An automated adhesive-applying composite mobile robot and its control system

Abstract

This invention relates to an automated adhesive-applying composite mobile robot and its control system, belonging to the field of automated assembly in aerospace product assembly. It solves the problem of low assembly efficiency and the need for a large number of operators in the adhesive-applying process for mounting holes in existing aerospace product assembly. The robot of this invention includes a mobile chassis, a lifting mechanism, a robotic arm, an end effector, and a plug storage device for storing plugs. The lifting mechanism is mounted on the mobile chassis, and the robotic arm and plug storage device are fixedly mounted on the lifting mechanism. The end effector is mounted on the robotic arm and moves with it, used to identify the area to be adhesive-applied and to automatically apply adhesive, fill plugs, and smooth the surface. This invention enables the robot to move between different workstations and automatically apply adhesive, fill plugs, and smooth the surface, reducing the number of operators, saving operation time, and improving product assembly efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated assembly of aerospace products, and in particular to an automated adhesive-applying composite mobile robot and its control system. Background Technology

[0002] In the final assembly process of aerospace products, many mounting holes need to be glued and then filled with material. There are hundreds of mounting holes in each aerospace product that need to be glued. Currently, the glue application, material filling and smoothing are done manually. Since there are a lot of mounting holes in each aerospace product that need to be glued, the efficiency of glue application is generally improved by increasing the number of operators. Even so, the assembly efficiency is not high. Summary of the Invention

[0003] Based on the above analysis, the present invention aims to provide an automated adhesive-applying composite mobile robot and control system to solve the problem that the adhesive-applying process for mounting holes in existing aerospace product assembly requires a large number of operators and has low assembly efficiency.

[0004] The objective of this invention is mainly achieved through the following technical solutions:

[0005] An automated adhesive-applying composite mobile robot includes a mobile chassis, a lifting mechanism, a robotic arm, an end effector, and a plug storage device for storing plugs. The lifting mechanism is mounted on the mobile chassis, and the robotic arm and plug storage device are fixedly mounted on the lifting mechanism, capable of moving up and down with the lifting mechanism. The end effector is mounted on the robotic arm and can move with the robotic arm, used to identify the area to be coated with adhesive and to complete automatic adhesive application, automatic plug filling, and automatic smoothing.

[0006] Furthermore, the lifting mechanism includes a fixed support frame, a lifting support frame, and a driving device. The fixed support frame is fixedly installed on the mobile chassis; the lifting support frame is installed on the fixed support frame and slidably connected to the fixed support frame; the driving device is fixedly installed on the fixed support frame and connected to the lifting support frame, and is used to drive the lifting support frame to rise or fall within the fixed support frame.

[0007] Furthermore, the driving device includes a lifting motor, a screw, and a second mounting plate. The lifting motor is fixedly mounted on a fixed support frame. The screw is mounted on the fixed support frame, and one end of the screw is connected to the lifting motor. The second mounting plate is fixedly mounted on the lifting support frame and is threadedly connected to the screw, enabling the lifting support frame to rise or fall as the screw rotates.

[0008] Furthermore, the end effector includes a mounting base, a vision device, an adhesive applicator, and a filling material device, all of which are mounted on the mounting base, which is connected to the end of the robotic arm.

[0009] Furthermore, the adhesive application device includes an adhesive application needle and a scraper.

[0010] Furthermore, the mobile chassis body is an AGV (Automated Guided Vehicle).

[0011] Furthermore, the robotic arm is a six-axis robotic arm.

[0012] Furthermore, the visual device is a camera.

[0013] Furthermore, the filling material device is a gripper.

[0014] An automatic glue-applying composite mobile robot control system is provided for controlling the automatic glue-applying composite mobile robot.

[0015] The technical solution of this invention can achieve at least one of the following effects:

[0016] (1) The present invention provides an automatic glue-applying composite mobile robot, comprising a mobile chassis, a lifting mechanism, a robotic arm, an end effector, and a plug storage device for storing plugs. The lifting mechanism is mounted on the mobile chassis, and the robotic arm and plug storage device are fixedly mounted on the lifting mechanism. The robotic arm and plug storage device can adjust their height as the lifting mechanism moves. The end effector is mounted on the robotic arm and can move with the robotic arm to identify the area to be glued and to complete automatic glue application, automatic plug filling, and automatic leveling. The robot can automatically move between different glue application stations and complete automatic glue application, automatic plug filling, and automatic leveling processes, thereby reducing the number of operators, saving operation time, and improving product assembly efficiency.

[0017] (2) The present invention provides a four-legged support unit, which includes four legs installed at the four corners of the mobile chassis body, namely the left front leg, the right front leg, the left rear leg and the right rear leg. The four legs are independently controlled to extend and retract, and are used to automatically adjust the support state of the mobile chassis according to the ground height difference, thereby ensuring the robot is stably supported.

[0018] (3) The present invention also provides an anti-rollover device, which is set on the side wall of the robot. The anti-rollover device is provided with a retractable support seat. By unfolding the retractable support seat, the contact area between the support arm and the ground can be further increased, making the support frame more stable and further preventing the robot from rolling over. This further enhances the anti-rollover performance of the anti-rollover device. Moreover, the retractable support seat will not occupy other positions or spaces when it is retracted.

