CN2548766Y

CN2548766Y - Polishing robot

Info

Publication number: CN2548766Y
Application number: CN 02267889
Authority: CN
Inventors: 关多友
Original assignee: University of Jinan
Current assignee: Jinan University; University of Jinan
Priority date: 2002-06-27
Filing date: 2002-06-27
Publication date: 2003-05-07
Anticipated expiration: 2012-06-27

Abstract

The utility model discloses an intelligent robot which can accomplish the polishing task on the larger metal space surface, consisting of a detection system, a control system, a driving system and an executive mechanism. The executive mechanism is a prosthetic manipulator composed of a vertical shaft, a large arm, a small arm and an self-adaptability flexible hand. The real-time control system chooses the best motion scheme according to the information the detection system provides and the task the real-time control system undertakes, and sends orders to the driving system to drive the vertical shaft, the large arm and the small arm acting serially; the self-adaptability flexible hand accomplishes the polishing task on the space surface under the magnetic force and the actions of the prosthetic manipulator.

Description

The polishing machine people

The utility model relates to a kind of at big three dimensions, finishes the Intelligent robot of polishing task on the space curved surface that metal is done.It is used for the diel surface finish at various automobiles and train housing, is used in the various automobiles and the polishing of train surface of shell of having smeared putty.

The diel surface finish of various automobiles and train housing, the polishing of having smeared the various automobiles and the train surface of shell of putty all is that the workman uses the simple tools manual operations now.Like this, not only working strength of workers is big, and long construction period, workpiece quality are difficult to guarantee, and processing work cost height, and the workpiece quality instability influences model change, influences the market competitiveness of product on market.

Existing Digit Control Machine Tool that can the processing space curved surface, they all are to be driven respectively by several motors that ball-screw is with different motion state rotations separately, the cutter under their control is just realized processing space curved surface task.Because the manufacturing process of leading screw decision leading screw can not be oversize.As remove the support section of leading screw, remove the shared space of slip crate of mounting cutter, in fact cutter movably distance (being the cutter working space) be limited, but so the cutter processing work just can not be too big.That is to say that space curved surface big as car crust, train housing polishes, can't realize with existing Digit Control Machine Tool principle and structural design.

The purpose of this utility model is to overcome above-mentioned shortcoming, provide that a kind of simple in structure, flexible movements, adaptability are strong, the cost of reliable operation, machining accuracy height and machine itself is low, can polish the Intelligent robot of task on the bigger space curved surface that metal is done.

For reaching this purpose, the utility model intelligent polishing machine people be made up of detection system, control system, drive system, executing agency.Detection system comprises: near the detection of environment hand when the local macroshape detection of workpiece to be machined and work; The detection of the position of hand, attitude, kinematic parameter (speed, acceleration), kinetic parameter (working resistance); Position, kinematic parameter (angular speed, the angular acceleration) kinetic parameter (driving moment) of vertical shaft, big arm and forearm.Local macroshape detects two kinds: the one, record magnetic force by being contained in the several position magnetometric sensor that is connected with palm, and be converted into relative position coordinates then with respect to reference planes; The 2nd, by the touch sensor that is contained in the several position that is connected with palm, the relative position coordinates that records with respect to reference planes.Reference planes are parallel with the palm bottom surface, are connected with palm all the time, all the time the imaginary plane that moves with palm.Several relative position coordinates obtain the local curve form with respect to the workpiece to be machined of these reference planes after data are handled.The position of vertical shaft, big arm and forearm, kinematic parameter (angular speed, angular acceleration) kinetic parameter (driving moment), their detection all are to measure by foil gauge.The information that said detecting system provides is the foundation that real-time control system is selected the optimal movement scheme.The attitude of hand is to be realized automatically by the flexible hand of adaptivity.

Real-time control system is made up of the two large divisions: the one, and for realizing hand precalculated position and motion state thereof and satisfy hand precalculated position precision reliability, the institute of the necessary position of each joint variable, motion state and essential drive system precision might scheme; The 2nd, take all factors into consideration structure, positional precision reliability, drive system precision, various additional dynamic loads etc., the preferred part of selection optimal movement scheme.

