Man-machine cooperation machining equipment and method based on automatic feeding drill

Abstract

The invention belongs to the field of machining equipment, and discloses man-machine cooperation machining equipment and method based on an automatic feeding drill. The man-machine cooperation machining equipment comprises an auxiliary mechanical arm, a tail end posture adjusting module, a machining module and an auxiliary positioning module. Wherein the auxiliary mechanical arm is used for assisting manual movement of the tail end function module and the machining equipment; the tail end posture adjusting module is used for adjusting the posture of tail end machining equipment to adapt to the surface of the workpiece; the machining module is used for clamping machining equipment and conducting hole forming work; and the auxiliary positioning module is used for assisting manual visual positioning and auxiliary fixing. The auxiliary mechanical arm and the functional modules at the tail end assist manual movement of the automatic feeding drill, positioning, normal vector finding and pre-tightening force applying, so that the automatic feeding drill can perform drilling work on various types of workpieces under the condition that the automatic feeding drill is separated from a drill jig tool, the labor intensity of workers is greatly relieved, and the production cost is reduced.

Description

Technical Field

[0001] The invention belongs to the field of processing equipment, and relates to a human-machine collaborative processing equipment and method based on an automatic feed drill. Background Art

[0002] A large number of connection holes need to be processed during the assembly process of large aviation equipment such as aircraft. In order to ensure the service reliability of the equipment, high requirements are placed on the processing accuracy and quality of the connection holes. Manual hole making is widely used on traditional aircraft assembly lines, requiring workers to hold pneumatic drills to make holes, which is labor-intensive and difficult to ensure the consistency of hole making quality. In recent years, the use of automatic feed drills with drilling jigs on traditional assembly lines for high-quality and efficient semi-automatic hole making has gradually become the mainstream method internationally, but the manufacturing cycle of drilling jigs is long and the cost is high, and it has poor adaptability to the changing working conditions with changing demands, multiple configurations and small batches in the modern aircraft production environment. The use of industrial robots equipped with automatic feed drilling end effectors for automated hole making can effectively reduce labor intensity and improve processing flexibility, but such equipment is large in size, and the man-machine must be separated during work and requires a large independent space, making it difficult to adapt to traditional assembly lines.

[0003] In response to the above problems, many companies and universities have conducted relevant research. He Fengtao, Zhang Deyuan and others from Chengdu Aircraft Industry (Group) Co., Ltd. invented a track-changing device for aircraft skin drilling equipment, with patent number 202010012891.8. The track-changing device is set to improve the flexibility of the track and the drilling template, so that the hole-making equipment can automatically complete the track-changing action. A set of tooling can cover a hole-making area, but the track robot is still dedicated to a special machine and still cannot be widely adapted to complex on-site processing scenarios. Kong Hu Ning, Lei Meng and others from Xi'an Kangcheng Machinery Manufacturing Co., Ltd. invented an auxiliary drilling equipment for aircraft parts manufacturing, with patent number 202310425474.X. Through the lifting bracket and angle adjustment mechanism to assist workers in making holes, it can ensure the verticality of the hole and improve the hole-making accuracy, but the entire device is large in size, and each hole needs to be carried and adjusted. The labor intensity of workers is high, and the overall portability is low. Fu Rao, Chang Yuhao, Wang Fuji and others from Dalian University of Technology invented a human-machine collaborative hole-making equipment and method that is suitable for convenient processing equipment. The patent number is 202311495586.9. The automatic feed drill is assisted by a power-assisted robotic arm to manually move the drill, and the adsorption-type end is used to fix the workpiece, which reduces the labor intensity of workers and improves the flexibility of the equipment. However, the adsorption-type end has high requirements on the workpiece material and the adsorption surface state, and has poor adaptability to the changing working conditions at the assembly site.

[0004] In summary, in order to meet the actual needs of reducing the labor intensity of workers, ensuring the accuracy and quality of hole making, adapting to changing working conditions, and reducing production costs on traditional assembly production lines of aircraft and other aviation equipment, it is necessary to develop a human-machine collaborative processing equipment and method based on automatic feed drilling that has high processing flexibility, simple operation, and portability. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention proposes a human-machine collaborative processing equipment and method based on automatic feed drilling. The processing equipment includes an auxiliary robotic arm, an end posture adjustment module, a processing module and an auxiliary positioning module. The auxiliary robotic arm provides assistance for balancing the end, helping workers to move the processing end position more easily; the posture adjustment module and the auxiliary positioning module have three rotational degrees of freedom and can display the axis position, which can realize the normal vector alignment and rapid positioning of the processing surface at any angle in space; each joint of the robotic arm is provided with an independently controllable brake, which can switch between different modes in the moving, positioning and processing states, so as to realize the rapid movement, precise positioning and stable locking of the processing module, and achieve high-quality and efficient hole making processing.