[0019] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0020] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0021] Figure 1 This is a schematic diagram of the robot structure in Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram of the mobile chassis in Embodiment 1 of the present invention;

[0023] Figure 3 This is a schematic diagram of the support leg in Embodiment 1 of the present invention;

[0024] Figure 4 This is a schematic diagram of the support mechanism in Embodiment 1 of the present invention;

[0025] Figure 5 This is a schematic diagram of the fixed support frame in Embodiment 1 of the present invention;

[0026] Figure 6 This is a schematic diagram of the lifting support frame in Embodiment 1 of the present invention;

[0027] Figure 7 This is a schematic diagram of the drive device in Embodiment 1 of the present invention;

[0028] Figure 8 This is a schematic diagram of the end device in Embodiment 1 of the present invention. Figure 1 ;

[0029] Figure 9 This is a schematic diagram of the end device in Embodiment 1 of the present invention. Figure 2 ;

[0030] Figure 10This is a schematic diagram of the anti-rollover device in the retracted state in Embodiment 2 of the present invention;

[0031] Figure 11 This is a schematic diagram of the anti-rollover device in the deployed state in Embodiment 2 of the present invention;

[0032] Figure 12 for Figure 11 BB section view;

[0033] Figure 13 This is a schematic diagram of the structure of the fixing base in Embodiment 2 of the present invention;

[0034] Figure 14 This is a schematic diagram of the support frame in Embodiment 2 of the present invention;

[0035] Figure 15 This is a schematic diagram of the support arm in Embodiment 2 of the present invention. Figure 1 ;

[0036] Figure 16 This is a schematic diagram of the support arm in Embodiment 2 of the present invention. Figure 2 ;

[0037] Figure 17 for Figure 14 CC section view;

[0038] Figure 18 This is a schematic diagram of the structure of the support body in Embodiment 2 of the present invention;

[0039] Figure 19 This is a schematic diagram of the linkage mechanism in Embodiment 2 of the present invention. Figure 1 ;

[0040] Figure 20 This is a schematic diagram of the linkage mechanism in Embodiment 2 of the present invention. Figure 2 ;

[0041] Figure 21 This is a schematic diagram of the sliding lock structure in Embodiment 2 of the present invention;

[0042] Figure 22 This is a schematic diagram of the locking mechanism in Embodiment 2 of the present invention;

[0043] Figure 23 This is a schematic diagram of the robot control system structure in Embodiment 3 of the present invention.

[0044] Figure label:

[0045] 1-Mobile chassis; 11-Mobile chassis body; 12-Four-leg support unit; 121-Forward and reverse rotation module; 122-Electric actuator; 123-Weighing sensor; 124-Support block; 125-Limiting mechanism;

[0046] 2-Lifting mechanism; 21-Fixed support frame; 211-First fixed frame; 212-Second fixed frame; 213-Third fixed frame; 214-First column assembly; 22-Lifting support frame; 221-Lower support frame; 222-Upper support frame; 223-Second column assembly; 224-Mounting platform; 23-Drive device; 231-Lifting motor; 232-Coupling; 233-Screw; 234-First mounting plate; 235-Second mounting plate; 236-Third mounting plate; 237-Connecting plate;

[0047] 3-Robotic arm;

[0048] 4-End device; 41-Mounting base; 42-Vision device; 43-Glue applicator; 431-Glue applicator needle; 432-Scraper; 44-Filling material device;

[0049] 5-Anti-rollover device; 51-Fixed base; 511-Ratchet; 512-Slide groove; 513-Locking through hole; 514-First shaft hole; 52-Support frame; 521-Support arm; 5211-Guide groove; 5212-Elongated through hole; 5213-Receiving cavity; 5214-First pin; 5215-Locking hole; 5216-Second shaft hole; 522-Retractable support base; 5221-Sliding bar; 52211-Rack; 522 12-Second pin; 5222-Support seat body; 53-Linkage mechanism; 531-Linkage; 5311-Gear; 532-Slide lock; 5321-Support seat; 53211-Connecting block; 53212-Support plate; 53213-Guide block; 5322-Pawl; 53221-Pawl part; 53222-Pressing part; 5323-Spring; 54-Locking mechanism; 541-Locking pin; 55-Hinge shaft; 56-Torsion spring;

[0050] 6-Magnet. Detailed Implementation

[0051] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0052] Example 1

[0053] A specific embodiment of the present invention discloses an automated adhesive-applying composite mobile robot, such as... Figure 1As shown, the system includes a mobile chassis 1 capable of automatic navigation and movement according to work task instructions, a lifting mechanism 2, a robotic arm 3, an end effector 4, and a plug storage device for storing plugs. The lifting mechanism 2 is mounted on the mobile chassis 1, and the robotic arm 3 and the plug storage device are fixedly mounted on the lifting mechanism 2. The robotic arm 3 and the plug storage device can adjust their height as the lifting mechanism 2 rises and falls. The end effector 4 is mounted on the robotic arm 3 and can move with the robotic arm 3. It is used to identify the area to be glued and to complete automatic glue application, automatic plug filling, and automatic leveling. This enables the robot to move automatically between different glue application stations and to perform automatic glue application, automatic plug filling, and automatic leveling, thereby reducing the number of operators, saving operation time, and improving product assembly efficiency.

[0054] Preferably, such as Figure 2 As shown, the mobile chassis 1 includes a mobile chassis body 11 and a four-legged support unit 12. The mobile chassis body 11 adopts an AGV (Automated Guided Vehicle) in the prior art. The AGV can automatically guide and move, realizing the movement from the current position to the glue application station according to the planned route. In this embodiment, the AGV is preferably an AGV with differential wheels, and preferably an AGV with a QR code + odometer fusion algorithm for automatic navigation and positioning.