Executing agency is made up of vertical shaft, big arm, forearm and the flexible hand of adaptivity, and big revolution of arm center is variable articulated manipulator.The effect of vertical shaft and people's waist are very similar, but the original place rotate, big revolution of arm center, the forearm centre of gyration are very similar with people's shoulder joint, elbow joint respectively, they all are that cylindrical hinge connects.Vertical shaft, big arm and forearm three-shaft linkage hand just can be realized the three-dimensional space curved surface motion.The advantage of articulated manipulator is that simple in structure, flexible movements, adaptability are strong; Maximum deficiency is that its hand work rigidity is poor, particularly working as hand arrives than large space work, movement velocity is when very fast, the inertia force of the gravity of its big arm and forearm, hand working resistance and movement parts all can produce in various degree influence to hand work rigidity, even makes the robot cisco unity malfunction.The utility model patent---polishing machine people's hand will be to going work than large space.How to guarantee the necessary work rigidity of hand, just this patent key problem in technology that will solve.The target that this patent is selected is to polish on ready-made metal surface and the metal cutting comparison, and it is smaller polishing required working resistance.The speed that hand moves in the polishing is also lower, and consequent inertia is very little.Structurally, each joint is all formed with permanent-magnet type direct current torque motor and magnetic force jaw clutch; Big arm and forearm all are the hollow shell structures that adopt the aluminium alloy manufacturing of very light in weight, the length of simultaneously big arm and forearm is selected to reduce as far as possible, vertical shaft, big arm and forearm three-shaft linkage just satisfy the needs of hand three-dimensional space curved surface motion, and the hand working space is realized by adjusting big revolution of arm center.Big revolution of arm center can be moved at the both direction on a plane, and big as required revolution of arm center moves to the precalculated position during work.The adjustment of big revolution of arm center and motion state not only can increase the hand working space, and can change the hand exercise state, reduces the disadvantageous various additional dynamic loads of robot work.Thereby making the inertia force of each member in the motion and gravity is minimum to the influence of hand work rigidity.The more important thing is and adopt the flexible hand of adaptivity that make hand emery wheel being pressed on the metal surface tightly under the magnetic field force effect that hand magnetic pressure bar produces, the rotation of vertical shaft, big arm and forearm just overcomes smaller horizontal magnetic force.The flexible hand of adaptivity that hand is made up of palm, polishing wheel, magnetic force depression bar, magnetometric sensor, gentle type tissue.Circumference is the polishing wheel of sphere and the stator of separately-loaded permanent-magnet type direct current torque motor is connected, the rotor and the palm of this motor are connected, and magnetic force that the parallel magnetic force depression bar that is connected with palm by spring and nut with the polishing wheel shaft produces and hand flexible tissue cooperate realization hand attitude to control automatically.The information that each magnetometric sensor of hand (or touch sensor) obtains is the curve surface of workpiece shape near the data processing just can obtain the hand working position, obtains near the situation of hand work.

When vertical shaft, big arm and forearm move with the certain movement state under the motor-driven moment loading, (as having a power failure) motor driving moment is in case cancellation for a certain reason, big arm and forearm can have heterodromous trend under the moment loading that gravity produces, the locking torque of depending merely on motor itself is not enough sometimes.In order to guarantee the reliability of robot work, the big arm of this patent and each joint of forearm all are made up of jaw clutch and separately-loaded direct current torque motor.The rotor of separately-loaded direct current torque motor is connected by key and gyroaxis; the forearm gyroaxis is connected with big arm; the stator of this motor and end face have the forearm of triangle tooth to be connected; end face has the clutch of triangle tooth to be contained on the forearm gyroaxis by spline, and it can move on the forearm gyroaxis under magnetic field force (or spring force) effect.The circuit that direct current torque motor on the walking circuit of solenoidoperated cluthes and the control forearm gyroaxis rotates is a close fit, clutch is at first thrown off under the magnetic field force effect, meanwhile the motor on the forearm gyroaxis gets started rotation, and two motions are almost carried out simultaneously.Otherwise motor on the forearm gyroaxis rotates one and stops, clutch under the upright effect of spring at once with the forearm combination, forearm under the clutch effect at once and big arm be and be rigidly connected.

