, cylindrical nail caps, edges and the like.
As shown in fig. 4, the modular integrated spindle system 1 of the present invention includes: the electric spindle is 11, a cutter 12, a cutter handle, a feeding sliding table 13, a limit switch 14, a feeding servo 15 and a PLC control system, wherein the feeding servo 13 is connected with the electric spindle 11 through a lead screw, the feeding servo 13 is mainly used for driving the electric spindle 11 to perform feeding movement, and the corresponding movement performed by the feeding servo 13 is matched with a grating ruler to realize high-precision positioning; the electric spindle 11 is arranged on the feeding sliding table 13, the tool shank is arranged on the electric spindle 11, and the tool 12 is arranged on the tool shank, so that the installation of the corresponding tool can be selected according to the size of a drilled hole; a limit switch 14 is arranged below the electric spindle 11 to perform soft limit on the moving feed of the electric spindle 11; the limit switch 14 and the feeding servo 13 are both connected with a PLC control system. The modularized integrated spindle system adopts a standardized SMFEE production technology, is modularized and quickly assembled and disassembled, and greatly improves the integration efficiency and reliability. Specifically, after the pressure foot compresses tightly the work piece and receives PLC control system's drilling signal, PLC control system control feeds servo 13 and drives electric main shaft 11 and rotate to drive cutter 12 and feed, automatic chip removal device opens simultaneously, absorbs the sweeps that the drilling process produced. When the rivet hole is to be drilled through, the PLC control system controls the feeding servo 13, so that the feeding speed of the electric main shaft 11 is adjusted, the axial force of the drill bit is controlled, burrs at the outlet of the rivet are reduced, and the quality of the rivet hole is improved. And then the feeding servo 13 controls the drilling, reaming and reaming integrated cutter to continue feeding, the reaming section of the cutter works, after the reaming work is finished, the feeding servo 13 feeds again, and the reaming section of the cutter works to finish the reaming process. In the dimple processing, the feed sensor of the electric spindle 11 accurately detects the feed quantity of the electric spindle 11 and feeds the feed quantity back to the control unit, so that the feed quantity of the spindle dimple is accurately controlled, and the dimple depth performance index is ensured. When the hole is made, the cutting force, the cutting power, the main shaft torque, the main shaft rotating speed, the feeding speed and the like are displayed synchronously.
The electric main shaft 11 of the invention adopts an aeronautical processing high-precision electric main shaft which is a Fischer main shaft of the international first-line brand, a cutter tail handle adopts a standard HSK series, the torque of the main shaft is 10 N.m, the maximum rotating speed of the main shaft is 24000r/min, the power of the main shaft is more than or equal to 15kW, the radial runout of the electric main shaft is 0.005mm, the axial runout of the electric main shaft is less than or equal to 0.003mm, and the feeding stroke of the electric main shaft is as follows: 150mm; the outside has lubricating and protective measures. Hole making efficiency: on a standard test piece of 6mm of aluminum alloy laminated material, when the diameter of a fastener is 3.5mm, the hole making speed of a single automatic hole making device is more than or equal to 6/min; the radial runout of the end face of the main shaft is 0.005mm and the axial runout is less than or equal to 0.003mm in any state, and the positioning precision standard is ISO230-2-1997. The feeding positioning precision of the electric spindle is less than or equal to 0.01mm, and the drilling spindle circularly jumps: 0.005mm, aperture accuracy H7. The electric spindle is cooled in a water cooling mode, and has the functions of automatic lubrication and temperature abnormity warning; the drill bit has the function of cooling the drill bit, and a lubricant recovery device is arranged to avoid polluting products; the tool is provided with a tool mounting device, so that the tool is convenient to mount and the like.
The modularized integrated spindle system also comprises a cutter detection system, wherein the cutter detection system consists of a correlation photoelectric switch and an alarm module, the correlation photoelectric switch is arranged on the tail end of the industrial robot and is opposite to the modularized integrated spindle system, the alarm module is arranged on the tail end of the industrial robot, and the correlation photoelectric switch and the alarm module are connected with the PLC control system. According to the invention, the cutter detection system irradiates the cutter through the correlation photoelectric switch, if the machining cutter is broken, the correlation photoelectric switch transmits an abnormal signal to the PLC control system, and the PLC control system triggers the alarm module to perform early warning.
