A human-machine collaborative hole drilling apparatus and method adapted to portable machining equipment

Abstract

The application belongs to the field of processing equipment, and discloses a man-machine cooperation hole making equipment and method suitable for portable processing equipment. The man-machine cooperation hole making equipment is mainly composed of a power-assisted mechanical arm, a portable processing equipment, a suction fixing module and a fine adjustment module. The power-assisted mechanical arm provides assistance for workers to move the portable processing equipment. The suction fixing module is tightly connected with a workpiece through a suction cup to provide holding force for the portable processing equipment during hole making. The fine adjustment module controls the fixing and movement of the equipment position through the switching of an electromagnet, so that the equipment realizes position adjustment in a small range. The device can provide the required support force when the worker is making holes, thereby effectively reducing the labor intensity of the worker and improving the processing flexibility of the portable processing equipment.

Description

Technical Field

[0001] This invention relates to the field of processing equipment, and more particularly to a human-machine collaborative hole-making apparatus and method adapted to portable processing equipment. Background Technology

[0002] In the aerospace field, drilling has always been an essential and crucial machining process. Aircraft assembly involves numerous drilling operations for connecting components, with stringent requirements for precision and quality. Historically, workers used handheld pneumatic drills, drill bushings, and cutting tools for this process. However, this method required workers to continuously hold the pneumatic drill while machining the aircraft. This resulted in high labor intensity, low efficiency, and the quality and precision relied heavily on worker experience and skill, making it difficult to guarantee process stability. To address this issue, Li Zhe, Wei Ru, Xu Jiachen, and others from Shenyang Aircraft Industry (Group) Co., Ltd. invented a cantilevered drilling fixture (patent number 202221893645.9). The use of multiple fixed drill bushings improves drill bit stability during drilling, significantly enhancing hole surface dimensional accuracy, hole spacing accuracy, and machining efficiency, while reducing worker labor intensity. However, the high price of the drill template greatly increases processing costs. He Fengtao, Zhang Deyuan, and others from Chengdu Aircraft Industry (Group) Co., Ltd. invented a track-changing device for aircraft skin drilling equipment, patent number 202010012891.8. This design improves track flexibility, enabling the drilling equipment to automatically complete track-changing actions, thus improving the efficiency and quality of aircraft skin drilling and reducing the workload on workers. However, track robots still have many drawbacks, such as large footprint, dedicated equipment, low adaptability, and high cost. Ban Xukeling, Zhang Ping, and others from the state-owned Wuhu Machinery Factory invented an automated drilling equipment and method for the surface of large aerospace components, patent number 202210703936.5, which integrates collaborative robots with the processing end effector. However, the robot has low rigidity, poor drilling stability, is not suitable for changing processing scenarios, and requires workers to spend a lot of time and effort on programming.

[0003] In summary, based on existing aerospace processing methods and equipment, in order to meet the actual needs of the processing process such as reducing the labor intensity of workers, improving flexibility, and reducing costs, there is an urgent need for a hole-making equipment and method that can improve the accuracy of manual processing, reduce the labor intensity of manual processing, and have high flexibility. Summary of the Invention

[0004] This invention proposes a human-machine collaborative hole-making device and method adapted to portable processing equipment. The device has a simple structure and moderate size. Under different working conditions, the worker only needs to overcome the damping force at the end of the robotic arm to adjust their position, achieving multi-purpose functionality and effectively reducing the worker's labor intensity. The adsorption-type end provides a certain clamping force to the portable processing equipment during processing, reducing the rigidity requirements of the robotic arm and improving equipment stability.

[0005] The technical solution of the present invention:

[0006] A human-machine collaborative hole-making device adapted to portable processing equipment includes a power-assisted robotic arm 1, a portable processing equipment 2, an adsorption and fixing module 3, and a fine-tuning module 4.

[0007] The assisted robotic arm 1 includes a base 101, a cylinder 102, a turntable 103, an upper arm 104, a lower arm A105, a lower arm B106, and an adapter end 107. The turntable 103 is hinged above the base 101. The cylinder 102 is bolted to the turntable 103. The turntable 103 is rotatably connected to the upper arm 104. The cylinder 102 controls the upper arm 104 to achieve pitch movement. The upper arm 104 is hinged to the lower arm A105, the lower arm A105 is hinged to the lower arm B106, and the lower arm B106 is hinged to the adapter end 107. The upper arm 104 can perform pitch movement under the drive of the cylinder 102. The other arms can rotate freely in the plane around the axis of the joint. The connection points of each robotic arm are damped to ensure the rigidity of the robotic arm.

[0008] Portable processing equipment 2 is a hole-making device with automatic spindle rotation and feed functions. It is fixed to the magnetic fine-tuning module by clamping the front flange with the pull studs on the drill template 405.

