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Movable double-robot machining system and method for drilling and milling of weakly rigid bracket

A dual-robot, processing system technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as multiple assembly and adjustment errors, unstable processes, and complicated processes, and achieve the effect of improving the level of automation

Active Publication Date: 2020-04-10
BEIJING SATELLITE MFG FACTORY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The other is to process the object to be processed and the large weakly rigid component body separately and offline, and then repeatedly assemble and adjust through the measurement system, but this solution will introduce multiple assembly errors, and the process is unstable, the process is complicated, and the method is not flexible.

Method used

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  • Movable double-robot machining system and method for drilling and milling of weakly rigid bracket
  • Movable double-robot machining system and method for drilling and milling of weakly rigid bracket
  • Movable double-robot machining system and method for drilling and milling of weakly rigid bracket

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Embodiment 1

[0043] like Figure 1~3 , in this embodiment, the mobile dual-robot processing system for drilling and milling of weakly rigid brackets includes: a grabbing robot, a drilling and milling robot, an omnidirectional mobile platform and a control system. Among them, the grabbing robot and the drilling and milling robot are set on the omnidirectional mobile platform; the omnidirectional mobile platform is used to drive the grabbing robot and the drilling and milling robot to the position of the bracket to be processed under the control of the control system; the grabbing robot , used to grab the bracket to be processed under the control of the control system after moving to the position of the bracket to be processed, and realize the compliant control during the grabbing process; the drilling and milling robot is used to grab the bracket to be processed When arriving at the processing station, plane milling and drilling are carried out on the bracket to be processed; the control sy...

Embodiment 2

[0054] On the basis of the above-mentioned embodiments, the processing flow of the mobile dual-robot processing system for drilling and milling weakly rigid brackets will be described below.

[0055] like Figure 4 As shown, the processing flow of the mobile dual-robot processing system for drilling and milling of weakly rigid brackets is as follows:

[0056] Step 1: Start the mobile dual-robot system in the waiting area, and the system starts to perform self-inspection items such as communication interface, bus status, hardware configuration, etc. If the system self-inspection fails, an alarm will be prompted. two steps.

[0057] Step 2: The omnidirectional mobile platform moves to the planned station through navigation, the hydraulic support mechanism rises, and the mobile platform completes the stable support. Among them, the planned station means that the support to be processed can be completely located within the working range of the grasping robot and the drilling and...

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Abstract

The invention discloses a movable double-robot machining system and method for drilling and milling of a weakly rigid bracket. The movable double-robot machining system comprises an omni-directional moving platform, a gripping robot, a drilling and milling robot and a control system, wherein the omni-directional moving platform is used for driving the gripping robot and the drilling and milling robot to move to the position where the to-be-machined bracket is located under control of the control system; the gripping robot is used for gripping the to-be-machined bracket under the control of thecontrol system after moving to the position where the to-be-machined bracket is located, and realizing compliant control in a gripping process; the drilling and milling robot is used for conducting plane milling and drilling on the to-be-machined bracket when the to-be-machined bracket is gripped to a machining station; and the control system is used for comprehensively controlling the gripping robot, the drilling and milling robot and the omni-directional moving platform. The movable double-robot machining system and method can be used for drilling and milling of weakly rigid machining surfaces on large components, and the automation level and machining efficiency of the weakly rigid machining surfaces on the large components can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of high-precision processing of mobile robots, and in particular relates to a mobile dual-robot processing system and method for drilling and milling of weakly rigid supports. Background technique [0002] With the increase of my country's demand in the field of major structural parts manufacturing, its high-precision and high-flexibility manufacturing characteristics pose new challenges to processing equipment. Such components often have a large number of weakly rigid features to be processed (such as the instrument and equipment mounting brackets on the structural surface of large airtight cabins with a diameter greater than 3m and a length greater than 10m), and the weakly rigid features will be locally deformed by the cutting force during processing. Affect processing accuracy and quality. In order to enhance the stiffness characteristics of the processed object, one method is to build a combined fixtur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23P23/02B25J5/00B25J9/16B25J11/00
CPCB23P23/02B25J5/007B25J9/1664B25J9/1676B25J9/1697B25J11/005
Inventor 张加波张明杨继之刘海涛肖聚亮周莹皓王小丹
Owner BEIJING SATELLITE MFG FACTORY