Wall surface adsorption work device, method, and robot work group thereof

Abstract

The application provides a wall surface adsorption operation device, a method and a robot operation group, and the operation device comprises a first robot and a second robot arranged on two sides of a processed plate respectively, the first robot comprises a plurality of first function components and a first body component connected with the plurality of first function components respectively, the second robot comprises a plurality of second function components and a second body component connected with the plurality of second function components respectively, after the first function component and the first second function component are magnetically adsorbed and the second function component and the second second function component are magnetically adsorbed, the first function component and the first second function component are driven by the first body component and the second body component respectively to realize obstacle crossing and operation after being separated from the processed plate. The application solves the problems of low efficiency of magnetic force adsorption of non-magnetic plate, robot obstacle crossing and cooperative operation, and greatly improves the work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall surface adsorption equipment, in particular to a wall surface adsorption operation device, method and robot operation group thereof. BACKGROUND

[0002] The size of large and complex components is larger, the structure is more complex, the number of surfaces to be processed and difficult-to-process surfaces is large, and the types are various. The adsorption robot is one of the important means to effectively solve the complex and difficult-to-process surfaces.

[0003] However, with the increase of the complex structure of the surface of the large component, such as the long string of the aircraft wall plate, the connecting rib plate of the rocket cylinder, the obstacle requirement of the adsorption robot increases, the traditional robot obstacle process is separated from the operation process, and it is difficult to realize efficient obstacle and multi-point collaborative operation. At the same time, for non-magnetic plate wall manufacturing, the traditional negative pressure adsorption has large noise and strong vibration, which interferes with the precision operation of the robot end; the magnetic adsorption has the advantages of silence and stable adsorption, but cannot be adsorbed on the non-magnetic wall surface.

[0004] In view of the above defects of the prior art, it is urgent to design a new product to solve the problems of non-magnetic plate magnetic adsorption, robot obstacle and low collaborative operation efficiency. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a wall surface adsorption operation device, method and robot operation group thereof.

[0006] According to the wall surface adsorption operation device provided by the present application, the wall surface adsorption operation device comprises:

[0007] The first robot is arranged on one side of the processed plate member, and comprises a plurality of first functional components and a first body component connected with the plurality of first functional components;

[0008] The second robot is arranged on the other side of the processed plate member, and comprises a plurality of second functional components and a second body component connected with the plurality of second functional components;

[0009] Wherein, the first robot and the second robot located on both sides of the processed plate member can be stably maintained on the processed plate member by the magnetic adsorption of the first functional component and the second functional component, and can move to the target direction after the first functional component and the second functional component are separated from the processed plate member under the drive of the first body component and the second body component after the magnetic adsorption of the second functional component and the second functional component, and can perform working operation on the processed plate member during the movement or static state of the robot.

[0010] Preferably, the processed plate member is a magnetic material or a non-magnetic material.

[0011] Preferably, at least one of the first robot and the second robot can be omitted and only through at least one functional component can be adsorbed on the processed plate by magnetic force or vacuum adsorption so that the robot can be stably held on the processed plate to achieve the target task.

[0012] Preferably, at least one of the plurality of first functional components has a processing function.

[0013] At least one of the plurality of second functional components has a processing function.

[0014] Preferably, the first body component and the second body component each include a plurality of branches, and each adjacent two branches are connected by a lockable joint or a lockable moving pair, so that the body component forms a series body structure or a series-parallel combined body structure.

[0015] Preferably, different first functional components have the same or different number of branches and spatial structure arrangements.

[0016] Different second functional components have the same or different number of branches and spatial structure arrangements.

[0017] Preferably, the lockable joint can make the two connected branches in a joint state or a locked state, wherein the locked state can make the two connected branches in a straight state or a bent state.

[0018] Preferably, the lockable moving pair can realize at least one action of lengthening, shortening, or relative rotation of the two connected branches.

[0019] According to the robot working group provided by the application, a plurality of wall surface adsorption working devices are included, which can simultaneously work on different parts of the processed plate.

[0020] According to the wall surface adsorption working method provided by the application, the first body component and / or the second body component are stably held on the processed plate by single-point or multi-point adsorption of the first functional component and / or the second body component, and the working of the processed plate is realized by the first functional component and / or the second body component. The movement type obstacle crossing action of the body component can be realized by the alternating adsorption of the plurality of first functional components and / or the alternating adsorption of the plurality of second body components.