[0006] The technical solution of the present invention:

[0007] A human-machine collaborative processing equipment based on automatic feed drilling, comprising an auxiliary mechanical arm 1, an end posture adjustment module 2, a processing module 3 and an auxiliary positioning module 4;

[0008] The auxiliary robot arm 1 includes a base 101, a column 102, a balancing cylinder 103, an upper arm 104 and a lower arm 105; the base 101 includes a base body 10101, a universal wheel 10102 and a ground brake 10103, which are used to move the auxiliary robot arm 1 to a suitable position and then fix it; the column 102 includes a column lower part 10201, a column brake 10202, a rotating joint 10203, a column upper part 10204 and a control box 10205; the column lower part 10201 is assembled on the base body 10101 by bolt connection; the column lower part The upper part 10201 and the upper part 10204 of the column are connected to the rotating joint 10203 by bolts respectively; the column brake 10202 is installed on the rotating shaft of the rotating joint 10203, and is used to lock and unlock the rotating joint 10203; the control box 10205 is integrated in the upper part 10204 of the column, and is used to place the control system components; the balancing cylinder 103 includes a double-ear connecting seat 10301, a double-acting cylinder 10302 and a fisheye joint 10303; the double-acting cylinder 10302 is installed on the column 102 through the double-ear connecting seat 10301 The piston rod of the double-acting cylinder 10302 is connected to the boom 104 through a fisheye joint 10303; one end of the double-acting cylinder 10302 inputs compressed air pressure to achieve gravity balance at the end, and the other end is in an open state when balancing gravity, and compressed air is input when applying preload; the boom 104 includes a connecting seat A10401, a connecting rod A10402, a connecting rod B10403, a connecting seat B10404 and a boom brake 10405; the two ends of the connecting rod A10402 and the connecting rod B10403 are respectively connected to the connecting seat A10401 and The connecting seat B10404 is hinged to form a parallelogram linkage mechanism, which can realize pitching movement; the big arm brake 10405 is used to lock and unlock the movement of the big arm 104; the small arm 105 includes a small arm connecting rod 10501 and a small arm brake 10502; the small arm connecting rod 10501 is hinged to the big arm connecting seat A10401, and can rotate freely in the plane around its vertical axis; the small arm 105 is equipped with a small arm brake 10502, which is used to lock and unlock the movement of the small arm 105; each hinge of the auxiliary mechanical arm 1 has damping to ensure the rigidity of the mechanical arm;

[0009] The terminal posture adjustment module 2 includes an upper connecting seat 201, a lower connecting seat 202, a yaw axis 203, a pitch axis 204, a measuring roller 205, an axis connecting block 206, a pitch brake 207, a measuring roller brake 208 and a yaw brake 209; the yaw axis 203 is hinged to the forearm 105, and its shaft end is connected to the upper connecting seat 201 by bolts; the pitch axis 204 is installed on the upper connecting seat 201 through a bearing, and the measuring roller 205 is installed through an axis The bearing is installed on the lower connecting seat 202, and the two are connected to the shaft connecting block 206 by bolts to form a cross-axis structure. The axes of the two and the axis of the measuring roller 205 are perpendicular to each other, and all intersect with the axis of the yaw axis 203; the pitch brake 207, the measuring roll brake 208 and the yaw brake 209 are respectively installed on the pitch axis 204, the measuring roller 205 and the yaw axis 203, and are respectively used for locking and unlocking the pitch, measuring roll and yaw degrees of freedom;