The invention discloses a plug pin and feed system, which comprises: store up nail device, rivet sucking disc, rivet, blow the nail device, store up the nail device and set up on industrial robot terminal, store up and be equipped with the rivet in the nail device, the rivet passes through the rivet sucking disc and blows the nail device and be connected, blows the nail device and is connected with riveting system. The rivet in the rivet storage device is sucked by the rivet sucking disc and sent into the rivet blowing device, so that the rivet enters the riveting system for riveting.
As shown in fig. 5, the riveting system 5 of the present invention comprises: the riveting system comprises a riveting hammer gun 51, an air hammer support 52, a riveting hammer rod 53, a riveting hammer driving device 54, a riveting hammer head 55 and a rivet selecting mechanism 56, wherein one end of the riveting hammer gun 51 is connected with one end of the riveting hammer rod 53 through the air hammer support 52, the riveting hammer gun 51 and the riveting hammer support 52 are both arranged on the riveting hammer driving device 54, the riveting hammer driving device 54 is in sliding connection with the tail end of the industrial robot, and the riveting hammer driving device 54 is driven by the riveting system 5 to move on the tail end of the industrial robot; the other end of the hammer riveting rod 53 is connected with a rivet hammer head 55, the rivet hammer head 55 is connected with a rivet selecting mechanism 56, and the rivet selecting mechanism 56 is connected with the tail end of the industrial robot. The rivet selecting mechanism 56 is connected with the rivet blowing device, and feeds the rivet into the hammer riveting hammer head 55, and the hammer riveting gun 51 drives the hammer riveting rod 53 to reciprocate to impact the rivet.
The drilling, riveting and milling integrated industrial robot end effector integrates a machine vision reference hole site detection system, a normal alignment pressure foot system, a nail inserting and feeding system and a riveting system, meets the requirement that one device finishes multiple functions, improves the production efficiency and realizes the production automation.
The above is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, and any technical solutions that fall under the spirit of the present invention fall within the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (7)
1. The utility model provides an industrial robot end effector based on bore rivet mill integration which characterized in that includes: the hole site detection system comprises a modularized integrated main shaft system (1), a machine vision reference hole site detection system (2), a normal alignment pressure foot system (3), a plug pin nail feeding system (4) and a riveting system (5) which are arranged at the tail end of an industrial robot, wherein the normal alignment pressure foot system (3) is arranged at the most front end of the tail end of the industrial robot, the center of the modularized integrated main shaft system (1) and the center of the normal alignment pressure foot system (3) are located on the same axis, the side edge of the modularized integrated main shaft system (1) is sequentially provided with the machine vision reference hole site detection system (2), the riveting system (5) and the plug pin nail feeding system (4), the machine vision reference hole site detection system (2) and the riveting system (5) are located on the same horizontal plane with the modularized integrated main shaft system (1), the machine vision reference hole site detection system (2) and the riveting system (5) are connected with the modularized integrated main shaft system (1) through servo motors, and the riveting system (5) and the plug pin nail feeding system (4) are connected.
2. An industrial robot end effector based on drilling, riveting and milling integration according to claim 1, characterized in that the normal alignment pressure foot system (3) comprises: controller, shell (31) and set up force sensor (32), pressure angle nose point (33), dust absorption passageway (34), the automatic bits device that removes, alignment governing system (35) in shell (31), alignment governing system (35) sets up in the rear of pressure angle nose point (33), force sensor (32) set up in the rear of alignment governing system (35), the controller is connected with force sensor (32), alignment governing system (35) respectively, pressure angle nose point (33) contact with the machined part, be equipped with the hole in pressure angle nose point (33), the hole is connected with dust absorption passageway (34), dust absorption passageway (34) are connected with the automatic bits device that removes.
3. A drilling, riveting and milling integration based industrial robot end effector according to claim 1, characterized in that the machine vision reference hole position detection system (2) comprises: frame (21), camera (22) and optical lens (23) are constituteed, be equipped with camera (22) in frame (21), the front end of camera (22) is equipped with optical lens (23), be equipped with the recess on frame (21), through slide rail and industrial robot end-to-end connection.