[0055] Preferably, the four-legged support unit 12 includes four legs respectively installed at the four corners of the mobile chassis body 11, namely the left front leg, the right front leg, the left rear leg and the right rear leg. The four legs are independently controlled to extend and retract, and are used to automatically adjust the support state of the mobile chassis 1 according to the ground height difference, thereby ensuring the robot is stably supported.

[0056] Preferably, such as Figure 3As shown, the support leg includes a forward / reverse module 121, an electric actuator 122, a weighing sensor 123, a support block 124, and a limiting mechanism 125. The forward / reverse module 121 is connected to the electric actuator 122. By controlling the forward or reverse rotation of the forward / reverse module 121, the electric actuator 122 is extended or retracted, thereby adjusting the balance of the mobile chassis 1. The end of the electric actuator 122 is equipped with a weighing sensor 123. The support block 124 is fixedly installed on the weighing sensor 123. The support block 124 is used to support the ground. Sensor 123 is used to detect the pressure change on the support block 124 in real time, and can transmit the pressure change to the vehicle controller. The vehicle controller controls the forward and reverse rotation module 121 to rotate forward or reverse, thereby controlling the extension or retraction of the electric push rod 122 to achieve automatic adjustment of the balance state of the mobile chassis 1. The support block 124 is connected to the limiting mechanism 125. The limiting mechanism 125 is equipped with an upper limit sensor and a lower limit sensor. The limiting mechanism 125 is used to limit the extension or retraction stroke of the electric push rod 122 to protect the movement of the electric push rod 122.

[0057] Compared with the prior art, the four-legged support unit 12 includes four legs respectively installed at the four corners of the mobile chassis body 11. The four legs are independently set, which can enable the robot to independently and collaboratively adjust the support state according to the ground height difference, so as to ensure the robot is stably supported.

[0058] Preferably, such as Figure 4 As shown, the lifting mechanism 2 includes a fixed support frame 21, a lifting support frame 22, and a drive device 23. The fixed support frame 21 is fixedly installed on the mobile chassis 1. The lifting support frame 22 is installed on the fixed support frame 21 and is slidably connected to the fixed support frame 21. The drive device 23 is fixedly installed on the fixed support frame 21 and connected to the lifting support frame 22. The drive device 23 is used to drive the lifting support frame 22 to rise or fall within the fixed support frame 21, thereby adjusting the height position of the robotic arm 3, so as to enable the robot to perform glue application operations on mounting holes of different heights.

[0059] Preferably, such as Figure 5 As shown, the fixed support frame 21 includes a first fixed frame 211, a second fixed frame 212, a third fixed frame 213, and a first column group 214. The first fixed frame 211, the second fixed frame 212, and the third fixed frame 213 are sequentially arranged on the first column group 214 and are all fixedly connected to the columns in the first column group 214. The first fixed frame 211 is located at the lowermost end of the first column group 214 and is fixedly connected to the mobile chassis 1. The third fixed frame 213 is located at the uppermost end of the first column group 214. The second fixed frame 212 and the third fixed frame 213 are used to install the drive device 23.

[0060] Preferably, such as Figure 6 As shown, the lifting support frame 22 includes a lower support frame 221, an upper support frame 222, a second column group 223, and an installation platform 224. The lower support frame 221 and the upper support frame 222 are both fixedly connected to the second column group 223. The lower support frame 221 is located at the lower end of the second column group 223 and is used to mount the drive device 23. The upper support frame 222 is located at the top of the second column group 223 and is used to install the installation platform 224. The second column group 223 is mounted on the first column group 214 in the fixed support frame 21 and is slidably connected to the first column group 214. The installation platform 224 is fixedly mounted on the upper support frame 222 and is used to install the end device 4 and the plug storage device.

[0061] Preferably, such as Figure 7 As shown, the drive device 23 includes a lifting motor 231, a coupling 232, a screw 233, a first mounting plate 234, a second mounting plate 235, a third mounting plate 236, and a connecting plate 237. The power output end of the lifting motor 231 is connected to the coupling 232, and the coupling 232 is connected to the screw 233. The lifting motor 231 can drive the screw 233 to rotate. The lifting motor 231 is fixedly mounted on the connecting plate 237, and the connecting plate 237 is fixedly mounted on the first mounting plate 234. The two ends of the screw 233 are mounted on the first mounting plate 234 and the third mounting plate 236, and are rotatably connected to the first mounting plate 234 and the third mounting plate 236. The first mounting plate 234... 4. The second fixed frame 212 is fixedly installed in the fixed support frame 21, and the third mounting plate 236 is fixedly installed in the third fixed frame 213 in the fixed support frame 21, thereby installing the drive device 23 on the fixed support frame 21; the second mounting plate 235 is fixedly installed in the lower support frame 221 in the lifting support frame 22, and is sleeved on the screw 233 and threadedly connected to the screw 233, so that the second mounting plate 235 can reciprocate along the axis of the screw 233 as the screw 233 rotates, thereby realizing the lifting support frame 22 rising or falling along the axis of the screw 233, thereby adjusting the height position of the robotic arm 3, and thus realizing the robot to perform glue application operation on the mounting holes of different heights.

[0062] Preferably, the robotic arm 3 is an existing robotic arm. In this embodiment, the robotic arm 3 is preferably a six-axis robotic arm. One end of the robotic arm 3 is fixedly installed on the mounting platform 224 in the lifting mechanism 2, and the other end is used to install on the end device 4. The robotic arm 3 is used to control the movement trajectory of the end device 4, thereby completing the glue application work.