During end-of-job, big revolution of arm center move to extreme position, big arm and forearm are all regained the smaller volume center of gravity and are reduced, stationary machines people's magnetic force pull bar is thrown off, robot enters walking states, during walking by four castors under the base.Before the work beginning, robot moves near the correct position of workpiece, by the magnetic force pull bar robot is securely fixed on the ground, and big revolution of arm center moves to the appropriate location, hand touches workpiece, and detection system detects the initial position of big revolution of arm center this moment, big arm, forearm and hand.Adjust the position of hand magnetic pressure pull bar, guarantee that the pressure of hand emery wheel is suitable.During the work beginning, control system at first according to detection system various information that provide and bearing of task itself, is selected the optimal movement scheme, sends various instructions to relevant drive system simultaneously, and robot work begins.The machine man-hour, detection system is converted into electric current and is transported to the robot computer system detecting various information at any time, the various information that the robot computerized control system provides detection system are at once carried out data and are handled, next step action scheme of the task choosing of bearing simultaneously according to itself, and send various instructions to relevant drive system.The hand that various tool is housed just moves with predetermined motion state under drive system control.The required attitude of hand work forms automatically by its special construction.The utility model Intelligent robot hand moves along predetermined space curved surface with the most rational attitude and motion state, thereby finishes various curved surface fine finishining tasks like this.

Below in conjunction with drawings and Examples, the utility model is described in further detail.Fig. 1 executes the working condition of robot when surface of the work polishes of example for the utility model.4 permanent magnets (2) that are contained on the magnetic pull bar (1) are securely fixed in robot on the ground with the magnetic field force that near the weight (3) in robot working site produces among the figure.The coordinate system Oxyz that is connected with robot is a position fixing system, and vertical shaft (4) is the Oz axle coincidence of Oxyz all the time with position fixing in rotation, vertical shaft (4) and moving coordinate system O ₀x ₀z ₀O ₀z ₀Axle is connected, and the big revolution of arm center (5) and the forearm centre of gyration (6) are all the time at moving coordinate system O ₀x ₀z ₀Interior motion.Vertical shaft (4), big arm (7) and forearm (8) three-shaft linkage just realize that hand moves along three-dimensional space curved surface, and the horizontal direction (9) at big revolution of arm center (5) and the plane motion of vertical direction (10) can be adjusted the space and the kinetic characteristic of adaptivity flexible hand hand (11).

Working condition schematic diagram when Fig. 2 is polishing for the flexible hand of the adaptivity of the utility model embodiment.Be contained in palm (12) among the figure and go up the positive grinding work piece (15) of polishing wheel (14) that circumference is sphere (13).There is the permanent magnet (17) that is connected magnetic depression bar (16) end that is contained on the palm (12), and magnetic depression bar (16) is the packing ring (19), nut (20), macropore (21) of spherical shape and palm (12) by cylindroid helical-coil compression spring (18), end and floats and be connected.Reconcile the position of nut (20), can change the distance of permanent magnet (17) and workpiece (15), change the pulling force of magnetic depression bar (16), change the pressure that contacts of polishing wheel (14) and workpiece (15).Palm (12) middle part is contacted with spherical pull bar (23) by ball-type hole (22), and the end of spherical pull bar (23) is connected with palm (12) by nut (24).Section (25) spherical in shape is equipped with the sphere gland (27) of permanent magnet (26), is connected with palm (12) by magnetic force.By elastomeric pad (28), palm (12) is connected with arm (29).Connecting arm (29) and forearm (8) is flexible tissue (30).Flexible tissue (30) has two kinds, a kind of flexible tissue (30) is that rubber is done, another kind of flexible tissue (30) is made up of cylindroid helical-coil compression spring (31) and pull bar (32), and the end of pull bar (32) is spherical shape (33), and the through hole of pull bar (34) also is bigger.Because magnetic depression bar (16) and palm (12), palm (12) is connected with arm (29) by spherical pull bar (23), their contact-making surface all is a sphere, adds the through hole (21) of cooperation, the magnetic depression bar (16) of elastomeric pad (24) and presses (16) shank diameter big than magnetic.These all are structurally to create conditions for hand (11) has the adaptivity flexibility, make hand polishing wheel (14) remain desirable pressure and attitude during work, can not change because of curve form to change.Born the control task of hand attitude jointly by magnetic force depression bar (16) and flexible tissue (30).

