CN102059369B - Feeding drill applicable to quick change arrangement of joint of robot - Google Patents

Abstract

The invention discloses a feed drill suitable for quick-change installation of robot joints. It includes a quick-change flange, a laser target flange, an automatic feed mechanism, a power head, a pre-compression mechanism, a cutting fluid pipe, and a chip-breaking mechanism; one end of the quick-change flange is installed on the flange of an industrial robot, and the quick-change method The other end of the blue is connected to one end of the laser target flange, the other end of the laser target flange is connected to the bottom plate of the automatic feeding mechanism platform, the power head is installed on the guide rail of the automatic feeding mechanism, and the pre-compression mechanism is installed on the front end of the automatic feeding mechanism. The cutting fluid pipe and the chip breaking mechanism are installed on the presser foot head of the pre-compression mechanism. The invention has the advantages of: (1) automatic hole making can be realized, the processing efficiency is high, and the labor intensity is reduced; (2) pre-pressing is carried out before processing, and the tool is adjusted to be perpendicular to the surface of the workpiece to improve the hole making precision; ( 3) There is no residue of broken chips, which is convenient to keep the workpiece clean and tidy.

Description

A feed drill suitable for quick change installation of robot joints

technical field

The invention relates to a feed drill, in particular to a feed drill suitable for quick-change installation of robot joints.

Background technique

In the total number of total failures of the aircraft, the number of failures due to structural damage generally accounts for 12% to 13%. However, because the airborne finished product can be replaced by a new one after failure, the life of the aircraft structural component determines the life of the aircraft. total lifespan. At present, the main connection method used in aircraft structural parts is still mechanical connection, and there are about 1.5 to 2 million connection parts on a large aircraft. The total life of the aircraft is mainly determined by the life of the airframe. Fatigue damage is the root cause of the aircraft's inability to work. According to statistics, 75% to 80% of the fatigue damage occurs on the connection parts of the airframe structure. It can be seen that the quality of the connection has an impact on the life of the aircraft. important influence. The hole making in traditional aircraft assembly is mainly based on pneumatic drilling, and the process sequence is: scribing—drilling—rough reaming (or reaming)—fine reaming—separation and cleaning. The usual disadvantages of traditional manual hole making are: (1) easy to form defects; (2) poor hole position accuracy; (3) many steps in hole making; (4) secondary assembly is required; (5) the influence of human factors cannot be avoided. In order to improve the service life of the aircraft, it is possible to improve the connection quality (fitting form, connection method, etc.) of the aircraft structural parts, which requires high-speed precision hole making through automated equipment to improve the quality of the hole, and improve the roundness, verticality, and inner wall of the hole. Surface roughness and position accuracy reduce residual stress, burrs and chips in hole making.

It is a hot topic in the field of aviation manufacturing to solve automatic hole making through robot technology. At present, mature products have appeared abroad. Such as beam webs of F-16, F-22, F-2 and T-50, Boeing F/A-18E/F Super Hornet trailing flaps, F-35 wing upper panels, Boeing The cabin floors of B-747, C-17 and other aircraft, and the wing panels of A380, etc. all adopt robot automatic hole making technology.

my country's automatic hole-making technology started late, and there is no mature automatic hole-making technology and system. Robotic automatic hole-making technology can not only quickly and accurately complete a series of hole-making processes such as drilling, reaming, and reaming, but is also suitable for workplaces with strong repeatability, high labor intensity, and harsh environments. Since the absolute positioning accuracy of the robot is not high enough, it seriously affects the verticality of the tool and the surface of the workpiece (especially the curved surface) and the position accuracy of the hole. Therefore, a new type of automatic feed drill is designed to integrate the laser tracker with the robot. The closed-loop control system can greatly improve the verticality of the tool and the surface of the workpiece (especially the curved surface), the position accuracy of the hole, and apply a pre-tightening force, thereby greatly improving the quality of the robot's hole.

Contents of the invention

The object of the present invention is to provide a feed drill suitable for robot joint quick-change installation for the problems of verticality between robot hole making tool and workpiece surface (especially curved surface), position accuracy of hole making, and preloading.

The feed drill suitable for the quick-change installation of the robot joint includes a quick-change flange, a laser target flange, an automatic feed mechanism, a power head, a pre-compression mechanism, a cutting fluid pipe, and a chip-breaking mechanism; one end of the quick-change flange is installed On the flange of the industrial robot, the other end of the quick-change flange is connected to the end of the laser target flange, and the other end of the laser target flange is connected to the bottom plate of the automatic feeding mechanism platform. The power head is installed on the guide rail of the automatic feeding mechanism and pre-loaded The mechanism is installed on the front end of the automatic feeding mechanism, and the cutting fluid pipe and chip breaking mechanism are installed on the presser foot head of the pre-pressing mechanism.