[0021] Compared with the prior art, the application has the following beneficial effects:

[0022] The present application is directed to large plate surface processing, adopting bionic multi-point adsorption mode, through adsorption and operation coupling function components, both realize single module to the wall surface stable adsorption, and can realize the operation processing of wallboard, and different function components can be set to the same or different processing function, can realize multi-point collaborative adsorption, operation, obstacle crossing and other functions, solve the problem of low efficiency of non-magnetic plate magnetic adsorption, robot obstacle crossing, collaborative operation, greatly improve the work efficiency, have the characteristics of low noise, adsorption stability. BRIEF DESCRIPTION OF DRAWINGS

[0023] Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0024] Figure 1 It is a structure diagram of the present application in which robots are arranged on both sides of the processed plate for magnetic adsorption, wherein multi-point adsorption and multi-point collaborative processing operation effect can be realized;

[0025] Figure 2 It is a frame diagram in which robots are arranged on both sides of the processed plate for magnetic adsorption;

[0026] Figure 3 It is a structure diagram in which the robot body is a multi-branch chain series extension;

[0027] Figure 4 It is a structure diagram of a multi-point adsorption configuration in which the robot body is a multi-branch chain series-parallel extension;

[0028] Figure 5 It is a frame diagram in which robots are arranged on one side of the processed plate;

[0029] Figure 6 It is a frame diagram in which the frontmost functional component of the robot is lifted to start obstacle crossing when the robot is arranged on one side of the processed plate;

[0030] Figure 7 It is a frame diagram in which the frontmost functional component of the robot is adsorbed to the processed plate after crossing the obstacle when the robot is arranged on one side of the processed plate;

[0031] Figure 8 It is a frame diagram in which the frontmost functional component of the robot is lifted to start obstacle crossing when the robot is arranged on one side of the processed plate, wherein the robot has multiple functional components;

[0032] Figure 9 It is a multi-branch chain structure diagram when the robot is arranged on one side of the processed plate and has four functional components;

[0033] Figure 10 It is Figure 9 a structure diagram of the robot crossing the obstacle in the present application;

[0034] Figure 11 A schematic diagram of a multi-branch structure of the robot arranged on one side of the processed plate and having more than 4 functional assemblies;

[0035] Figure 12 A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies; Figure 11 A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0036] Figure 13 A schematic diagram of a multi-branch structure of the robot arranged on one side of the processed plate and having more than 4 functional assemblies;

[0037] Figure 14 A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0038] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0039] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0040] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0041] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0042] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0043] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0044] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0045] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0046] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0047] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0048] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies;

[0049] A schematic diagram of the robot arranged on both sides of the processed plate and having 4 functional assemblies; DETAILED DESCRIPTION

[0050] The application will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that those skilled in the art can make several changes and improvements without departing from the concept of the application. These are within the scope of protection of the application.

[0051] Example 1:

[0052] The application provides a wall adsorption work device, such as Figure 1As shown, including the first robot 1 and the second robot 2, the first robot 1 is arranged on one side of the processed plate 3, including a plurality of first functional components 11 and a first body component 12 connected with the plurality of first functional components 11 respectively; the second robot 2 is arranged on the other side of the processed plate 3, including a plurality of second functional components 21 and a second body component 22 connected with the plurality of second functional components 21 respectively.

[0053] In the embodiment, the processed plate 3 can be a magnetic material or a non-magnetic material, preferably a non-magnetic material, and a double-robot symmetrical adsorption cooperative motion operation method is adopted, the robot end carries a controllable adsorption device respectively, which can perform wall symmetrical adsorption, obstacle crossing and other functions. Specifically, the first first functional component 11 and the first second functional component 21 are both capable of generating magnetism, so that the first robot 1 and the second robot 2 located on both sides of the processed plate 3 can be stably maintained on the processed plate 3 under the magnetic adsorption of the first first functional component 11 and the first second functional component 21, as shown in Figure 2 As shown, after the second first functional component 11 and the second second functional component 21 are magnetically adsorbed, the first first functional component 11 and the first second functional component 21 are driven by the first body component 12 and the second body component 22 to move upwards above the obstacle 4 after being separated from the processed plate 3, cross the obstacle 4, and finally realize magnetic adsorption of the first functional component 11 and the second second functional component 21 in front of the obstacle, at this time, the second first functional component 11 and the second second functional component 21 are driven by the first body component 12 and the second body component 22 to realize a "somersault" type obstacle crossing motion mode after being separated from the processed plate 3, and finally realize obstacle crossing and movement in the target direction, as shown in Figure 14

[0054] It should be noted that the processed plate 3 can be processed during the movement or static state of the robot, wherein at least one of the plurality of first functional components 11 has a processing function, and at least one of the plurality of second functional components 21 has a processing function. That is, the first functional component 11 and the second functional component 21 not only have magnetism, but also can carry processing tools, and can perform processing operation when adsorbed, for example, can perform punching, grinding, painting, cutting, welding and other processing actions, to realize the corresponding processing target. In actual application, a plurality of functional components can simultaneously process a plurality of parts of the processed plate 3 to perform the same or different processing operation, and perform a variety of types of synchronous operation. The present application adopts a bionic multi-point adsorption concept similar to a inchworm, and the series magnetic adsorption robot can be extended to multi-point adsorption, has good expandability and high operation efficiency.