[0063] Preferably, such as Figure 8 and Figure 9 As shown, the end effector 4 includes a mounting base 41, a vision device 42, an adhesive applicator 43, and a filling material device 44. The vision device 42, the adhesive applicator 43, and the filling material device 44 are all mounted on the mounting base 41. The mounting base 41 is connected to the end of the robotic arm 3, thereby enabling the robotic arm 3 to control the movement trajectory of the end effector 4.

[0064] Preferably, the vision device 42 is a camera; the vision device 42 is used to photograph, identify and locate the area to be coated with adhesive, so that the adhesive coating device 43 can accurately apply the adhesive to the mounting hole of the coating area and the filling material device 44 can accurately place the plug in the mounting hole of the coating area.

[0065] Preferably, the adhesive application device 43 includes an adhesive application needle 431 and a scraper 432. The adhesive application needle 431 can store adhesive in advance for applying the adhesive to the mounting hole of the adhesive application area. The scraper 432 is used to scrape off the adhesive that overflows from the mounting hole to keep the adhesive application area clean.

[0066] Preferably, the filling material device 44 is a gripper, which is used to grip a plug from the plug storage and fill the plug into the mounting hole that has been coated with adhesive.

[0067] Example 2

[0068] To prevent the robot from tipping over during the glue application process, this embodiment improves upon embodiment 1 by including a foldable anti-tipping device 5. Preferably, the anti-tipping device 5 is mounted on the four side walls of the robot. When staff detect a tendency or risk of tipping over, the anti-tipping device 5 can be unfolded to provide temporary support and prevent tipping. If there is no tendency or risk of tipping over, the anti-tipping device 5 can be folded up. The folded anti-tipping device 5 occupies minimal space and does not interfere with the robot's movement.

[0069] Preferably, such as Figure 10 , Figure 11 and Figure 12As shown, the anti-tipping device 5 includes a fixed base 51, a support frame 52, a linkage mechanism 53, a locking mechanism 54, a hinge shaft 55, and a torsion spring 56. The fixed base 51 is fixedly installed on the side wall of the robot. One end of the support frame 52 is connected to one end of the fixed base 51 via the hinge shaft 55. The support frame 52 can be folded and stored in the fixed base 51. The linkage mechanism 53 is connected to the fixed base 51 and the support frame 52 at both ends, respectively, to support the unfolded support frame 52 and lock the support frame 52, preventing it from rotating freely and keeping the anti-tipping device 5 in the unfolded state, thus increasing the support. Stability of the support after unfolding; the torsion spring 56 is sleeved on the hinge shaft 55, one end of which is connected to the fixed seat 51 and the other end is connected to the support frame 52. The torsion spring 56 always applies an elastic force to the support frame 52, so that the support frame 52 always maintains its unfolded potential energy; the locking mechanism 54 is used to lock the support frame 52 after it is folded up to prevent the support frame 52 from unfolding freely; when the locking mechanism 54 releases the lock on the support frame 52, the support frame 52 can be quickly unfolded under the action of the elastic force of the torsion spring 56, and the linkage mechanism 53 locks and supports the unfolded support frame 52, which can quickly support the robot and prevent the robot from tipping over.

[0070] Preferably, such as Figure 13 As shown, the fixing seat 51 is a long groove type, with a bottom plate and side plates, and a cavity formed by the bottom plate and side plates. The cavity of the fixing seat 51 can accommodate the folded support frame 52, thereby making the anti-tipping device 5 occupy less space and preventing the support frame 52 from being exposed and scratching other equipment. The fixing seat 51 is provided with a ratchet rack 511, a sliding groove 512, a locking through hole 513 and a first shaft hole 514. The ratchet rack 511 is located inside the bottom plate of the fixing seat 51 and is arranged along its length. The sliding groove 512 is located inside the side plate of the fixing seat 51 and is arranged along its length. The locking through hole 513 is located on one of the side plates of the fixing seat 51. The first shaft hole 514 is located at the bottom end of the fixing seat 51 and passes through both side plates of the fixing seat 51. The first shaft hole 514 is used to fix and install the hinge shaft 55.

[0071] Preferably, such as Figure 14 As shown, the support frame 52 includes a support arm 521 and a retractable support base 522. The support arm 521 is hinged to the fixed base 51 via a hinge shaft 55. When the support arm 521 is extended, it contacts the ground to support the robot. When retracted, it can be folded into the slot of the fixed base 51. The retractable support base 522 is mounted on the support arm 521. When the support arm 521 is extended, the retractable support base 522 is extended, further increasing the contact area between the support frame 52 and the ground, forming a more stable support.

[0072] Preferably, such as Figure 15 and Figure 16 As shown, the support arm 521 is a long groove type, having a base plate, side plates, and a cavity formed by the base plate and side plates; the support arm 521 is provided with a guide groove 5211, a long through hole 5212, a receiving cavity 5213, a first pin 5214, a locking hole 5215, and a second shaft hole 5216. The second shaft hole 5216 is located at one end of the support arm 521 and passes through the two side plates of the support arm 521; the second shaft hole 5216 is mounted on a hinge shaft 55, and the support arm 521 can rotate around the hinge shaft 55 as a fulcrum; the guide groove 5211 is located inside the base plate of the support arm 521 and is arranged along its length; the long through hole 5212 is provided with... Within the guide groove 5211; the receiving cavity 5213 is located on the outer side of the bottom plate of the support arm 521 and corresponds to the elongated through hole 5212. The receiving cavity 5213 is used to receive the telescopic support seat 522; the first pin 5214 is located in the receiving cavity 5213 and is located at one end of the support arm 521 away from the second shaft hole 5216. The first pin 5214 is used to install the telescopic support seat 522; the locking hole 5215 is located on the outer side of the side plate of the support arm 521 and corresponds to the locking through hole 513 on the side plate of the fixing seat 51; a magnet 6 is provided in the locking hole 5215 for fixing the locking pin inserted into the locking hole 5215.

