A field measurement and processing integrated robot with self-calibration function

Abstract

The application discloses a field measurement and processing integrated robot with a self-calibration function, comprising a moving platform, a plurality of bases, a processing main shaft, and a telescopic support-measuring assembly connected between the moving platform and each base; the telescopic support-measuring assembly comprises a plurality of telescopic support chains with the same structure and a telescopic measuring arm, and the telescopic support chains and the telescopic measuring arm are connected with the moving platform and the bases through Hooke hinges or spherical hinges; the telescopic support chains drive the moving platform to generate multidimensional movement; and the telescopic measuring arm realizes self-calibration and robot pose monitoring by monitoring the length change of the telescopic measuring arm. The robot adopts a split structure, is convenient for field installation and transportation, can realize field processing and measurement integration of large workpieces, can improve production efficiency and product quality, can reduce production cost, and can improve the flexibility of a processing system.

Description

Technical Field

[0001] This invention relates to the field of robotic machining, and in particular to an integrated robot for on-site measurement and machining with self-calibration function. Background Technology

[0002] With the continuous development of robot technology, its application in various fields of industrial processing is becoming more and more widespread. Robot on-site processing technology can be used for a variety of processing tasks, including welding, cutting, grinding, drilling, etc., and is applicable to many fields such as automobile manufacturing, aerospace, construction, and metal processing.

[0003] Robots can perform processing tasks at high speed and precision, reducing processing time and increasing production line throughput, thereby increasing production efficiency. Robots typically do not require rest while performing processing tasks, enabling them to work continuously and reducing labor costs. Furthermore, their precision reduces scrap rates, lowering the costs of scrap handling and reprocessing, and robots can replace human labor in performing dangerous or highly repetitive tasks, thus reducing the risk of human injury.

[0004] Large structural components are extensively used in aerospace, heavy equipment, and large steel structures. Due to their enormous size and complex shape, these components often require localized machining at their connections with other components. Existing methods primarily employ large machine tools, resulting in high costs for transportation, installation, and machining, as well as low production efficiency. Therefore, there is an urgent need for a portable robotic system that can be rapidly applied to on-site machining.

[0005] Integrated measurement and control (TPC) robots combine measurement and control functions, enabling real-time monitoring of workpiece position, size, and shape. Through instant feedback, they adjust the machining process to ensure high precision and consistency. If measurement results indicate workpiece deviations, the robot automatically corrects the machining path to eliminate these deviations, thereby improving product quality and reducing scrap rates. PCPC robots can collect vast amounts of machining data, which can be used to analyze and optimize production processes, improve product design, and predict equipment maintenance needs.

[0006] In summary, integrated measurement and control machining robots not only improve production efficiency and product quality but also significantly reduce production costs and increase processing flexibility. This technology has broad application prospects in the manufacturing industry, bringing competitive advantages and higher production capacity to enterprises.

[0007] Parallel robots come in various forms and have been widely used in military, medical, and industrial fields. Due to their structural characteristics, parallel robots have better load-bearing capacity. On-site machining robots using parallel mechanisms can achieve higher machining accuracy and withstand higher cutting forces, greatly expanding the application range of machining robots. Summary of the Invention

[0008] To address the aforementioned limitations of existing technologies, this invention provides an integrated on-site measurement and processing robot with self-calibration capabilities, enabling on-site processing of large workpieces. The robot employs a modular structure for convenient on-site assembly, adjustment, and transportation, while simultaneously achieving integrated measurement and processing. Using this robot for on-site processing not only improves production efficiency and product quality but also reduces production costs and enhances the flexibility of the processing system.