4. A drilling, riveting and milling integration based industrial robot end effector according to claim 1, characterized in that the modular integrated spindle system (1) comprises: the electric spindle is characterized by comprising an electric spindle (11), a cutter (12), a cutter handle, a feeding sliding table (13), a limit switch (14), a feeding servo (15) and a PLC (programmable logic controller) control system, wherein the feeding servo (15) is connected with the electric spindle (11) through a lead screw, the electric spindle (11) is arranged on the feeding sliding table (13), the cutter handle is arranged on the electric spindle (11), the cutter (12) is arranged on the cutter handle, and the limit switch (14) is arranged below the electric spindle (11); and the limit switch (14) and the feeding servo (15) are connected with a PLC control system.
5. The industrial robot end effector based on drilling, riveting and milling integration is characterized by further comprising a tool detection system, wherein the tool detection system is composed of an opposite photoelectric switch and an alarm module, the opposite photoelectric switch is arranged on the end of the industrial robot and is opposite to the modularized integrated spindle system, the alarm module is arranged on the end of the industrial robot, and the opposite photoelectric switch and the alarm module are connected with a PLC control system.
6. The drilling, riveting and milling integrated industrial robot end effector as claimed in claim 1, wherein the inserted nail feeding system comprises: store up nail device, rivet sucking disc, rivet, gas blowing device, blow and bind the device, store up the nail device and set up on industrial robot tip, be equipped with the rivet among the nail device of storing up, the rivet passes through gas blowing device and is connected with blowing the nail device, blow and bind the device and rivet system connection.
7. A drilling, riveting and milling integration based industrial robot end effector according to claim 1, characterized in that the riveting system (5) comprises: the rivet hammer comprises a rivet hammer gun (51), an air hammer support (52), a rivet hammer rod (53), a rivet hammer driving device (54), a rivet hammer head (55) and a rivet selecting mechanism (56), wherein one ends of the rivet hammer gun (51) and the rivet hammer rod (53) are connected through the air hammer support (52), the rivet hammer gun (51) and the air hammer support (52) are arranged on the rivet hammer driving device (54), the rivet hammer driving device (54) is connected with the tail end of the industrial robot in a sliding mode, the other end of the rivet hammer rod (53) is connected with the rivet hammer head (55), the rivet hammer head (55) is connected with the rivet selecting mechanism (56), and the rivet selecting mechanism (56) is connected with the tail end of the industrial robot.
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| CN202210914930.2A CN115401461A (en) | 2022-07-29 | 2022-07-29 | Industrial robot end effector based on drilling, riveting and milling integration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115771152A (en) * | 2022-12-07 | 2023-03-10 | 大连四达高技术发展有限公司 | Double-robot mirror image drilling and riveting system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4039480A1 (en) * | 1990-12-11 | 1992-06-25 | Fraunhofer Ges Forschung | Industrial robot for disassembly or releasing of connections between elements - uses programmed drive for selection of tools and position control |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| CN107020528A (en) * | 2017-04-13 | 2017-08-08 | 南京航空航天大学 | A kind of pressure foot of automatic drill-rivet end effector device of integrated normal direction centering function |
| CN108015312A (en) * | 2017-10-27 | 2018-05-11 | 上海拓璞数控科技股份有限公司 | For robot high accuracy drilling and the end effector and measuring method of counter boring |
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2022
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| DE4039480A1 (en) * | 1990-12-11 | 1992-06-25 | Fraunhofer Ges Forschung | Industrial robot for disassembly or releasing of connections between elements - uses programmed drive for selection of tools and position control |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| CN107020528A (en) * | 2017-04-13 | 2017-08-08 | 南京航空航天大学 | A kind of pressure foot of automatic drill-rivet end effector device of integrated normal direction centering function |
| CN108015312A (en) * | 2017-10-27 | 2018-05-11 | 上海拓璞数控科技股份有限公司 | For robot high accuracy drilling and the end effector and measuring method of counter boring |
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| CN115771152A (en) * | 2022-12-07 | 2023-03-10 | 大连四达高技术发展有限公司 | Double-robot mirror image drilling and riveting system |
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