[0073] Preferably, such as Figure 17 and Figure 18 As shown, the retractable support base 522 includes a sliding bar 5221 and a support base body 5222. The sliding bar 5221 is disposed in the guide groove 5211 and can slide in the guide groove 5211. The support base body 5222 is connected to the sliding bar 5221 and can be extended or retracted as the sliding bar 5221 slides.

[0074] Preferably, the sliding bar 5221 has a rack 52211 on one side and a second pin 52212 at the end of the other side, the second pin 52212 passing through the elongated through hole 5212 and being disposed opposite to the first pin 5214.

[0075] Preferably, the support body 5222 is disposed in the receiving cavity 5213 on the support arm 521; the support body 5222 is formed by four connecting rods hinged in sequence, forming a first hinge, a second hinge, a third hinge, and a fourth hinge in sequence; the first hinge of the support body 5222 is rotatably mounted on a first pin 5214, and the third hinge opposite to the first hinge is rotatably mounted on a second pin 52212; the support body 5222 can be unfolded and retracted according to the sliding of the sliding bar 5221; when unfolded, it can increase the contact area between the support frame 52 and the ground, forming a more stable support; when retracted, the support body 5222 can be stored in the receiving cavity 5213, preventing the robot from scratching other equipment during operation.

[0076] Compared with the existing anti-rollover device 5, the anti-rollover device 5 in this embodiment is provided with a retractable support base 522. By unfolding the retractable support base 522, the contact area between the support arm 521 and the ground can be further increased, making the support frame 52 more stable and further preventing the robot from rolling over. This further enhances the anti-rollover performance of the anti-rollover device 5. Moreover, the retractable support base 522 will not occupy other positions or spaces when it is retracted.

[0077] Preferably, such as Figure 19 As shown, the linkage mechanism 53 includes a connecting rod 531 and a sliding lock 532. One end of the connecting rod 531 is rotatably connected to the support arm 521, and the other end is connected to the sliding lock 532. The sliding lock 532 is slidably connected to the fixed seat 51. The linkage mechanism 53 is used to lock and support the unfolded support frame 52 to prevent the support frame 52 from rotating. At the same time, the rotation of the connecting rod 531 can push the sliding bar 5221 to slide on the support seat body 5222, thereby pushing the support seat body 5222 to unfold or retract.

[0078] Preferably, such as Figure 20As shown, a gear 5311 is provided at one end of the connecting rod 531 that connects to the support arm 521. The gear 5311 is mounted on the two side plates of the support arm 521 and is rotatably connected to the two side plates. The gear 5311 meshes with the rack 52211 on the sliding bar 5221. During the unfolding or retracting of the support frame 52, the connecting rod 531 rotates around the gear 5311 as an axis, and synchronously drives the gear 5311 to rotate, thereby causing the sliding bar 5221 to slide in the guide groove 5211, thus pushing the support base body 5222 to unfold or retract. When the support frame 52 unfolds, the sliding lock 532 slides from the upper end to the lower end of the fixed base 51, and drives the connecting rod 531 to rotate, synchronously driving the gear 5311 to rotate, thereby causing the sliding bar 5221 to move from the inner end to the outer end of the support arm 521, thus pushing the support base body 5222 to unfold. When the support arm 521 contacts the ground, the support base body 5222 fully unfolds, thereby increasing the contact area between the support arm 521 and the ground, making the support frame 52 more stable and further preventing the robot from tipping over. When the support frame 52 is retracted, the sliding lock 532 slides from the lower end to the upper end of the fixed base 51, driving the connecting rod 531 to rotate in the opposite direction, which in turn drives the gear 5311 to rotate in the opposite direction, thereby driving the sliding strip 5221 to move from the outer end to the inner end of the support arm 521, thereby pushing the support base body 5222 to retract. The support arm 521 is fully engaged in the groove of the fixed base 51, and the support base body 5222 is fully retracted. The retracted support base body 5222 is stored in the receiving cavity 5213, which allows the anti-tipping device 5 to occupy less space and also prevents the robot from scraping against other equipment during operation.

[0079] Preferably, such as Figure 21 As shown, the slide lock 532 includes a support base 5321, a pawl 5322, and a spring 5323. The support base 5321 is slidably installed in the groove of the fixed base 51. One end of the spring 5323 is fixedly connected to the support base 5321, and the other end is fixedly connected to the pawl, and always applies an elastic force to the pawl 5322. The pawl 5322 is rotatably installed on the support base 5321 and cooperates with the ratchet rack 511 in the fixed base 51 to form a ratchet mechanism. The slide lock 532 has a locking function to restrict the reverse rotation of the connecting rod 531, thereby enabling the connecting rod 531 to support the unfolded support frame 52.

[0080] Preferably, the support base 5321 includes a connecting block 53211, a support plate 53212 disposed on both sides of the connecting plate 53211, and a guide block 53213 disposed on the outer side of the support plate 53212. The guide block 53213 is correspondingly disposed with the slide groove 512 in the fixed base 51. The guide block 53213 can slide in the slide groove 512, so that the slide lock 532 can only slide along the length direction of the fixed base 51.