[0010] The processing module 3 includes a portable portable clamping module 301, an automatic feed drill 302 and a tightening drill sleeve 303; the portable clamping module 301 includes a clamping module body 30101, a handle 30102, a switch A30103, a switch B30104, a switch C30105 and a switch D30106; the clamping module body 30101 is assembled on the lower connecting seat 206 of the end posture adjustment module 2 by bolts, and is used for stable holding of the automatic feed drill 302; the handle 30102 is installed on the clamping module body 30101 by bolts, and is used to assist manual dragging of the end of the robot arm; the switch A30103, the switch B30104, the switch C30105 and the switch D30106 are assembled on the lower connecting seat 206 of the end posture adjustment module 2 by bolts, and is used for stable holding of the automatic feed drill 302; the handle 30102 is installed on the clamping module body 30101 by bolts, and is used for assisting ... 6 is installed in the threaded hole of the clamping module body 30101, the switch A30103 is used to control the column brake 10202, the arm brake 10502 and the yaw brake 209, the switch B30104 is used to control the pitch brake 207 and the roll brake 208, the switch C30105 is used to control the arm brake 10405, and the switch D30106 is used to control the auxiliary manipulator 1 to be in a gravity balance state or to apply a preload state; the automatic feed drill 302 is a hole-making device with a main shaft having automatic rotation and feeding functions, and its main shaft axis coincides with the axis of the yaw shaft 203; the tightening drill sleeve 303 is installed at the end of the automatic feed drill 302 through threads and is clamped with the pull nail;

[0011] The auxiliary positioning module 4 includes a drill sleeve connection block 401, a rivet 402, a chip removal barrel 403, a laser mounting seat 404, a laser 405, an endoscope mounting seat 406, an endoscope 407 and a gasket 408; the rivet 402 is installed on the drill sleeve connection block 401 through a thread, and the drill sleeve connection block 401 is tightened on the tightening drill sleeve 303 through the rivet 402 to realize the connection between the auxiliary positioning module 4 and the automatic feed drill 302; the chip removal barrel 403, the laser mounting seat 404, the endoscope mounting seat 406 and the gasket 407 are respectively installed on the drill sleeve connection block 401 through bolts; the chip removal barrel 403 is used to cooperate with A vacuum cleaner removes chips; a laser 405 is placed in a mounting hole of a laser mounting seat 404 and is tightened by a top screw to form a positioning point light spot on the surface of the workpiece. The two lasers 405 used are both straight-line lasers whose emitted light forms a fan-shaped surface in space. The fan-shaped surfaces formed by the two lasers 405 intersect each other perpendicularly, and the intersection line coincides with the main axis of the automatic feed drill 302; an endoscope 407 is placed in a mounting hole of an endoscope mounting seat 406 and is tightened by a top screw to realize visualization of the positioning process; a gasket 408 is used to contact the workpiece to achieve auxiliary fixation and prevent scratches on the workpiece surface.

[0012] Furthermore, when the auxiliary robot arm 1 is in a state of applying a preload, the relationship between the preload and the input air pressure is as follows:

[0013] p=kN

[0014]

[0015] Among them, p is the value of the preload force applied at the end when it is N, mPa; the compressed air pressure at the rod end of the input cylinder; l is the length of the boom, mm; a is the distance between the connection point between the cylinder and the boom and the boom shaft, mm; h is the distance between the connection point between the cylinder and the column and the boom shaft, mm; D is the cylinder diameter, mm; d is the diameter of the cylinder piston rod, mm; η is the cylinder load rate.

[0016] Furthermore, the laser 405 is a line laser, and its emitted light forms a fan-shaped surface in space. The fan-shaped surfaces formed by the two lasers 405 intersect each other perpendicularly, and the intersection line coincides with the main axis of the automatic feed drill 302.

[0017] A processing method of a human-machine collaborative processing equipment based on an automatic feed drill, the steps are as follows:

[0018] S0. Connect the human-machine collaborative processing equipment based on the automatic feed drill to the air source, check and ensure that the column brake 10202, the arm brake 10405, the arm brake 10502, the pitch brake 207, the roll brake 208 and the yaw brake 209 are in a locked state, and the auxiliary robot 1 is in a gravity balance state; connect the automatic feed drill 302 to the power source, connect the chip removal barrel 403 to the vacuum cleaner, turn on the power switches of the laser 405 and the endoscope 407, and complete the preparation work;

[0019] S1. Toggle switch C30105 to unlock the arm brake 10405;

[0020] S2. Toggle switch A30103 to unlock column brake 10202, arm brake 10502 and yaw brake 209, and manually drag the end to the vicinity of the hole making point on the machining surface;

[0021] S3. Toggle switch B30104 to unlock the pitch brake 207 and the roll brake 208. While observing the display screen of the endoscope 407, adjust the position of the handle 30102 and press it down slightly. When the gasket 408 fits the surface of the workpiece and the light spot of the laser 405 almost coincides with the hole-making point, toggle switch B30104 to lock the pitch brake 207 and the roll brake 208 to complete the normal vector finding work.

