Suction cup integrated robot

A robot and sucker-type technology, applied in the field of robots, can solve the problems of unfavorable flexible development of aircraft manufacturing and high cost, and achieve the effects of reducing the number of driving motors, reducing the weight of equipment, and opening up a working space.

Inactive Publication Date: 2011-12-28
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, this existing technology still needs to install auxiliary facilities such as columns and guide rails, which makes the cost higher on the one hand, and is not conducive to the flexible development of aircraft manufacturing on the other hand.

Method used

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  • Suction cup integrated robot
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Examples

Experimental program
Comparison scheme
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Embodiment

[0020] like figure 1 As shown, this embodiment includes: a frame 1, a hole making mechanism 2, a control module 3 and six sets of leg mechanisms 4, wherein: the six leg mechanisms 4 are respectively fixedly arranged around the frame 1 and the sensing mechanism 13 The output end of the hole making mechanism 2 is connected to the control module 3 to output the six-dimensional force sensor data, the hole making mechanism 2 and the control module 3 are fixedly arranged on the frame 1 and the control end of the hole making mechanism 2 is connected to the output end of the control module 3 and receives Control instruction.

[0021] The frame 1 is provided with a sensor group connected to the control module 3 , the sensor group is composed of a visual sensor 5 and a pose sensor 6 and outputs road condition information and three-dimensional pose data of the frame 1 to the control module 3 .

[0022] The hole-making mechanism 2 includes: a hole-making actuator 7 and a laser normal dir...

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PUM

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Abstract

A sucker-type integrated robot in the field of robot technology, comprising: a frame, a hole-making mechanism, a control module and six sets of leg mechanisms, the six leg mechanisms are respectively fixed around the frame and the output ends of the sensing mechanism Connected with the control module to output six-dimensional force sensor data, the hole making mechanism and the control module are fixedly arranged on the frame, and the control end of the hole making mechanism is connected to the output end of the control module to receive control instructions. The present invention adopts the integrated design scheme of walking hole-making operation, which can be used for butt jointing and circular automatic hole making of various sections of the fuselage (such as the docking between the sections of the nose, front fuselage, middle fuselage, middle and rear fuselage), machine Automatic hole making for longitudinal splicing of body wall panels, automatic hole making on the surface of wall panels for airfoil components (such as the connection of wing skin and ribs), etc. The robot system has the advantages of good flexibility, adaptability to various workpieces, short implementation period, low cost, light weight and convenient use.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a sucker-type integrated robot. Background technique [0002] In the process of aircraft manufacturing, the circumferential butt joint of various sections of the fuselage, the longitudinal splicing of the wall panels of the fuselage section, and the connection of the wing skin and the ribs all need to be drilled on the surface of the fuselage. At present, manual methods are mainly used. hole. Drilling with manual hand-held drilling tools, on the one hand, due to the fact that the aircraft structure is mostly made of carbon fiber composite materials, it is prone to cracking, delamination, insufficient precision, and low drilling quality. On the other hand, the efficiency of manual drilling is relatively low. To adapt to the development direction of automation, flexibility and digitalization of the current advanced assembly technology of aircraft. [0003] After search...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23B41/02B62D57/02B25J13/00
Inventor 高峰刘仁强何俊金振林
Owner SHANGHAI JIAO TONG UNIV
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