[0009] To address the aforementioned technical problems, this invention proposes an integrated on-site measurement and processing robot with self-calibration function, comprising a moving platform and N bases, N = 1 to 4; each moving platform is connected to a telescopic support-measuring assembly; a spindle motor is fixedly connected to the bottom of the moving platform via a mounting side plate, and the output end of the spindle motor is equipped with a processing spindle; the bases are magnetic bases, which are attracted or fixed to the workpiece by magnetic force or bolt connection; the telescopic support-measuring assembly includes M identical telescopic branches and a telescopic measuring arm, M = 2 to 4; the telescopic branches are connected to the moving platform via Hooke's joints, and the telescopic branches are connected to the bases via ball joints; both ends of the telescopic measuring arm are connected to the moving platform... The platform and base are connected by ball joints. The telescopic support chain includes a telescopic drive outer rod and a lead screw coaxially nested together. The telescopic support chain is equipped with a telescopic drive motor, and the telescopic drive outer rod has a nut that mates with the lead screw. The telescopic drive motor drives the nut to rotate through a transmission mechanism, causing the lead screw to move axially relative to the telescopic drive outer rod, thereby changing the length of the telescopic support chain and driving the multi-dimensional motion of the moving platform. The telescopic drive motor provides feedback on the length information of the telescopic support chain. The telescopic measuring arm includes a measuring device, a telescopic measuring outer rod, and a telescopic measuring inner rod. The telescopic measuring outer rod and the telescopic measuring inner rod are coaxially embedded and slidably connected. The measuring device is fixed on the telescopic measuring outer rod and is used to measure the length change of the telescopic measuring arm.

[0010] Furthermore, the integrated on-site measurement and processing robot with self-calibration function described in this invention, wherein:

[0011] The measuring device is a grating ruler or a displacement sensor. The measuring device statically or dynamically collects the length change information of the telescopic measuring arm under different robot configurations, calculates the robot's structural parameters through software, realizes the self-calibration process of the processing robot, and provides real-time feedback and correction of the robot's posture during robot movement.

[0012] The telescopic drive outer sleeve is provided with an axial slot, and the upper end of the lead screw is provided with a limiting pin inserted into the axial slot. The limiting pin is slidably connected to the telescopic drive outer sleeve.

[0013] The transmission mechanism is a belt drive mechanism, including a small pulley fixedly connected to the output shaft of the telescopic drive motor and a large pulley fixedly connected to the nut. The rotation of the telescopic drive motor drives the small pulley to rotate, which in turn drives the large pulley to rotate via the belt. The large pulley drives the lead screw nut fixedly connected to it to rotate, thereby converting the rotational motion of the telescopic drive motor into the telescopic motion of the telescopic chain.

[0014] It is particularly important to emphasize that: in this invention, the number of ball joint cups provided on the base for ball joint connection of the telescopic measuring arm is L, L+M=6; the telescopic measuring arm is connected to L ball joint cups fixedly connected to the base respectively, thereby obtaining six degrees of freedom information of each base, so that the posture of the base corresponds one-to-one with that of the moving platform.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This invention adopts a split-type layout, which can be quickly assembled and disassembled, facilitating transportation and on-site operation. At the same time, the robot integrates processing and measurement, improving production efficiency and product quality, reducing production costs, and increasing the flexibility of on-site processing. The parallel structure results in high constraint stiffness of the mechanism, small mass of moving parts, high precision, and high reliability. It can effectively reduce the inertia of the machining spindle and improve dynamic performance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the robot's structure in a general posture according to the present invention;

[0018] Figure 2 This is a schematic diagram of the robot of the present invention in a posture with a large range of motion.

[0019] In the picture:

[0020] 1-Magnetic base 2-Telescopic measuring arm ball joint cup B 3-Lead screw

[0021] 4-Large pulley 5-Small pulley 6-Displacement sensor

[0022] 7-Telescopic measuring outer rod; 8-Telescopic drive motor; 9-Telescopic drive outer rod

[0023] 10-Machining spindle 11-Spindle motor mounting plate 12-Hooke hinge

[0024] 13-Moving platform; 14-Telescopic measuring arm ball joint cup A; 15-Sleeve

[0025] 16-Telescopic drive motor connecting frame; 17-Belt; 18-Telescopic measuring inner rod

[0026] 19-Telescopic Chain Ball Joint Bowl Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention.