[0022] S4. Continue fine-tuning until the laser spot 405 and the hole-making point coincide with each other to meet the hole-making position accuracy requirements, and then toggle switch A30103 to lock the column brake 10202, the arm brake 10502 and the yaw brake 209 to complete the hole-finding work;

[0023] S5. Toggle switch D30106 to put the auxiliary manipulator 1 in a preload state, and toggle switch C30105 to lock the arm brake 10405 to increase the rigidity, completing the preload work;

[0024] S6. Start the automatic feed drill 302 and start making holes;

[0025] S7. After the current hole position is completed, the toggle switch C30105 unlocks the arm brake 10405, and the toggle switch D30106 puts the auxiliary robot arm 1 in a gravity balance state;

[0026] S8. Repeat the above steps S1 to S7 until the processing of the current area is completed.

[0027] Beneficial effects of the present invention: A human-machine collaborative processing equipment and method based on automatic feed drilling. The auxiliary robotic arm has three degrees of freedom, so that the end can reach any point in the workspace, and at the same time has the end gravity balance function, so that the operator does not need to hold it, and only needs to overcome the resistance of dragging the robotic arm to move the hole-making equipment to the hole-making position, which greatly reduces the labor intensity. The end of the robotic arm is equipped with a posture adjustment module, which greatly improves the adaptability to the hole-making surface of the workpiece. The processing module is equipped with a handle and a switch to make the operation more convenient and quick. The auxiliary positioning module is equipped with a visualization module, so that the manual positioning process can be coordinated by hand and eye, greatly improving the efficiency and accuracy of positioning. The equipment is equipped with a highly integrated air circuit control system, which can realize the individual control and joint control of each rotating joint brake, and the auxiliary robotic arm can be manually controlled by a mechanical switch to be in a gravity balance state or a preload state, which greatly improves the efficiency and quality of hole making. The pneumatic control system can adjust different preload values ​​according to different processing materials, greatly improving the adaptability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a processing schematic diagram of the human-machine collaborative processing equipment based on the automatic feed drill of the present invention;

[0029] Figure 2 This is a schematic diagram of the auxiliary mechanical arm structure of the present invention;

[0030] Figure 3 This is a schematic diagram of the terminal posture adjustment module structure of the present invention;

[0031] Figure 4 This is a schematic diagram of the processing module structure of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the auxiliary positioning module of the present invention;

[0033] Figure 6 This is a schematic diagram of assembling the processing module and the auxiliary positioning module of the present invention;

[0034] Figure 7 It is a gas path diagram of the human-machine collaborative processing equipment based on the automatic feed drill of the present invention;

[0035] Figure 8 The present invention is an operation flow chart of the human-machine collaborative processing equipment based on the automatic feed drill.

[0036] Among them: 1 auxiliary robot arm, 101 base, 10101 base body, 10102 universal wheel, 10103 ground brake, 102 column, 10201 lower part of column, 10202 column brake, 10203 rotation joint, 10204 upper part of column, 10205 control box; 103 balance cylinder, 10301 double ear connecting seat, 10302 double acting cylinder, 10303 fisheye joint; 104 big arm, 10401 connecting seat A, 10402 connecting rod A, 10403 connecting rod B, 10404 connecting seat B, 10405 big arm brake; 105 small arm, 10501 small arm connecting rod, 10502 small arm brake; 2 end posture adjustment module, 20 1 yaw axis, 202 upper connecting seat, 203 measuring roller axis, 204 axis connecting block, 205 pitch axis, 206 lower connecting seat, 207 pitch brake, 208 measuring roller brake, 209 yaw brake; 3 processing module, 301 accompanying clamping module, 30101 clamping module body, 30102 handle, 30103 switch A, 30104 switch B, 30105 switch C, 30106 switch D, 302 automatic feed drill, 303 tightening drill sleeve; 4 auxiliary positioning module, 401 drill sleeve connecting block, 402 rivet, 403 chip removal barrel, 404 laser mounting seat, 405 laser, 406 endoscope mounting seat, 407 endoscope, 408 gasket; 5 wing. DETAILED DESCRIPTION

[0037] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0038] Reference Figures 1 to 6 , a human-machine collaborative processing equipment based on automatic feed drilling, including an auxiliary robot arm 1, an end posture adjustment module 2, a processing module 3, and an auxiliary positioning module 4;