[0009] The adsorption-type fixing module 3 includes an adapter block 301, a triangular suction cup frame 302, a suction cup 303, an electromagnetic switch 304, a locking switch 305, and a rib 306. The adapter end 107 is hinged to the adapter block 301. The adapter block 301 has an I-shaped groove with a threaded hole inside. The upper part of the back of the triangular suction cup frame 302 has an I-shaped protrusion. The two are tightly connected by screws. The triangular suction cup frame 302 has an M-shaped structure with three suction cups 303 arranged at its three vertices. Two lugs are distributed at symmetrical positions on the adapter block 301 and the triangular suction cup frame 302, and ribs 306 are symmetrically installed at the lugs. There are two handles on the outside of the triangular suction cup frame 302 for pulling the robotic arm. Electromagnetic switches 304 and 305 are installed on the handles.

[0010] The fine-tuning module 4 includes a magnetic chuck rear cover 401, a magnetic chuck front cover 402, a permanent magnet 403, an electromagnet 404, a drill template 405, and a pull stud 406. The magnetic chuck rear cover 401 and the magnetic chuck front cover 402 form a magnetic chuck shell, and the triangular chuck frame 302 is connected to the magnetic chuck shell by bolts. A ring of permanent magnets 403 is arranged in a circle inside the magnetic chuck shell to provide a small magnetic force to attract the drill template 405 into the magnetic chuck shell. The slot size on the magnetic chuck shell is larger than the size of the drill template 405, allowing the drill template 405 to be adjusted within a small range and to be completely flush with the magnetic chuck rear cover 401 and the magnetic chuck front cover 402. A ring of electromagnets 404 is also evenly distributed in a circle inside the magnetic chuck shell. The presence or absence of magnetic force on the electromagnets 404 is controlled by an electromagnetic switch 304. When the hole position is aligned, the electromagnetic switch 304 is turned on, and the electromagnets 404 completely fix the drill template 405 with strong magnetic force. The locking switch 305 on the handle is used to control the locking of the entire machining end. When drilling, drag the robotic arm to the approximate position, press the locking switch 305, and the suction-type fixing module 3 is attached to the workpiece surface. The joint of the robotic arm is clamped, locking the entire machining end and preventing it from moving. Then, manually fine-tune the guide sleeve to the hole position. After precise alignment, lock the fine-tuning module 4 by controlling the electromagnetic switch 304 to fix the position of the drill jig.

[0011] Furthermore, the portable processing equipment 2 adopts a portable high-precision automatic feed drilling equipment invented by Fu Rao et al. of Dalian University of Technology, with patent number 202210391604.8, which includes a spindle module, a feed module, a drill body fixing module, a control module and a load-bearing frame. It realizes the spindle rotation and feed motion simultaneously through two independent motors, and can change the drilling parameters during the drilling process.

[0012] A human-machine collaborative hole-making method adapted to portable processing equipment includes the following steps:

[0013] Step 1: Using the assisted robotic arm 1, the end of the robotic arm is moved to the machining hole position by means of cylinder and manual traction;

[0014] Step 2: Under the working conditions at this position, adjust the pitch angle of the end effector to press the suction cup 303 firmly against the surface of the aircraft workpiece, press the locking switch 305, the suction cup 303 will adhere tightly, and then lock the joints of the robotic arm.

[0015] Step 3: Manually fine-tune the portable processing equipment 2 until the guide drill bushing is aligned with the processing position, press the electromagnetic switch 304 to completely fix the drill template 405, and achieve a small adjustment of the position;

[0016] Step 4: After processing, press the locking switch 305, the suction cup 303 will cancel the suction state, the robotic arm joint will unlock, the electromagnet will turn off, and it can continue to move to the next position.

[0017] The beneficial effects of this invention are as follows: This invention provides a human-machine collaborative drilling equipment and method adapted to portable processing equipment. The assisted robotic arm is connected to the end effector via an adapter block. The assisted robotic arm can change its position, performing pitch and rotational movements around an axis in a plane. Workers only need to overcome the resistance of the moving robotic arm to move the processing equipment, eliminating the need for manual hand-held operation and significantly reducing worker workload. A handle is provided on the suction cup frame for workers to pull the robotic arm. The fine-tuning module can move the drill jig in the plane and lock it in place, fixing the drill jig and ensuring fine-position adjustments, greatly improving equipment flexibility and versatility. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating the overall machining process for human-machine collaborative hole making adapted to portable processing equipment according to the present invention;

[0019] Figure 2 This is a schematic diagram of the robotic arm module of the present invention;

[0020] Figure 3 This is a front view of the end effector of the assist arm of the present invention;

[0021] Figure 4 This is a half-sectional schematic diagram of the end effector of the assist arm of the present invention;

[0022] Figure 5 This is an exploded view of the fine-tuning module of the present invention;

[0023] Figure 6 This is a schematic diagram of some of the hidden structures in this invention.