[0028] like Figure 1 and Figure 2 As shown, the present invention proposes an integrated robot for on-site measurement and processing with self-calibration function, comprising a moving platform 13 and three bases. A spindle motor is fixedly connected to the bottom of the moving platform 13 via a mounting side plate 11, and a processing spindle 10 is provided at the output end of the spindle motor. The bases can be magnetic bases 1, which can be attracted to the workpiece by magnetic suction cups, facilitating installation and avoiding damage to the surface of the workpiece. For workpieces made of non-magnetic materials, bolts can be used to fix the robot to the workpiece.

[0029] Each moving platform 13 is connected to a telescopic support-measuring assembly via a telescopic link. In this embodiment, the telescopic support-measuring assembly includes two identical telescopic links and a telescopic measuring arm. The telescopic links are connected to the moving platform 13 via Hooke's joints, and to the bases via ball joints. Both ends of the telescopic measuring arm are connected to the moving platform 13 and the bases via ball joints. The telescopic support-measuring assembly can be quickly disassembled and assembled with the moving platform 13 and the magnetic base 1, facilitating transportation and on-site assembly.

[0030] The telescopic support chain includes a coaxially nested telescopic drive outer rod 9 and a lead screw 3. The telescopic support chain is equipped with a telescopic drive motor 8. A sleeve 15 is fixed to the telescopic drive outer rod 9, and a telescopic drive motor connecting frame 16 is fixedly connected to the sleeve 15. The telescopic drive motor 8 is mounted on the telescopic drive motor connecting frame 16. A nut that mates with the lead screw 3 is provided inside the telescopic drive outer rod 9. The telescopic drive outer rod 9 has an axial slot, and a limiting pin is inserted into the axial slot at the upper end of the lead screw 3. The limiting pin is slidably connected to the telescopic drive outer rod 9. The telescopic drive motor 8 drives the nut to rotate through a transmission mechanism, causing the lead screw 3 to move axially relative to the telescopic drive outer rod 9, thereby changing the length of the telescopic support chain and thus driving the moving platform 13 to move in multiple dimensions. In this embodiment, the transmission mechanism is a belt drive mechanism, which includes a small pulley 5 fixedly connected to the output shaft of the telescopic drive motor 8 and a large pulley 4 fixedly connected to the nut. The rotation of the telescopic drive motor 8 drives the small pulley 5 to rotate, which in turn drives the large pulley 4 to rotate via the belt 17. The large pulley 4 drives the lead screw nut fixedly connected to it to rotate, thereby converting the rotational motion of the telescopic drive motor 8 into the telescopic motion of the telescopic chain. The telescopic chain is connected to the moving platform 13 via a Hooke's joint, and the telescopic chain is connected to the base via a ball joint. In this embodiment, the structure of the Hooke's joint connection between the telescopic chain and the moving platform 13 is as follows: the Hooke's joint 12 is fixedly connected to the bottom of the moving platform 13, and the telescopic drive outer rod 9 in the telescopic chain is connected to the Hooke's joint 12; the structure of the ball joint connection between the telescopic chain and the base is as follows: the base is provided with a telescopic chain ball joint cup 19, and the lower end of the lead screw 3 is connected to the telescopic chain ball joint cup 19 via a ball joint.