[0039] In this embodiment, the auxiliary robot arm 1 includes a base 101, a column 102, a balancing cylinder 103, an upper arm 104, and a lower arm 105; the base 101 includes a base body 10101, a universal wheel 10102, and a ground brake 10103, which are used to move the auxiliary robot arm to a suitable position and then fix it; the column 102 includes a column lower part 10201, a column brake 10202, a rotating joint 10203, a column upper part 10204, and a control box 10205; the column lower part 10201 is assembled to the base 101 by bolt connection; The lower part 10201 of the column and the upper part 10204 of the column are connected to the rotating joint 10203 by bolts respectively; the column brake 10202 is installed on the rotating shaft of the rotating joint 10203, and is used to lock and unlock the rotating joint 10203; the control box 10205 is integrated in the upper part 10204 of the column, and is used to place the control system components; the balancing cylinder 103 includes a double-ear connecting seat 10301, a double-acting cylinder 10302 and a fisheye joint 10303; the double-acting cylinder 10302 is installed on the double-ear connecting seat 10301 through On the column 102; the piston rod is connected to the boom 104 through a fisheye joint 10303; one end of the double-acting cylinder 10302 inputs compressed air pressure to achieve gravity balance at the end, and the other end is in an open state when balancing gravity, and compressed air is input when applying preload; the boom 104 includes a connecting seat A10401, a connecting rod A10402, a connecting rod B10403, a connecting seat B10404 and a boom brake 10405; the two ends of the connecting rod A10402 and the connecting rod B10403 are respectively connected to the connecting seat A10401 and the connecting rod B10403. The base B10404 is hinged to form a parallelogram linkage mechanism, which can realize pitching movement; the big arm brake 10405 is used to lock and unlock the movement of the big arm 104; the small arm 105 includes a small arm connecting rod 10501 and a small arm brake 10502; the small arm connecting rod 10501 is hinged to the big arm connecting base A10401, and can rotate freely in the plane around its vertical axis; the small arm 105 is equipped with a small arm brake 10502, which is used to lock and unlock the movement of the small arm 105; each hinge of the auxiliary mechanical arm is damped to ensure the rigidity of the mechanical arm;

[0040] In this embodiment, the terminal posture adjustment module 2 includes an upper connecting seat 201, a lower connecting seat 202, a yaw axis 203, a pitch axis 204, a measuring roller 205, an axis connecting block 206, a pitch brake 207, a measuring roller brake 208 and a yaw brake 209; the yaw axis 203 is hinged to the forearm 105, and the shaft end is connected to the upper connecting seat 201 by bolts; the pitch axis 204 is installed on the upper connecting seat 201 through a bearing, and the measuring roller 205 The bearings are installed on the lower connecting seat 202, and the two are connected to the shaft connecting block 206 by bolts to form a cross-axis structure. The axes of the two and the axis of the measuring roller 205 are perpendicular to each other, and all intersect with the axis of the yaw axis 203; the pitch brake 207, the measuring roll brake 208 and the yaw brake 209 are respectively installed on the pitch axis 204, the measuring roller 205 and the yaw axis 203, and are respectively used for locking and unlocking the pitch, measuring roll and yaw degrees of freedom;

[0041] In this embodiment, the processing module 3 includes a portable portable clamping module 301, a processing device 302 and a tightening drill sleeve 303; the portable clamping module 301 includes a clamping module body 30101, a handle 30102, a switch A30103, a switch B30104, a switch C30105 and a switch D30106; the clamping module body 30101 is assembled to the lower connecting seat 206 of the end posture adjustment module 2 by bolts, which is used for the stable holding of the automatic feed drill 302; the handle 30102 is installed on the clamping module body 30101 by bolts, which is used to assist manual dragging of the end of the robotic arm; the switch A30103, the switch B30104, the switch C30105 and the switch D30106 06 is installed in the threaded hole of the clamping module body 30101, switch A30103 is used to control the column brake 10202, the arm brake 10502 and the yaw brake 209, switch B30104 is used to control the pitch brake 207 and the roll brake 208, switch C30105 is used to control the arm brake 10405, and switch D30106 is used to control the auxiliary manipulator 1 to be in a gravity balance state or to apply a preload state; the automatic feed drill 302 is a hole-making device with automatic rotation and feeding functions of the spindle, and its spindle axis coincides with the axis of the yaw axis 203; the tightening drill sleeve 303 is installed at the end of the automatic feed drill 302 through threads, and can be clamped with the rivet;