[0024] In the diagram: 1-Assisted robotic arm, 101-Base, 102-Cylinder, 103-Turntable, 104-Large arm, 105-Forearm A, 106-Forearm B, 107-Adapter; 2-Portable processing equipment; 3-Adhesive-type fixing module, 301-Adapter block, 302-Triangular suction cup frame, 303-Suction cup, 304-Electromagnetic switch, 305-Locking switch, 306-Rib; 4-Fine-tuning module, 401-Magnetic suction cup rear cover, 402-Magnetic suction cup front cover, 403-Permanent magnet, 404-Electromagnet, 405-Drill template, 406-Pulley; 5-Workpiece. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0026] Example 1

[0027] refer to Figures 1 to 6A human-machine collaborative hole-making equipment and method adapted to portable processing equipment, comprising: a assisted robotic arm 1, a portable processing equipment 2, an adsorption and fixing module 3, and a fine-tuning module 4.

[0028] The assisted robotic arm 1 includes a base 101, a cylinder 102, a turntable 103, an upper arm 104, a lower arm A 105, a lower arm B 106, and an adapter end 107.

[0029] Portable processing equipment 2 is a type of hole-making equipment with automatic spindle rotation and feed functions, which can realize semi-automatic hole making. This type of equipment is fixed to the fine-tuning module by clamping the front flange with the pull studs on the drill template 405.

[0030] The adsorption-type fixing module 3 includes an adapter block 301, a triangular suction cup frame 302, a suction cup 303, an electromagnetic switch 304, a locking switch 305, and a rib 306.

[0031] The fine-tuning module includes a magnetic chuck back cover 401, a magnetic chuck front cover 402, a permanent magnet 403, an electromagnet 404, a drill template 405, and a pull stud 406.

[0032] A turntable 103 is hinged above the base 101. A cylinder 102 is bolted to the turntable 103. The turntable 103 is rotatably connected to the boom 104. The cylinder 102 controls the boom 104 to achieve pitch movement. The boom 104 is hinged to the forearm A105. The forearm A105 is hinged to the forearm B106. The forearm B106 is hinged to the adapter end 107.

[0033] The adapter end 107 is hinged to the adapter block 301, which is tightly connected to the triangular suction cup frame 302 by bolts. Ribs 306 are symmetrically installed between the two to ensure the overall strength of the connection. The entire end can pitch around its axis to adapt to different working conditions. The triangular suction cup frame 302 has two handles on its outer side for pulling the robotic arm. Multiple suction cups are arranged on the triangular suction cup frame 302 to improve the stability of the suction. The triangular suction cup frame 302 is connected to the fine-tuning module 4 by bolts.

[0034] The fine-tuning module 4 includes a magnetic chuck rear cover 401, a magnetic chuck front cover 402, a permanent magnet 403, an electromagnet 404, a drill template 405, and a pull stud 406. The triangular chuck frame 302 is connected to the magnetic chuck front cover 402 by bolts. A ring of small permanent magnets 403 is arranged circularly inside the magnetic chuck front cover 402, providing a slight magnetic force to attract the drill template 405 into the magnetic chuck shell. The slot size of the magnetic chuck front cover 402 is larger than the drill template size, allowing for a small range of positional adjustments to the drill template 405 while ensuring a tight fit with both the magnetic chuck rear cover 401 and the magnetic chuck front cover 402. In addition, a ring of electromagnets 404 is also evenly distributed circularly inside the magnetic chuck front cover 402, with the presence or absence of magnetic force controlled by an electromagnetic switch 304 located on the handle of the triangular chuck frame 302. When the portable fine-tuning processing device 2 is aligned with the hole position, the electromagnetic switch 304 is activated, and the electromagnets 404 use strong magnetic force to completely fix the drill template 405. A locking switch 305 is placed on the handle to control the locking of the entire machining end. When drilling, the robotic arm is dragged to the approximate position, the locking switch 305 is pressed, the adsorption fixing module 3 is adsorbed onto the workpiece surface, the robotic arm joints are clamped, and the entire machining end is locked and no longer moves. Then, the guide sleeve is manually fine-tuned to the hole position. After precise alignment, the fine-tuning module 4 is locked by controlling the electromagnetic switch 304 to fix the position of the drill jig.

[0035] During operation, the base 101 is restricted from movement and fixed in a certain position. The specific workflow is as follows: During the worker's traction process, the forearms A105 and B106 rotate accordingly. When the height needs to be adjusted, the cylinder 102 pushes the upper arm 104 to lift up and down. After reaching the processing position, the pitch angle of the processing end is adjusted according to the processing angle. After the adjustment is completed, the locking switch 305 is pressed to make the suction cup 303 attach to the workpiece 5. Then, the joints of the robotic arm are locked. Then, the processing position of the portable processing equipment is adjusted within a small range. After the adjustment is completed, the electromagnetic switch 304 is turned on, and the electromagnet 404 is energized to provide a strong magnetic force, fixing the position of the drill template 405, thereby accurately positioning and starting processing.