[0081] Preferably, the pawl 5322 is mounted on two support plates 53212 and rotatably connected thereto; the pawl 5322 includes a pawl portion 53221 and a pressing portion 53222, the pawl portion 53221 engages with the ratchet rack 511 in the fixed seat 51 to form a ratchet mechanism; the pressing portion 53222 is fixedly connected to one end of a spring 5323, and the other end of the spring 5323 is fixedly mounted on the connecting block 53211 in the support seat 5321, the spring 5323 is always in a compressed state and always applies an elastic force to the pawl 5322, so that the pawl portion 53221 of the pawl 5322 always keeps in contact with the ratchet rack 511 in the fixed seat; when the pressing portion 53222 is pressed, the pawl portion 53221 can be disengaged from the ratchet rack 511 in the fixed seat 51, so that the slide lock 532 can slide freely on the fixed seat 51.

[0082] Preferably, such as Figure 22 As shown, the locking mechanism 54 includes a locking pin 541, a locking through hole 513, a magnet 6, and a locking hole 5215. The magnet 6 is fixedly installed in the locking hole 5215. The locking pin 541 is made of a material that can be attracted by the magnetic force of the magnet 6. The locking pin 541 passes through the locking through hole 513 and is inserted into the locking hole 5215. Under the magnetic attraction of the magnet 6, the locking pin 541 is first fixed in the locking hole 5215, thereby locking the retracted support frame 52 and fixing it in the groove of the fixing base 51. When it needs to be unfolded, the locking pin 541 only needs to be pulled out from the locking hole 5215 to release the support frame 52, which can be quickly unfolded under the elastic force of the torsion spring 56, making it convenient to use.

[0083] Example 3

[0084] Another specific embodiment of the present invention discloses a control system for controlling the robot of embodiment 1 or embodiment 2, such as... Figure 23 As shown, the system includes a central industrial control computer, a switch, a robotic arm controller, an automatic glue application controller, an end-effector positioning controller, and a vehicle-mounted controller. The central industrial control computer is connected to the switch, and the switch is connected to the robotic arm controller, the automatic glue application controller, the end-effector positioning controller, and the vehicle-mounted controller, respectively. The central industrial control computer and the switch are connected via Ethernet, and the switch is also connected to the robotic arm controller, the automatic glue application controller, the end-effector positioning controller, and the vehicle-mounted controller via Ethernet. This enables the central industrial control computer to communicate in real time with the robotic arm controller, the automatic glue application controller, the end-effector positioning controller, and the vehicle-mounted controller through the switch, achieving data interaction and control. This allows for the automatic movement of the robot between different glue application stations, as well as automatic glue application, automatic plug filling, and automatic leveling, thereby reducing the number of operators, saving operation time, and improving product assembly efficiency.

[0085] Preferably, the robotic arm controller is connected to the robotic arm 3. The robotic arm controller is used to control the movement of each joint of the robotic arm 3 according to the motion commands issued by the central industrial control computer, so as to realize the extension, contraction, rotation and other movements of the robotic arm 3. By controlling the movement of the robotic arm 3, the movement trajectory of the end effector 4 can be controlled, so as to realize the positioning, gluing, filling and scraping of the end effector 4.

[0086] Preferably, the automatic glue applicator is connected to the glue applicator 43 and the filling material device 44 in the end device 4. The automatic glue applicator is used to control the glue applicator 43 to apply the glue liquid in the glue applicator needle 431 to the mounting hole according to the glue applicator command issued by the central control computer. It can also control the scraper 432 in the glue applicator 43 to scrape off the glue liquid overflowing from the mounting hole, so as to keep the mounting hole clean, thereby realizing automatic glue applicator and automatic leveling. The automatic glue applicator is also connected to the filling material device 44. The automatic glue applicator is also used to control the filling material device 44 to grab the plug from the plug storage and fill the plug into the mounting hole according to the material filling command issued by the central control computer, thereby realizing automatic material filling.

[0087] Preferably, the end-effector positioning controller is connected to the vision device 42 and torque sensor in the end-effector 4. The end-effector positioning controller is used to control the vision device 42 to take pictures of the mounting holes to be coated with adhesive according to the picture-taking command issued by the central control computer, and then transmit the pictures to the central control computer. The central control computer analyzes the pictures and then completes the contour positioning of the mounting holes to be coated with adhesive, that is, determines the relative position, diameter and other parameters of the mounting holes to be coated with adhesive. The central control computer plans the motion trajectory of the robotic arm 3 and the end-effector 4 according to the relative position, diameter and other parameters of the mounting holes to be coated with adhesive and the initial position of the robotic arm 3. The force sensor is connected to the end device 4 and is used to provide real-time feedback on the pressing force of the filling material device 44 when placing the plug into the mounting hole. The pressing force is transmitted to the central control computer in real time. The central control computer controls the movement of the robotic arm 3 through the robotic arm controller based on the pressing force, thereby ensuring that the pressing force is just enough to place the plug completely into the mounting hole. This avoids the pressing force of the filling material device 44 being too large and damaging the plug, or the pressing force being too small and not being able to place the plug completely into the mounting hole. This achieves high-precision positioning of the robot in the mounting hole to be glued, as well as the gluing and filling of the plug, with an accuracy of less than 0.5mm.

[0088] Preferably, the vehicle-mounted controller is connected to the mobile chassis 1 and is used to control the mobile chassis 1 to automatically move and balance the robot between different glue application stations.