[0042] In this embodiment, the auxiliary positioning module 4 includes a drill sleeve connecting block 401, a rivet 402, a chip removal barrel 403, a laser mounting seat 404, a laser 405, an endoscope mounting seat 406, an endoscope 407 and a gasket 408; the rivet 402 is installed on the drill sleeve connecting block 401 by threading, and the drill sleeve connecting block 401 is tightened on the tightening drill sleeve 303 by the rivet 402 to realize the connection between the auxiliary positioning module 4 and the automatic feed drill 302; the chip removal barrel 403, the laser mounting seat 404, the endoscope mounting seat 406 and the gasket 407 are respectively installed on the drill sleeve connecting block 401 by bolts; the chip removal barrel 403 is screwed to the endoscope mounting seat 406. In cooperation with a vacuum cleaner to remove chips; the laser 405 is placed in the mounting hole of the laser mounting seat 404 and tightened by a top screw to form a positioning point light spot on the surface of the workpiece. The two lasers 405 used are both straight-line lasers, and their emitted light forms a fan-shaped surface in space. The fan-shaped surfaces formed by the two lasers 405 intersect each other perpendicularly, and the intersection line coincides with the main axis of the automatic feed drill 302; the endoscope 407 is placed in the mounting hole of the endoscope mounting seat 406 and tightened by a top screw to realize the visualization of the positioning process; the gasket 408 is used to contact with the workpiece to achieve auxiliary fixation and prevent scratches on the workpiece surface.

[0043] A human-machine collaborative hole making method using the above-mentioned equipment adapted automatic feed drill has the following steps:

[0044] S0. Connect the man-machine collaborative hole-making equipment adapted for the automatic feed drill to the air source, check and ensure that the column brake 10202, the arm brake 10405, the arm brake 10502, the pitch brake 207, the roll brake 208 and the yaw brake 209 are in a locked state, and the auxiliary manipulator 1 is in a gravity balance state; connect the automatic feed drill 302 to the power source, connect the chip removal barrel 403 to the vacuum cleaner, turn on the power switches of the laser 405 and the endoscope 407, and complete the preparation work;

[0045] S1. Toggle switch C30105 to unlock the arm brake 10405;

[0046] S2. Toggle switch A30103 to unlock column brake 10202, arm brake 10502 and yaw brake 209, and manually drag the end to the vicinity of the hole making point on the machining surface;

[0047] S3. Toggle switch B30104 to unlock the pitch brake 207 and the roll brake 208. While observing the display screen of the endoscope 407, adjust the position of the handle 30102 and press it down slightly. When the gasket 408 fits the surface of the workpiece and the light spot of the laser 405 almost coincides with the hole-making point, toggle switch B30104 to lock the pitch brake 207 and the roll brake 208 to complete the normal vector finding work.

[0048] S4. Continue fine-tuning until the laser spot 405 and the hole-making point coincide with each other to meet the hole-making position accuracy requirements, and then toggle switch A30103 to lock the column brake 10202, the arm brake 10502 and the yaw brake 209 to complete the hole-finding work;

[0049] S5. Toggle switch D30106 to put the auxiliary manipulator 1 in a preload state, and toggle switch C30105 to lock the arm brake 10405 to increase the rigidity, completing the preload work;

[0050] S6. Start the automatic feed drill 302 and start making holes;

[0051] S7. After the current hole position is completed, the toggle switch C30105 unlocks the arm brake 10405, and the toggle switch D30106 puts the auxiliary robot arm 1 in a gravity balance state;

[0052] S8. Repeat the above steps S1 to S7 until the processing of the current area is completed.

[0053] In this embodiment, it should be noted that the automatic feed drill 302 can be an automatic feed drilling equipment such as an electric feed drill and a pneumatic feed drill.

[0054] In this embodiment, it should be noted that tightening the drill sleeve 303 may adopt other positioning and clamping methods such as an expansion chuck.