Fig. 3 executes the hand polishing wheel structure schematic diagram of example for the utility model.The stator (35) of the polishing wheel (14) of end face (13) spherical in shape and separately-loaded permanent-magnet type direct current torque motor is connected among the figure, rotor of this motor (36) and armature spindle (37) are connected, armature spindle (37) and arm (29) are connected, and magnetometric sensor (38) is to float by spring (39) and arm (29) and is connected.

Joint portion structural representation when Fig. 4 is working for the forearm of the utility model embodiment.The stator (40) of separately-loaded permanent-magnet type direct current torque motor and forearm (8) are connected among the figure, and rotor of this motor (41) and forearm gyroaxis (42) are connected.Be contained on the forearm gyroaxis (42) and can just break away near the tooth (46) of forearm end and the tooth (47) of forearm end by spline (43) at the jaw clutch (45) that forearm gyroaxis (42) moves.At this moment, the circuit of the circuit of the permanent-magnet type direct current torque motor that control forearm (8) rotates and control jaw clutch (45) is all switched on, be contained in big arm upper armature (49) and big arm is connected, the yoke (48) that is contained on jaw clutch (45) circumference just produces an axial suction, jaw clutch under magneticaction (45) is attracted to yoke (48) with regard to the pressure that overcomes spring (50), and tooth (47) on the forearm (8) and the tooth (46) on the jaw clutch (45) are just thrown off.Simultaneously, forearm (8) and stator (40) effect that is connected of forearm (8) just rotate down with the motion state of being scheduled to.As the circuit of controlling the permanent-magnet type direct current torque motor of forearm (8) rotation all cuts off with the circuit of controlling jaw clutch (45), the axial force cancellation that armature (49) and yoke (48) produce, jaw clutch (45) is pushed tooth (47) combination that forearm (8) makes the tooth (46) and forearm (8) end face of jaw clutch (45) end face under the elastic restoring force effect of spiral compression spring (50).Jaw clutch (45) at once and forearm (8) combination, forearm (8) press embedding clutch (45) effect down and greatly arm be the stop motion at once that is rigidly connected.The circuit of the direct current torque motor that circuit that control jaw clutch (45) moves and control forearm gyroaxis rotate is a close fit, and jaw clutch (45) is at first thrown off, and forearm rotates at once; Otherwise forearm gyroaxis (43) motor-driven moment one is stopped, jaw clutch (45) combination at once.

Claims

1 one kinds of Intelligent robots of on the bigger space curved surface that metal is done, finishing polishing, it is made of detection system, control system, drive system, executing agency; It is characterized in that executing agency is made up of vertical shaft (4), big arm (7), forearm (8) and hand (11), big revolution of arm center (5) is variable prosthetic robot, big revolution of arm center (5) and the forearm centre of gyration (6) all are that the garden post hinge in a plane is connected, plane motion can be done in big revolution of arm center (5), and hand (11) is the adaptivity flexible hand.

2 according to claim 1 described Intelligent robot, it is characterized in that the flexible hand of adaptivity (11) is made of packing ring (19), nut (20), spherical pull bar (23), nut (24), sphere gland (27), elastomeric pad (28), arm (29), flexible tissue (30), cylindroid helical-coil compression spring (31), pull bar (32) that palm (12), magnetic depression bar (16), cylindroid helical-coil compression spring (18), end are spherical shape.