[0089] Preferably, the mobile chassis body 11 is equipped with a navigation sensor, a touch screen, a battery management system, a wireless remote control receiver, a safety anti-collision radar, a left-wheel drive, a right-wheel drive, an emergency stop button, indicator lights, and anti-collision contact strips, as well as a left wheel connected to the left-wheel drive and a right wheel connected to the right-wheel drive.

[0090] Preferably, the vehicle-mounted controller is connected to the navigation sensor of the mobile chassis body 11 in the mobile chassis 1 via an RS485 interface. The navigation sensor is used to acquire the current coordinate data of the robot and transmit the coordinate data to the vehicle-mounted controller, thereby enabling the vehicle-mounted controller to control the robot's automatic navigation and positioning.

[0091] Preferably, the navigation sensor is a vision camera, which is used to capture QR codes pre-set on the ground and transmit the coordinate data of the QR codes to the vehicle controller, thereby realizing the robot's automatic navigation and positioning. The robot uses a QR code + odometry fusion algorithm for navigation, that is, a QR code is pre-placed on the ground at 1m intervals. The QR code provides local coordinates in a two-dimensional coordinate system XY and the relative position of the local coordinates with the origin of the global coordinate system. By scanning the QR code, the position and coordinate information of the QR code can be obtained. At the same time, the odometry calculates the position of the robot between two QR codes, that is, by calculating the distance of the current robot from the previous QR code, the specific position of the current robot is obtained. When the robot moves to the next QR code, the above process is repeated to realize the robot's automatic navigation and positioning.

[0092] Preferably, the vehicle-mounted controller is connected to the touch screen of the mobile chassis body 11 in the mobile chassis 1 via an RS2332 interface. The touch screen is used to display the robot's operating status information and input the glue application work list. The robot's operating status information includes the current station, coordinates, fault codes, etc.

[0093] Preferably, the vehicle controller is connected via a CAN interface to the battery management system, wireless remote control receiver, safety collision avoidance radar one, safety collision avoidance radar two, left drive wheel, and right drive wheel of the mobile chassis body 11 in the mobile chassis 1. The battery management system is used to monitor the battery in the mobile chassis body 11 and upload battery status information to the vehicle controller in real time. The battery status information includes power, voltage, current, charging / discharging status, fault codes, etc. The wireless remote control receiver is used to receive action commands sent by the wireless remote control transmitter and upload the received action commands to the vehicle controller in real time. The vehicle controller controls the vehicle according to the received action commands. The robot performs corresponding actions, including moving forward, backward, turning left, and turning right. This embodiment preferably includes two safety collision avoidance radars, namely Safety Collision Avoidance Radar 1 and Safety Collision Avoidance Radar 2. These radars are fixedly mounted on the mobile chassis body 11 and arranged diagonally to the right front and left rear. The safety collision avoidance radars are used to detect obstacles around the robot in all directions, preventing collisions during movement. The left and right wheel drives are independently configured, controlling the rotation of the left and right wheels on the mobile chassis body 11 respectively, thereby controlling the robot's movement, including moving forward, backward, and turning.

[0094] Preferably, the vehicle controller is connected to the emergency stop button, indicator lights, and anti-collision contact strip of the mobile chassis body 11 in the mobile chassis 1 via an IO signal interface. The emergency stop button can be pressed in an emergency to stop all actions of the robot. The indicator lights are used to display different colors according to the robot's operating status: green for normal operation, yellow for encountering an obstacle, and red for malfunction or emergency stop. The anti-collision contact strip is used to prevent the robot from colliding with other objects. When the robot comes into contact with other objects, the anti-collision contact strip will be pressed, and the vehicle controller will control the left and right wheel drives to stop the left and right wheels respectively, thereby avoiding collisions between the robot and other objects.

[0095] Preferably, the vehicle controller is also connected to the four-legged support unit 12 in the mobile chassis 1 via an IO signal interface. The four-legged support unit 12 is used to automatically adjust the balance of the mobile chassis 1 according to the ground height difference to ensure stable support of the mobile chassis 1, thereby enabling the robot to move smoothly during positioning, gluing, filling and leveling processes.

[0096] Preferably, the four-legged support unit 12 includes four legs respectively installed at the four top corners of the mobile chassis body 11, namely the left front leg, the right front leg, the left rear leg, and the right rear leg. The four legs are independently controlled and used to automatically adjust the support state of the mobile chassis 1 according to the ground height difference, thereby ensuring the robot is stably supported.

[0097] Preferably, the outrigger is provided with a limiting mechanism 125, which includes an upper limit sensor and a lower limit sensor. Both the upper and lower limit sensors are connected to the vehicle controller via an I / O signal interface. These sensors detect whether the electric actuator 122 has retracted and extended to the correct positions, and limit its travel. When the upper limit sensor detects that the electric actuator 122 has retracted to the correct position, it transmits the detection signal to the vehicle controller, which then stops the electric actuator 122. Similarly, when the lower limit sensor detects that the electric actuator 122 has extended to the correct position, it transmits the signal to the vehicle controller, which then stops the electric actuator 122. The electric push rod 122 stops operating; if the four-legged support unit 12 has not been adjusted to its proper position after the electric push rod 122 has extended to its proper position, the vehicle controller will report an error, and the robot will stop operating, requiring manual intervention; the weighing sensor establishes a communication connection with the vehicle controller through the IO signal interface and transmits the detected force state of the support block 124 to the vehicle controller. The vehicle controller controls the electric push rod 122 to rotate forward or backward according to the force state of the support block 124 detected by the weighing sensor 123 through the forward and reverse rotation module 121 to adjust the extension length of the electric push rod 122, thereby enabling the robot to automatically adjust its support state according to the ground height difference and ensure stable support of the robot.