[0055] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A human-machine collaborative processing equipment based on automatic feed drilling, characterized in that: The human-machine collaborative processing equipment based on automatic feed drilling comprises an auxiliary mechanical arm (1), an end posture adjustment module (2), a processing module (3) and an auxiliary positioning module (4); The auxiliary mechanical arm (1) comprises a base (101), a column (102), a balancing cylinder (103), a large arm (104) and a small arm (105); the base (101) is used to move the auxiliary mechanical arm (1) to a suitable position and then fix it; the column (102) comprises a column lower part (10201), a column brake (10202), a rotating joint (10203), a column upper part (10204) and a control box (10205); the column lower part (10201) is assembled on the base body (10101) by bolt connection; the column lower part (10201) and the column upper part (10204) are respectively connected to the rotating joint (10203) by bolts; the column brake (10202) is installed on the rotating joint (10203) ) on the rotating shaft of the column, used to lock and unlock the rotating joint (10203); the control box (10205) is integrated with the upper part of the column (10204) to place the control system components; the balancing cylinder (103) includes a double-ear connecting seat (10301), a double-acting cylinder (10302) and a fisheye joint (10303); the double-acting cylinder (10302) is installed on the column (102) through the double-ear connecting seat (10301); the piston rod of the double-acting cylinder (10302) is connected to the upper arm (104) through the fisheye joint (10303); compressed air pressure is input into one end of the double-acting cylinder (10302) to achieve gravity balance at the end, and the other end is in an open state when balancing gravity, and compressed air is input when applying preload; The upper arm (104) includes a parallelogram linkage mechanism and an upper arm brake (10405), wherein the parallelogram linkage mechanism can realize pitching motion, and the upper arm brake (10405) is used to lock and unlock the motion of the upper arm (104); the lower arm (105) includes an upper arm linkage (10501) and an upper arm brake (10502); the lower arm linkage (10501) is hinged to the upper arm connection seat A (10401) and can rotate freely in a plane around its vertical axis; the lower arm (105) is equipped with an upper arm brake (10502) for locking and unlocking the motion of the lower arm (105); each hinge of the auxiliary mechanical arm (1) is damped to ensure the rigidity of the mechanical arm; The terminal posture adjustment module (2) comprises an upper connecting seat (201), a lower connecting seat (202), a yaw axis (203), a pitch axis (204), a measuring roller (205), an axis connecting block (206), a pitch brake (207), a measuring roller brake (208) and a yaw brake (209); the yaw axis (203) is hinged to the forearm (105), and its shaft end is connected to the upper connecting seat (201) by bolts; the pitch axis (204) is installed on the upper connecting seat (201) by bearings, and the measuring roller (205) is connected to the forearm (105 ...; the measuring roller (205) is connected to the forearm (105) by bolts; the measuring roller (205) is connected to the forearm (105) by bolts; the measuring roller (205) is connected to the forearm (105) by bolts; the measuring roller (205) is connected to the forearm (105) by bolts; the measuring roller (205) is connected to the for 05) is installed on the lower connecting seat (202) through a bearing, and the two are connected to the shaft connecting block (206) through bolts to form a cross-axis structure, and the axes of the two and the axis of the measuring roller (205) are perpendicular to each other, and all intersect with the axis of the yaw axis (203); the pitch brake (207), the measuring roll brake (208) and the yaw brake (209) are respectively installed on the pitch axis (204), the measuring roller (205) and the yaw axis (203), and are respectively used for locking and unlocking the pitch, measuring roll and yaw degrees of freedom; The processing module (3) comprises a traveling clamping module (301), an automatic feed drill (302) and a tightening drill sleeve (303); the traveling clamping module (301) comprises a clamping module body (30101), a handle (30102), a switch A (30103), a switch B (30104), a switch C (30105) and a switch D (30106); the clamping module body (30101) is assembled on the lower connecting seat (202) of the end posture adjustment module (2) by bolts, and is used for stably holding the automatic feed drill (302); the handle (30102) is mounted on the clamping module body (30101) by bolts, and is used for assisting manual dragging of the end of the robot arm; the switches A (30103), the switches B (30104), the switches C (30105) and the switches D (30106) are assembled on the lower connecting seat (202) of the end posture adjustment module (2) by bolts, and are used for stably holding the automatic feed drill (302); the handle (30102) is mounted on the clamping module body (30101) by bolts, and are ... 0106) is installed in the threaded hole of the clamping module body (30101), the switch A (30103) is used to control the column brake (10202), the arm brake (10502) and the yaw brake (209), the switch B (30104) is used to control the pitch brake (207) and the roll brake (208), the switch C (30105) is used to control the arm brake (10405), and the switch D (30106) is used to control the auxiliary mechanical arm (1) to be in a gravity balance state or a preload state; the automatic feed drill (302) is a hole-making device with a main shaft having automatic rotation and feeding functions, and its main shaft axis coincides with the axis of the yaw shaft (203); the tightening drill sleeve (303) is installed on the end of the automatic feed drill (302) through a thread and is clamped with a pull nail; The auxiliary positioning module (4) comprises a drill sleeve connecting block (401), a rivet (402), a chip removal barrel (403), a laser mounting seat (404), a laser (405), an endoscope mounting seat (406), an endoscope (407) and a gasket (408); the rivet (402) is installed on the drill sleeve connecting block (401) by means of a thread, and the drill sleeve connecting block (401) is screwed on the screwed drill sleeve (303) by means of the rivet (402), so as to realize the connection between the auxiliary positioning module (4) and the automatic feed drill (302); the chip removal barrel (403), the laser mounting seat (404), the endoscope mounting seat (406) and the gasket 407 are respectively installed on the drill sleeve connecting block (401) by means of bolts. The chip removal barrel (403) is used to cooperate with a vacuum cleaner to remove chips; the laser (405) is placed in the mounting hole of the laser mounting seat (404) and is tightened by a top screw to form a positioning point light spot on the surface of the workpiece. The two lasers (405) used are both straight-line lasers, and their emitted light forms a fan-shaped surface in space. The fan-shaped surfaces formed by the two lasers (405) intersect each other perpendicularly, and the intersection line coincides with the main axis of the automatic feed drill (302); the endoscope (407) is placed in the mounting hole of the endoscope mounting seat (406) and is tightened by a top screw to realize the visualization of the positioning process; the gasket (408) is used to contact with the workpiece to achieve auxiliary fixation and prevent scratches on the workpiece surface.