[0055] As shown in Figure 3 , Figure 4 ​As shown, the first body assembly 12 and the second body assembly 22 each include a plurality of branch chains 101, and each adjacent two branch chains 101 are connected by a lockable joint 121 or a lockable movable pair 122, so that the body assembly forms a series body structure or a series-parallel combined body structure, and different first functional assemblies 11 have the same or different number and spatial structure arrangement of the branch chains 101, and different second functional assemblies 21 have the same or different number and spatial structure arrangement of the branch chains 101.

[0056] It should be noted that the lockable joint 121 can make the two connected branch chains 101 in a joint state or a locked state, when the two connected branch chains 101 are in the joint state, the two connected branch chains 101 can be converted between straightening and bending, and when the two connected branch chains 101 are in the locked state, the two connected branch chains 101 can be locked in a straight state or a bent state. The lockable movable pair 122 can realize at least one action of lengthening, shortening, or relative rotation of the two connected branch chains 101, so that the entire body assembly can realize shape change and overturning action in any direction in the working space, and the flexibility of the device movement is increased.

[0057] The application also provides a robot working group including a plurality of wall surface adsorption working devices, which can simultaneously work on different parts of a processed plate 3. When facing a large processed plate 3, the robot working group is used to arrange a plurality of wall surface adsorption working devices on one processed plate 3, and sequentially process according to the set processing target and track, so as to greatly improve the processing efficiency and realize the processing target of the processed plate 3.

[0058] The application also provides a wall surface adsorption working method, preferably using a plurality of wall surface adsorption working devices in the application, and using single-point or multi-point adsorption of the first functional assembly 11 and / or the second body assembly 22 to stably hold the first body assembly 12 and / or the second body assembly 22 on the processed plate 3, and to realize the working of the processed plate 3 by the first functional assembly 11 and / or the second body assembly 22, wherein the alternating adsorption of the plurality of first functional assemblies 11 and / or the alternating adsorption of the plurality of second body assemblies 22 can make the body assembly realize the motion type obstacle crossing action.

[0059] Embodiment 2:

[0060] This embodiment is a variation of embodiment 1.

[0061] In this embodiment, at least one of the first robot 1 and the second robot 2 can be omitted, and only at least one functional component can be attached to the processed plate 3 by magnetic force or vacuum suction, so that the robot can be stably maintained on the processed plate 3 to achieve the target task, such as Figure 5 As shown in the figure, in this embodiment, the wall surface suction work device is arranged on one side of the processed plate 3, and the first functional component 11 or the second body component 22 can be attached to the processed plate 3, and at the same time, the first functional component 11 or the second body component 22 can perform work on the processed plate 3 while being attached.

[0062] As shown in the figure, Figure 6 , Figure 7 The action process of the device passing through the obstacle 4 is as follows: first, one of the functional components is stably attached, and the other functional component is driven by the body component to move away from the processed plate 3 and be lifted above the obstacle 4 and pass through the obstacle 4 to the front of the obstacle 4, and then be lowered and attached to the processed plate 3. The rear functional component can pass through the obstacle 4 in a somersault manner and move to the front of the obstacle 4, realizing the whole device obstacle passing action.

[0063] As shown in the figure, Figure 8 For the case where the device has three or more functional components, the obstacle passing action can be performed one by one, or after the frontmost one passes through the obstacle and is attached to the processed plate 3, all the remaining functional components can pass through the obstacle in a somersault movement mode at one time. In actual application, it should be considered whether the driving force of the branch chain 101 is sufficient to support the gravity of all the rear components. The specific setting and selection can be flexibly set according to the actual situation of the device to meet the needs of different application scenarios.

[0064] In this embodiment, the first body component 12 or the second body component 22 includes a plurality of branch chains 101, and each adjacent two branch chains 101 are connected by a lockable joint 121 and / or a lockable moving pair 122, so that the body component forms a series-parallel combined body structure. As shown in the figure, Figure 9 As shown in the figure, four functional components are designed, which can simultaneously perform four work operations at different four positions, providing work efficiency.

[0065] It should be noted that when the product passes through the obstacle, the functional components can pay attention to the obstacle passing, or after the first functional component passes through the obstacle, the remaining functional components can pass through the obstacle in a somersault manner, improving the obstacle passing efficiency. As shown in the figure, Figure 10 As shown in the figure, the schematic diagram of the obstacle passing action of this embodiment is shown. The common action of the branch chain 101, the lockable joint 121 and the lockable moving pair 122 can realize the obstacle passing action.