[0031] The telescopic measuring arm includes a measuring device, a telescopic outer measuring rod 7, and a telescopic inner measuring rod 18. The telescopic outer measuring rod 7 and the telescopic inner measuring rod 18 are coaxially fitted and slidably connected. The measuring device is fixed on the telescopic outer measuring rod 7 and is used to measure the length change of the telescopic measuring arm. In this embodiment, the ball joint connection structure between the telescopic measuring arm and the moving platform 13 is as follows: the bottom surface of the moving platform 13 is provided with a telescopic measuring arm ball joint cup A 14, and the top of the base is provided with four telescopic measuring arm ball joint cups B 2. The top of the telescopic outer measuring rod 7 is connected to the telescopic measuring arm ball joint cup A 14 through a ball joint, and the bottom of the telescopic inner measuring rod 18 is connected to one telescopic measuring arm ball joint cup B 2 on the magnetic base 1 through a ball joint. It is particularly emphasized that, in this invention, the magnetic base 1 is provided with four telescopic measuring arm ball joint bowls B2. The telescopic measuring arm is connected to each of the four telescopic measuring arm ball joint bowls B2 fixedly connected to the base, thereby obtaining six degrees of freedom information for each magnetic base 1, ensuring a one-to-one correspondence between the posture of the magnetic base 1 and the moving platform 13. In this embodiment, the measuring device is a displacement sensor 6, which can statically or dynamically collect information on the length changes of the telescopic measuring arm under different robot configurations, achieving integrated measurement and processing. The structural parameters of the robot are calculated by software, enabling the self-calibration process of the processing robot. Furthermore, the robot's posture can be fed back and corrected in real time during its movement, ensuring high precision and consistency in the processing.

[0032] The working principle of the robot of this invention is as follows: The operator magnetically attaches the magnetic base 1 to the vicinity of the surface of the workpiece to be processed. The telescopic drive motor 8 drives the small pulley 5 to rotate, which in turn drives the large pulley 4 to rotate via the belt 17, which in turn drives the lead screw nut fixedly connected to it to rotate. This converts the rotational motion of the telescopic drive motor 8 into the telescopic motion of the telescopic chain, changing the length of the telescopic chain, and thus driving the moving platform to achieve multi-dimensional motion of the robot. In this embodiment, the two telescopic chains provide two degrees of freedom. The displacement sensor 6 is fixedly connected to the telescopic measuring rod 7 to measure the length change of the telescopic measuring arm. The telescopic measuring arm is connected to four ball joint cups B2 fixedly connected to the magnetic base 1, respectively, to obtain four degrees of freedom. For each telescopic support-measuring component, six degrees of freedom are required to correspond the postures of the magnetic base 1 and the moving platform 13 one-to-one. The telescopic drive motor 8 can provide feedback on the length changes of the telescopic support chain, and the telescopic measuring arm can obtain its own length information through a measuring device. By reasonably selecting the number and arrangement of the telescopic support chains and telescopic measuring arms, after installation, the above operations are performed, and then the structural parameters of the robot are calculated by software, thus determining the robot model parameters and realizing the self-calibration process of the processing robot. The processing spindle 10 is controlled by software to control each telescopic drive motor 8 to perform processing on the workpiece surface.

[0033] In summary, the robot of this invention adopts a split-type layout, which allows for quick assembly and disassembly, convenient transportation and on-site operation, and reduces the overall weight of the robot. At the same time, the robot integrates processing and measurement, which improves production efficiency and product quality, reduces production costs, and enhances flexibility and sustainability. The parallel structure adopted results in high mechanical constraint stiffness, small mass of moving parts, high precision and high reliability, which can effectively reduce the inertia of the machining spindle and improve dynamic performance.

[0034] Although preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other modifications under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these modifications are within the scope of protection of the present invention.