The power head includes an AC asynchronous motor and a tool clamped on the AC asynchronous motor; the rotation of the tool is driven by the AC asynchronous motor to realize cutting motion.

The automatic feed mechanism includes an automatic feed mechanism platform bottom plate, an AC servo motor, a ball screw, an automatic feed mechanism guide rail, a grating ruler, a force control sensor, and a photoelectric limit switch; an AC servo motor, a ball screw, and an automatic feed mechanism. The feeding mechanism guide rail, grating ruler, force control sensor, and photoelectric limit switch are all installed on the bottom plate of the automatic feeding mechanism platform; the AC servo motor drives the ball screw to drive the power head to slide on the automatic feeding mechanism guide rail to realize the feeding movement, and the grating The ruler feeds back the status information of the tool position to realize the full closed-loop control of the tool position. The force control sensor controls the rotation of the AC servo motor through the force signal, thereby indirectly controlling the feed movement of the ball screw and preventing the workpiece from being damaged when the power head is blocked during the machining process. , The photoelectric limit switch realizes positive and negative soft limit control on the feed movement, drives the power head to feed through the automatic feed mechanism, and the rotation of the compound tool realizes hole making and countersinking.

The pre-compression mechanism includes a presser foot head, a cylinder, a guide rail of the pre-compression mechanism, and a displacement sensor; On the guide rail of the mechanism; 2 cylinders drive the presser head to slide along the guide rail of the pre-compression mechanism, so that the pre-compression mechanism can compress the skin and the structural frame, eliminate the gap between the skin and the structural frame, and measure the pressure through the displacement sensor Close distance to compensate for machining displacement.

The laser target flange adjusts the robot to the ideal posture through the laser tracker, so that the tool is perpendicular to the surface of the workpiece, and the posture adjustment accuracy reaches 0.004423°.

The chip-breaking mechanism cuts off the chips through the chip-breaking baffle, and the suction pipe of the vacuum pump sucks the chips away.

The method of using the feed drill applicable to the quick change installation of the robot joint is characterized in that its steps are as follows:

1) When the robot arrives at each hole position of the workpiece to be processed, measure the actual positions of 3 to 6 targets according to the laser tracker, adjust the robot to the ideal pose, and make the tool perpendicular to the surface of the workpiece;

2) The cylinder drives the pre-compression mechanism to make the presser foot press the skin and the structure frame, and measure the compression distance through the displacement sensor for processing displacement compensation;

3) After the pre-compression is completed, turn on the power head for the main cutting movement of hole making;

4) The AC servo motor drives the ball screw to drive the power head to slide on the guide rail of the automatic feed mechanism, the grating ruler feedbacks the position status information to realize a full closed loop, and the force control sensor protects the feed movement and stops the feed movement when the power head is blocked. The limit switch realizes the positive and negative soft limit for the feed movement;

5) During the processing, the chips are cut off by the chip breaker, and the vacuum pump sucks the chips away;

6) After completing the processing of each hole position, the cutting fluid pipe sprays oil to lubricate the cutter, the automatic feeding mechanism is reset, and the power head is turned off.

This device can automatically integrate the laser tracker and the robot to form a fully closed-loop control system, which can greatly improve the verticality of the tool and the surface of the workpiece (especially the curved surface), the position accuracy of the hole, and apply pre-tightening force, thereby greatly improving the robot. hole quality.

The present invention has the advantage compared with prior art:

1) With the help of industrial robot platform to solve the problem of automatic hole making, flexible application, high processing efficiency, and reduce labor intensity of workers;

2) Integrate the laser tracker with the robot to form a fully closed-loop control system, which can greatly improve the verticality of the tool and the surface of the workpiece (especially the curved surface), the position accuracy of the hole, and apply pre-tightening force, thereby greatly improving the robot's manufacturing accuracy. hole quality;

3) The target position and tool features are quickly measured by the laser tracker, realizing digital modeling, which is convenient for quickly measuring the robot pose and establishing the robot tool coordinate system;

4) Through the quick-change flange, the "one machine with multiple functions" of the robot is realized, which is convenient for the quick-change installation of the automatic feed drill;

5) Through the chip breaking mechanism, no chip residue is realized, which is convenient to keep the workpiece clean and tidy.

Description of drawings

Figure 1 is an isometric view of a new type of automatic feed drill suitable for quick change installation of robot joints.

Fig. 2(a) is the front view of the new automatic feed drill suitable for the quick change installation of the robot joint.

Fig. 2(b) is an A-A sectional view of Fig. 2(a).

Fig. 2(c) is a front view of a new automatic feed drill suitable for robot joint quick change installation to remove the presser foot head.