[0066] To further improve the work efficiency, the embodiment can also be designed as a structure with more functional components, preferably more than 4 functional components, as shown in Figure 11 、 Figure 12 to meet the needs of actual application scenarios.

[0067] Embodiment 3:

[0068] This embodiment is a preferred example of embodiment 1.

[0069] In this embodiment, as shown in Figure 13 , the first robot 1 and the second robot 2 are arranged on both sides of the machined plate 3, and the first body assembly 12 and the second body assembly 22 each include a plurality of branch chains 101, and each adjacent two branch chains 101 are connected by a lockable joint 121 and / or a lockable moving pair 122, so that the body assembly forms a series-parallel combined body structure. The arrangement of the complex branch chain 101 allows more functional components to be arranged, which is equivalent to forming a multi-legged robot. The plurality of functional components can undertake different machining tasks and different machining positions, greatly improving the machining efficiency and facilitating efficient machining of large machined plates 3.

[0070] The present application is aimed at plate surface machining, using a bionic multi-point adsorption method, through an adsorption and work coupling module device, which realizes stable adsorption of a single module to the wall surface and work processing of the wall plate. The adsorption method includes but is not limited to magnetic adsorption, vacuum adsorption, bionic grappling hook adsorption, etc. At the same time, the adsorption work module can have different processing functions and is not limited to specific work methods. It can realize multi-point cooperative adsorption and work, improve work efficiency, and at the same time, the configuration can also overcome obstacles. Different obstacle overcoming strategies can achieve obstacle overcoming effect.

[0071] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0072] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A wall surface adsorption work device characterized by comprising: The wall surface adsorption working device comprises: a first robot (1) arranged on one side of a processed plate member (3), comprising a plurality of first functional components (11) and a first body component (12) connected with the plurality of first functional components (11) respectively; a second robot (2) arranged on the other side of the processed plate member (3), comprising a plurality of second functional components (21) and a second body component (22) connected with the plurality of second functional components (21) respectively; wherein, when a first first functional component (11) and a first second functional component (21) are magnetically adsorbed, the first robot (1) and the second robot (2) located on both sides of the processed plate member (3) can be stably kept on the processed plate member (3) and can move to a target direction after a second first functional component (11) and a second second functional component (21) are magnetically adsorbed, and the first first functional component (11) and the first second functional component (21) are driven by the first body component (12) and the second body component (22) to realize obstacle crossing and movement to the target direction, and the processed plate member (3) can be worked during the movement or the static state of the robot; the first body component (12) and the second body component (22) each comprise a plurality of branch chains (101), and each adjacent two branch chains (101) are connected by a lockable joint (121) or a lockable moving pair (122) to form a series body structure or a series-parallel combined body structure.

2. The wall surface adsorption work device according to claim 1, characterized by The processed plate member (3) is a magnetic material or a non-magnetic material.

3. The wall surface adsorption work device according to claim 1, characterized by At least one of the first robot (1) and the second robot (2) can be omitted, and at least one functional component can be adsorbed on the processed plate member (3) by magnetic force or vacuum adsorption, so that the robot can stably keep on the processed plate member (3) to realize the target task.

4. The wall surface adsorption work device according to claim 1, characterized by At least one of the plurality of first functional components (11) has a processing function. At least one of the plurality of second functional components (21) has a processing function.

5. The wall surface adsorption work device according to claim 1, characterized by Different first functional components (11) have the same or different number and spatial structure arrangement of branch chains (101). Different second functional components (21) have the same or different number and spatial structure arrangement of branch chains (101).

6. The wall surface adsorption work device according to claim 1, characterized by The lockable joint (121) can make two connected branch chains (101) in a joint state or a locked state, wherein the locked state can make two connected branch chains (101) in a straight line state or a bending state.

7. The wall surface adsorption work device according to claim 5, characterized by The lockable moving pair (122) can realize at least one action of lengthening, shortening or relative rotation of two connected branch chains (101).

8. A robot work group, characterized in that The wall surface adsorption working device comprises a plurality of wall surface adsorption working devices according to any one of claims 1 to 7, which can simultaneously work different parts of the processed plate member (3).

9. A wall surface adsorption work method characterized by comprising: The wall surface adsorption working device of any one of claims 1 to 7, by the first functional assembly (11) and / or the second body assembly (22) using single point or multi-point adsorption mode to realize the first body assembly (12) and / or the second body assembly (22) to be stably kept on the processed plate (3) and to realize the working operation of the processed plate (3) through the first functional assembly (11) and / or the second body assembly (22), wherein the movement type obstacle action of the body assembly can be realized through the alternate adsorption of multiple first functional assemblies (11) and / or the alternate adsorption of multiple second body assemblies (22).

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