Claims

1. A field measurement and processing integrated robot with self-calibration function, comprising a moving platform (13) and N bases, N=1~4; wherein each moving platform (13) is connected to a telescopic support-measuring component; characterized in that, The bottom of the moving platform (13) is fixedly connected to a spindle motor via a mounting side plate (11), and the output end of the spindle motor is provided with a machining spindle (10). The base is a magnetic base (1), which is attracted or fixed to the workpiece by magnetic force or bolt connection. The telescopic support-measuring assembly includes M telescopic branches with identical structures and a telescopic measuring arm, where M = 2 to 4; the telescopic branches are connected to the moving platform (13) via Hooke's joints, and the telescopic branches are connected to the base via ball joints; both ends of the telescopic measuring arm are connected to the moving platform (13) and the base via ball joints. The telescopic branch includes a telescopic drive outer rod (9) and a lead screw (3) arranged coaxially. The telescopic branch is equipped with a telescopic drive motor (8). The telescopic drive outer rod (9) has a nut that cooperates with the lead screw (3). The telescopic drive motor (8) drives the nut to rotate through a transmission mechanism, so that the lead screw (3) moves axially relative to the telescopic drive outer rod (9), thereby changing the length of the telescopic branch and driving the moving platform (13) to move in multiple dimensions. The telescopic drive motor (8) provides feedback on the length information of the telescopic branch. The telescopic measuring arm includes a measuring device, a telescopic measuring outer rod (7) and a telescopic measuring inner rod (18). The telescopic measuring outer rod (7) and the telescopic measuring inner rod (18) are coaxially fitted and slidably connected. The measuring device is fixed on the telescopic measuring outer rod (7) and is used to measure the length change of the telescopic measuring arm. The ball joint connection structure between the two ends of the telescopic measuring arm and the moving platform (13) and the base is as follows: the bottom surface of the moving platform (13) is provided with a telescopic measuring arm ball joint bowl A (14), the top of the base is provided with a telescopic measuring arm ball joint bowl B (2), the top of the telescopic measuring outer rod (7) is connected to the telescopic measuring arm ball joint bowl A (14) through a ball joint, and the bottom of the telescopic measuring inner rod (18) is connected to the telescopic measuring arm ball joint bowl B (2) through a ball joint; The number of telescopic measuring arm ball joint bowls B (2) provided on the base is L, L+M=6; the telescopic measuring arm is connected to L telescopic measuring arm ball joint bowls B (2) fixedly connected to the base respectively; thereby obtaining the six degrees of freedom information of each base, so that the posture of the base corresponds one-to-one with that of the moving platform (13).

2. The integrated robot for on-site measurement and processing with self-calibration function according to claim 1, characterized in that, The measuring device is a grating ruler or a displacement sensor (6). The measuring device statically or dynamically collects the length change information of the telescopic measuring arm under different robot configurations, calculates the robot's structural parameters through software, realizes the self-calibration process of the processing robot, and provides real-time feedback and correction of the robot's posture during robot movement.

3. The integrated robot for on-site measurement and processing with self-calibration function according to claim 1, characterized in that, The structure of the Hooke hinge connection between the telescopic branch and the moving platform (13) is as follows: the Hooke hinge (12) is fixedly connected to the bottom of the moving platform (13), and the upper end of the telescopic drive outer rod (9) in the telescopic branch is connected to the Hooke hinge (12); the structure of the ball joint connection between the telescopic branch and the base is as follows: the upper part of the base is provided with a telescopic branch ball joint cup (19), and the lower end of the lead screw (3) is connected to the telescopic branch ball joint cup (19) through the ball joint.

4. The integrated robot for on-site measurement and processing with self-calibration function according to claim 3, characterized in that, The telescopic drive outer sleeve (9) is provided with an axial slot, and the upper end of the lead screw (3) is provided with a limiting pin inserted in the axial slot. The limiting pin is slidably connected to the telescopic drive outer sleeve (9).

5. The integrated robot for on-site measurement and processing with self-calibration function according to claim 1, characterized in that, The transmission mechanism is a belt drive mechanism, including a small pulley (5) fixedly connected to the output shaft of the telescopic drive motor (8) and a large pulley (4) fixedly connected to the nut. The telescopic drive motor (8) rotates to drive the small pulley (5) to rotate, and then drives the large pulley (4) to rotate through the belt (17). The large pulley (4) drives the lead screw nut fixedly connected to it to rotate, thereby converting the rotational motion of the telescopic drive motor (8) into the telescopic motion of the telescopic chain.

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