3 according to claim 1,2 described Intelligent robots, there is the permanent magnet (17) that is connected magnetic depression bar (16) end that it is characterized in that being contained on the palm (12), and magnetic depression bar (16) is the packing ring (19), nut (20), macropore (21) of spherical shape and palm (12) by cylindroid helical-coil compression spring (18), end and floats and be connected; Reconcile the position of nut (20), can change the distance of permanent magnet (17) and workpiece (15), change the pulling force of magnetic depression bar (16), change the pressure that contacts of polishing wheel (14) and workpiece (15); Palm (12) middle part is contacted with spherical pull bar (23) by ball-type hole (22), and the end of spherical pull bar (23) is connected with palm (12) by nut (24); The sphere gland (27) that section (25) spherical in shape is equipped with permanent magnet (26) is connected with palm (12) by magnetic force; By elastomeric pad (28), palm (12) is connected with arm (29); Connecting arm (29) and forearm (8) is flexible tissue (30); Flexible tissue (30) has two kinds, a kind of flexible tissue (30) is that rubber is done, another kind of flexible tissue (30) is made up of cylindroid helical-coil compression spring (31) and pull bar (32), and the end of pull bar (32) is spherical shape (33), and the through hole of pull bar (34) also is bigger; Because magnetic depression bar (16) and palm (12), palm (12) is connected with arm (29) by spherical pull bar (23), their contact-making surface all is a sphere, adds the through hole (21) of cooperation, the magnetic depression bar (16) of elastomeric pad (28) and presses (16) shank diameter big than magnetic; These all are structurally to create conditions for hand (11) has the adaptivity flexibility, make hand polishing wheel (14) remain desirable pressure and attitude during work, can not change because of curve form to change; Born the control task of hand attitude jointly by magnetic force depression bar (16) and flexible tissue (30).

4 according to claim 1 described Intelligent robot, and the structure that it is characterized in that the big revolution of arm center (5) and the forearm centre of gyration (6) is made of the stator (40) of permanent-magnet type direct current torque motor and rotor (41), forearm gyroaxis (42), jaw clutch (45), armature (49), yoke (48), spring (50).

5 according to claim 1,4 described Intelligent robots, it is characterized in that the stator (40) of separately-loaded permanent-magnet type direct current torque motor and forearm (8) are connected, and rotor of this motor (41) and forearm gyroaxis (42) are connected; Be contained on the forearm gyroaxis (42) and can just break away near the tooth (46) of forearm end and the tooth (47) of forearm end by spline (43) at the jaw clutch (45) that forearm gyroaxis (42) moves; At this moment, the circuit of the circuit of the permanent-magnet type direct current torque motor that control forearm (8) rotates and control jaw clutch (45) is all switched on, be contained in big arm upper armature (49) and big arm is connected, the yoke (48) that is contained on jaw clutch (45) circumference just produces an axial suction, jaw clutch under magneticaction (45) is attracted to yoke (48) with regard to the pressure that overcomes spring (50), and tooth (47) on the forearm (8) and the tooth (46) on the jaw clutch (45) are just thrown off; Simultaneously, forearm (8) and stator (40) effect that is connected of forearm (8) just rotate down with the motion state of being scheduled to; As the circuit of controlling the permanent-magnet type direct current torque motor of forearm (8) rotation all cuts off with the circuit of controlling jaw clutch (45), the axial force cancellation that armature (49) and yoke (48) produce, jaw clutch (45) is pushed tooth (47) combination that forearm (8) makes the tooth (46) and forearm (8) end face of jaw clutch (45) end face under the elastic restoring force effect of spiral compression spring (50); Jaw clutch (45) at once and forearm (8) combination, forearm (8) jaw clutch (45) effect down and greatly arm be the stop motion at once that is rigidly connected; The circuit of the direct current torque motor that circuit that control jaw clutch (45) moves and control forearm gyroaxis rotate is a close fit, and tooth (46) on the jaw clutch (45) and the tooth (47) on the forearm are at first thrown off, and forearm rotates at once; Otherwise forearm gyroaxis (43) motor-driven moment one is stopped, tooth (46) on the jaw clutch (45) and tooth (47) combination at once on the forearm, and big arm (8) and forearm (7) are at once and are rigidly connected.

6 according to claim 1 described Intelligent robot, it is characterized in that the polishing wheel (14) of end face (13) spherical in shape and the stator (35) of separately-loaded permanent-magnet type direct current torque motor are connected, rotor of this motor (36) and armature spindle (37) are connected, armature spindle (37) and arm (29) are connected, and magnetometric sensor (38) is to float by spring (39) and arm (29) and is connected.