Claims

1. A human-machine collaborative hole-making device adapted to portable processing equipment, characterized in that, The human-machine collaborative hole-making equipment adapted to portable processing equipment includes a power-assisted robotic arm (1), a portable processing equipment (2), an adsorption and fixing module (3), and a fine-tuning module (4). The assisted robotic arm (1) includes a base (101), a cylinder (102), a turntable (103), an upper arm (104), a lower arm A (105), a lower arm B (106), and a connecting end (107); the turntable (103) is hinged above the base (101), and the cylinder (102) is bolted to the turntable (103). The turntable (103) is rotatably connected to the upper arm (104), and the cylinder (102) controls the upper arm (104) to achieve pitch motion; the upper arm (104) is hinged to the lower arm A (105), the lower arm A (105) is hinged to the lower arm B (106), and the lower arm B (106) is hinged to the connecting end (107). The upper arm (104) can perform pitch motion under the drive of the cylinder (102), and the other arms can rotate freely in the plane around the axis of the joint. The connection of each robotic arm is damped to ensure the rigidity of the robotic arm; The portable processing equipment (2) is a hole-making device with automatic spindle rotation and feed function; the portable processing equipment (2) is fixed to the fine-tuning module by clamping the front flange with the pull studs on the drill template (405); The adsorption and fixing module (3) includes a transition block (301), a triangular suction cup frame (302), a suction cup (303), an electromagnetic switch (304), a locking switch (305), and a rib (306); the transition end (107) is hinged to the transition block (301); the transition block (301) has an I-shaped groove, and a threaded hole is opened in the I-shaped groove; the upper part of the back of the triangular suction cup frame (302) has an I-shaped protrusion, and the two are tightly connected by screws; the triangular suction cup frame (302) has an M-shaped structure, and three suction cups (303) are arranged at its three vertices; two ear pieces are distributed at the symmetrical positions of the transition block (301) and the triangular suction cup frame (302), and ribs (306) are symmetrically installed at the ear pieces; there are two handles on the outside of the triangular suction cup frame (302) for pulling the movement of the robotic arm; electromagnetic switches (304) and locking switches (305) are set on the handles. The fine-tuning module (4) includes a magnetic chuck rear cover (401), a magnetic chuck front cover (402), a permanent magnet (403), an electromagnet (404), a drill template (405), and a pull stud (406); the magnetic chuck rear cover (401) and the magnetic chuck front cover (402) form a magnetic chuck shell, and the triangular chuck frame (302) is connected to the magnetic chuck shell by bolts; a ring of permanent magnets (403) is arranged in a circle inside the magnetic chuck shell to provide a small magnetic force to make the drill template (405) adhere to the magnetic chuck shell; the slot size on the magnetic chuck shell is larger than the size of the drill template (405), and the drill template (405) can be adjusted in a small range and is completely attached to the magnetic chuck rear cover (401) and the magnetic chuck front cover (402); Inside the suction cup housing, there is a circular array of electromagnets (404). The presence or absence of magnetic force is controlled by an electromagnetic switch (304). When the hole position is aligned, the electromagnetic switch (304) is turned on, and the electromagnets (404) use strong magnetic force to completely fix the drill template (405). The locking switch (305) on the handle is used to control the locking of the entire processing end. When drilling, the robotic arm is dragged to the approximate position, and the locking switch (305) is pressed. The adsorption fixing module (3) is adsorbed onto the workpiece surface, and the robotic arm joints are tightened, so that the entire processing end is locked and no longer moves. Then, the guide sleeve is manually fine-tuned to the hole position. After precise alignment, the fine-tuning module (4) is locked by controlling the electromagnetic switch (304) to fix the position of the drill template.

2. A human-machine collaborative hole-making method adapted to portable processing equipment, characterized in that, The human-machine collaborative hole-making equipment adapted to portable processing equipment as described in claim 1 includes the following steps: Step 1: Using the assisted robotic arm (1), the end of the robotic arm is moved to the machining hole position by means of cylinder and manual traction; Step 2: Under the working conditions at this position, adjust the pitch angle of the end effector to press the suction cup (303) tightly against the surface of the aircraft workpiece, press the locking switch (305), the suction cup (303) will be firmly attached, and then lock the joints of the robotic arm. Step 3: Manually fine-tune the portable processing equipment (2) until the guide drill bushing is aligned with the processing position, press the electromagnetic switch (304) to completely fix the drill template (405), and realize the fine adjustment of the position; Step 4: After processing, press the locking switch (305), the suction cup (303) will cancel the suction state, the robotic arm joint will unlock, the electromagnet will turn off, and it can continue to move to the next position.

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