In the figure: quick change flange 1, laser target flange 2, automatic feeding mechanism 3, power head 4, pre-compression mechanism 5, cutting fluid pipe 6, chip breaking mechanism 7, displacement sensor 8, automatic feeding mechanism Platform bottom plate 9, force control sensor 10, AC asynchronous motor 11, vacuum pump 12, presser foot head 13, cutter 14, chip breaking block 15, cylinder 16, driver 17, AC servo motor 18, ball screw 19, pre-compression Mechanism guide rail 20, photoelectric limit switch 21, automatic feed mechanism guide rail 22, grating ruler 23.

Detailed ways

The feed drill suitable for the quick-change installation of robot joints includes quick-change flange 1, laser target flange 2, automatic feed mechanism 3, power head 4, pre-compression mechanism 5, cutting fluid pipe 6, chip breaking mechanism 7 ; One end of the quick-change flange 1 is installed on the flange of the industrial robot, the other end of the quick-change flange 1 is connected to one end of the laser target flange 2, the other end of the laser target flange 2 is connected to the bottom plate 9 of the automatic feed mechanism platform, and the power head 4 is installed on the guide rail 22 of the automatic feeding mechanism, the pre-compression mechanism 5 is installed on the front end of the automatic feeding mechanism 3, and the cutting fluid pipe 6 and the chip breaking mechanism 7 are installed on the presser foot head 13 of the pre-compression mechanism 5.

The power head 4 includes an AC asynchronous motor 11 and a tool 14 clamped on the AC asynchronous motor 11; the rotation of the tool 14 is driven by the AC asynchronous motor 11 to realize cutting motion.

Described automatic feed mechanism 3 comprises automatic feed mechanism platform bottom plate 9, AC servo motor 18, ball screw 19, automatic feed mechanism guide rail 22, grating ruler 23, force control sensor 10, photoelectric limit switch 21; Motor 18, ball screw 19, automatic feed mechanism guide rail 22, grating ruler 23, force control sensor 10, photoelectric limit switch 21 are all installed on the automatic feed mechanism platform base plate 9; AC servo motor 18 drives ball screw 19 Drive the power head 4 to slide on the guide rail 22 of the automatic feeding mechanism to realize the feed movement, the grating ruler 23 feeds back the position status information of the tool 14, and realizes the full closed-loop control of the position of the tool 14, and the force control sensor 10 controls the rotation of the AC servo motor 18 through the force signal movement, thereby indirectly controlling the feed movement of the ball screw 19, preventing damage to the workpiece when the power head 4 is blocked during processing, and the photoelectric limit switch 21 realizes positive and negative soft limit control for the feed movement, through the automatic feed mechanism 3 The power head 4 is driven to feed, and the rotation of the compound cutter 14 realizes hole making and countersinking.

Described pre-compression mechanism 5 comprises presser foot head 13, cylinder 16, pre-compression mechanism guide rail 20, displacement sensor 8; , the presser foot head 13 is installed on the guide rail 20 of the pre-compression mechanism; two cylinders 16 drive the presser foot head 13 to slide along the guide rail 20 of the pre-compression mechanism, so that the pre-compression mechanism 5 can compress the skin and the structural frame, eliminating the blindness The gap between the leather and the structural frame, and the displacement sensor 8 measures the pressing distance to compensate for the processing displacement.

The laser target flange 2 adjusts the robot to an ideal posture through the laser tracker, so that the tool 14 is perpendicular to the surface of the workpiece, and the posture adjustment accuracy reaches 0.004423°.

The chip breaking mechanism 7 cuts off the chips through the chip breaking baffle 15, and the suction pipe of the vacuum pump 12 sucks the chips away.

The method of using the feed drill applicable to the quick change installation of the robot joint is characterized in that its steps are as follows:

1) When the robot arrives at each hole position of the workpiece to be processed, measure the actual positions of 3 to 6 targets according to the laser tracker, adjust the robot to the ideal pose, and make the tool perpendicular to the surface of the workpiece;

2) The cylinder drives the pre-compression mechanism to make the presser foot press the skin and the structure frame, and measure the compression distance through the displacement sensor for processing displacement compensation;

3) After the pre-compression is completed, turn on the power head for the main cutting movement of hole making;

4) The AC servo motor drives the ball screw to drive the power head to slide on the guide rail of the automatic feed mechanism, the grating ruler feedbacks the position status information to realize a full closed loop, and the force control sensor protects the feed movement and stops the feed movement when the power head is blocked. The limit switch realizes the positive and negative soft limit for the feed movement;

5) During the processing, the chips are cut off by the chip breaker, and the vacuum pump sucks the chips away;

6) After completing the processing of each hole position, the cutting fluid pipe sprays oil to lubricate the cutter, the automatic feeding mechanism is reset, and the power head is turned off.