[0098] Preferably, the vehicle controller is connected to the lifting drive in the lifting mechanism 2. The lifting drive is used to control the rotation of the lifting motor 231 in the lifting mechanism 2, thereby controlling the lifting mechanism 2 to rise or fall, and realizing the adjustment of the height of the robotic arm 3 and the end effector 4.

[0099] Preferably, the vehicle controller is connected to the lifting limiter in the lifting mechanism 2 via an IO signal interface. The lifting limiter is used to limit the movement stroke of the lifting mechanism 2. When the lifting limiter detects that the lifting mechanism 2 has reached its position, it will send a signal back to the vehicle controller, and then the vehicle controller will control the lifting motor 231 to stop rotating. This can prevent the lifting mechanism 2 from running beyond its stroke and causing damage to the robot.

[0100] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic glue coating and compounding mobile robot, characterized by, The device includes a mobile chassis, a lifting mechanism, a robotic arm, an end effector, and a plug storage device for storing plugs. The lifting mechanism is mounted on the mobile chassis, and the robotic arm and plug storage device are fixedly mounted on the lifting mechanism and can move up and down with the lifting mechanism. The end effector is mounted on the robotic arm and moves with the robotic arm to identify the area to be glued and to complete automatic glue application, automatic plug filling, and automatic leveling. The robot also includes a foldable anti-tipping device, which includes a fixed base, a support frame, a linkage mechanism, a locking mechanism, a hinge shaft, and a torsion spring. One end of the support frame is connected to one end of the fixed base through the hinge shaft. The support frame can be folded up and stored in the fixed base. The linkage mechanism is connected to a fixed base and a support frame at both ends, respectively, to support and lock the support frame after it is unfolded, preventing it from rotating freely and keeping the anti-tipping device in the unfolded state. The torsion spring is sleeved on the hinge shaft and always applies an elastic force to the support frame. The locking mechanism is used to lock the support frame after it is folded up. When the locking mechanism releases the lock on the support frame, the support frame unfolds under the action of the torsion spring's elastic force, and the linkage mechanism locks and supports the unfolded support frame. The support frame includes a support arm and a telescopic support base. The support arm is hinged to a fixed base via a hinge shaft. The support arm has a guide groove, a long through hole, and a first pin. The telescopic support base includes a sliding bar and a support base body. The sliding bar is disposed in the guide groove and slides within it. A rack is provided on one side of the sliding bar, and a second pin is provided at the end of the other side. The support base body is formed by four connecting rods hinged sequentially, forming a first hinge, a second hinge, a third hinge, and a fourth hinge. The first hinge of the support base body is rotatably mounted on the first pin. The third hinge, opposite the first hinge, is rotatably mounted on the second pin. The linkage mechanism includes a connecting rod, one end of which is rotatably connected to the support arm, and the other end is slidably connected to the fixed seat. A gear is provided at the end of the connecting rod connected to the support arm, and the gear is mounted on the support arm. The gear meshes with a rack on the sliding bar. During the unfolding or retracting of the support frame, the connecting rod rotates around the gear as an axis, and synchronously drives the gear to rotate, thereby causing the sliding bar to slide in the guide groove. The support seat body can unfold and retract according to the sliding of the sliding bar, increasing the contact area between the support frame and the ground after unfolding.

2. The automatic adhesive-applying composite mobile robot according to claim 1, characterized in that, The lifting mechanism includes a fixed support frame, a lifting support frame, and a driving device. The fixed support frame is fixedly installed on the mobile chassis. The lifting support frame is installed on the fixed support frame and slidably connected to the fixed support frame. The driving device is fixedly installed on the fixed support frame and connected to the lifting support frame. The driving device is used to drive the lifting support frame to rise or fall within the fixed support frame.

3. The automatic adhesive-applying composite mobile robot according to claim 2, characterized in that, The driving device includes a lifting motor, a screw, and a second mounting plate. The lifting motor is fixedly mounted on a fixed support frame. The screw is mounted on the fixed support frame, and one end of the screw is connected to the lifting motor. The second mounting plate is fixedly mounted on the lifting support frame and is threadedly connected to the screw, enabling the lifting support frame to rise or fall as the screw rotates.

4. The automatic adhesive-applying composite mobile robot according to claim 3, characterized in that, The end effector also includes a mounting base, a vision device, an adhesive applicator, and a filling material device. The vision device, adhesive applicator, and filling material device are all mounted on the mounting base, which is connected to the end of the robotic arm.

5. The automatic adhesive-applying composite mobile robot according to claim 4, characterized in that, The adhesive application device includes an adhesive needle and a scraper.

6. The automatic adhesive-applying composite mobile robot according to claim 5, characterized in that, The mobile chassis is an AGV (Automated Guided Vehicle).

7. The automatic adhesive-applying composite mobile robot according to claim 6, characterized in that, The robotic arm is a six-axis robotic arm.

8. The automatic glue-applying composite mobile robot according to claim 7, characterized in that, The vision device is a camera.

9. The automatic glue-applying composite mobile robot according to claim 8, characterized in that, The filling material device is a gripper.

10. An automatic glue-applying composite mobile robot control system, characterized in that, Used to control the automatic glue-applying composite mobile robot according to any one of claims 1 to 9.

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