2. The human-machine collaborative processing equipment based on automatic feed drilling according to claim 1 is characterized in that: The base (101) comprises a base body (10101), universal wheels (10102) and a floor brake (10103).

3. The human-machine collaborative processing equipment based on automatic feed drilling according to claim 1 is characterized in that: The parallelogram linkage mechanism is mainly composed of a connecting seat A (10401), a connecting rod A (10402), a connecting rod B (10403), and a connecting seat B (10404).

4. The human-machine collaborative processing equipment based on automatic feed drilling according to claim 1 is characterized in that: When the auxiliary mechanical arm (1) is in a state of applying preload, the relationship between the preload and the input air pressure is as follows: p=kN Among them, p is the value of the preload force applied at the end when it is N, mPa; the compressed air pressure at the rod end of the input cylinder; l is the length of the boom, mm; a is the distance between the connection point between the cylinder and the boom and the boom shaft, mm; h is the distance between the connection point between the cylinder and the column and the boom shaft, mm; D is the cylinder diameter, mm; d is the diameter of the cylinder piston rod, mm; η is the cylinder load rate.

5. The human-machine collaborative processing equipment based on automatic feed drilling according to claim 1 is characterized in that: The laser (405) is a line laser, and its emitted light forms a fan-shaped surface in space. The fan-shaped surfaces formed by the two lasers (405) intersect each other perpendicularly, and the intersection line coincides with the main axis of the automatic feed drill (302).

6. A processing method based on human-machine collaborative processing equipment with automatic feed drill, characterized in that: Here are the steps: S0. Connect the human-machine collaborative processing equipment based on the automatic feed drill to the air source, check and ensure that the column brake (10202), the upper arm brake (10405), the lower arm brake (10502), the pitch brake (207), the roll brake (208) and the yaw brake (209) are in a locked state, and the auxiliary robot arm (1) is in a gravity balance state; connect the automatic feed drill (302) to the power source, connect the chip removal barrel (403) to the vacuum cleaner, turn on the power switches of the laser (405) and the endoscope (407), and complete the preparation work; S1. Toggle switch C (30105) to unlock the arm brake (10405); S2. Toggle switch A (30103) to unlock the column brake (10202), arm brake (10502) and yaw brake (209), and manually drag the end to the vicinity of the hole-making point on the processing surface; S3. Toggle switch B (30104) to unlock the pitch brake (207) and the roll brake (208). While observing the display screen of the endoscope (407), hold the handle (30102) to adjust the position and press it down slightly. When the gasket (408) fits the surface of the workpiece and the light spot of the laser (405) almost coincides with the hole-making point, toggle switch B (30104) to lock the pitch brake (207) and the roll brake (208), and complete the normal vector finding work. S4. Continue fine-tuning until the overlap between the laser spot (405) and the hole-making point reaches the hole-making position accuracy requirement, and then turn on switch A (30103) to lock the column brake (10202), the arm brake (10502) and the yaw brake (209) to complete the hole-finding work; S5. Toggle switch D (30106) to put the auxiliary mechanical arm (1) in a preload state, and toggle switch C (30105) to lock the arm brake (10405) to increase the rigidity, thereby completing the preload work; S6. Start the automatic feed drill (302) and start making holes; S7. After the current hole position is completed, the toggle switch C (30105) is unlocked to unlock the arm brake (10405), and the toggle switch D (30106) is turned to put the auxiliary robot arm (1) in a gravity balance state; S8. Repeat the above steps S1 to S7 until the processing of the current area is completed.

Images