Claims (5)

1. A feed drill suitable for quick-change installation of robot joints, characterized in that it includes a quick-change flange (1), a laser target flange (2), an automatic feed mechanism (3), and a power head (4) , pre-compression mechanism (5), cutting fluid pipe (6), chip breaking mechanism (7); one end of the quick-change flange (1) is installed on the flange of the industrial robot, and the other end of the quick-change flange (1) is connected to the One end of the laser target flange (2) is connected, and the other end of the laser target flange (2) is connected with the bottom plate (9) of the automatic feed mechanism platform. The power head (4) is installed on the guide rail (22) of the automatic feed mechanism. The tightening mechanism (5) is installed on the front end of the automatic feeding mechanism (3), and the cutting fluid pipe (6) and chip breaking mechanism (7) are installed on the presser foot head (13) of the pre-pressing mechanism (5); The automatic feed mechanism (3) includes an automatic feed mechanism platform bottom plate (9), an AC servo motor (18), a ball screw (19), an automatic feed mechanism guide rail (22), a grating ruler (23), a force control Sensor (10), photoelectric limit switch (21); AC servo motor (18), ball screw (19), automatic feed mechanism guide rail (22), grating ruler (23), force control sensor (10), photoelectric The limit switches (21) are installed on the bottom plate (9) of the automatic feed mechanism platform; the AC servo motor (18) drives the ball screw (19) to drive the power head (4) to slide on the automatic feed mechanism guide rail (22) Feed movement is realized, the grating ruler (23) feeds back the position status information of the tool (14), and the full closed-loop control of the position of the tool (14) is realized, and the force control sensor (10) controls the rotational movement of the AC servo motor (18) through the force signal, thereby Indirectly control the feed motion of the ball screw (19) to prevent damage to the workpiece when the power head (4) is blocked during processing. The photoelectric limit switch (21) realizes positive and negative soft limit control for the feed motion. The mechanism (3) drives the power head (4) to feed, and the rotation of the compound tool (14) realizes hole making and spot facing; the pre-compression mechanism (5) includes a presser foot head (13), a cylinder (16), Pre-compression mechanism guide rail (20), displacement sensor (8); pre-compression mechanism guide rail (20), cylinder (16), displacement sensor (8) are installed on the automatic feed mechanism platform bottom plate (9), presser foot head (13) Installed on the guide rail (20) of the pre-compression mechanism; 2 cylinders (16) drive the presser foot head (13) to slide along the guide rail (20) of the pre-compression mechanism, so that the pre-compression mechanism (5) can be compressed The skin and the structural frame eliminate the gap between the skin and the structural frame, and measure the pressing distance through the displacement sensor (8) so as to compensate for the processing displacement. 2. A feed drill suitable for quick-change installation of robot joints according to claim 1, characterized in that the power head (4) includes an AC asynchronous motor (11) and is clamped on the AC asynchronous motor (11) The cutting tool (14) on the top; the rotation of the cutting tool (14) is driven by the AC asynchronous motor (11) to realize the cutting motion. 3. A feed drill suitable for quick-change installation of robot joints according to claim 1, characterized in that the laser target flange (2) adjusts the robot to an ideal pose through a laser tracker, so that the tool (14 ) is perpendicular to the workpiece surface, and the attitude adjustment accuracy reaches 0.004423°. 4. A feed drill suitable for quick-change installation of robot joints according to claim 1, characterized in that the chip breaking mechanism (7) cuts chips through the chip breaking baffle (15), and the vacuum pump (12) The straw sucks up the broken chips. 5. A method for using a feed drill suitable for quick change installation of robot joints as claimed in claim 4, characterized in that its steps are as follows: 1) When the robot arrives at each hole position of the workpiece to be processed, measure the actual positions of 3 to 6 targets according to the laser tracker, adjust the robot to the ideal pose, and make the tool perpendicular to the surface of the workpiece; 2) The cylinder (16) drives the pre-pressing mechanism (5) to make the presser foot head (13) press the skin and the structural frame, and measure the pressing distance through the displacement sensor (8) for processing displacement compensation; 3) After the pre-compression is completed, turn on the power head (4) for the main cutting movement of hole making; 4) The AC servo motor (18) drives the ball screw (19) to drive the power head (4) to slide on the guide rail (22) of the automatic feeding mechanism. 10) To protect the feed movement, the feed movement is stopped when the power head (4) is blocked, and the photoelectric limit switch (21) realizes positive and negative soft limit for the feed movement; 5) During the processing, the chips are cut off by the chip breaker (15), and the vacuum pump (12) sucks the chips away; 6) After completing the processing of each hole position, the cutting fluid pipe (6) sprays oil to lubricate the cutter, the automatic feeding mechanism (3) resets, and the power head (4) is closed.

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