Force-position hybrid control assembly robot

Abstract

The invention provides a force-position hybrid control assembly robot. The force-position hybrid control assembly robot comprises an AGV body, a six-degree-of-freedom posture adjusting platform and a large lifting arm. The upper end face of the AGV body is connected with one end of the large lifting arm through a rotating base, an overhanging arm stretching out and drawing back along the large lifting arm is arranged in the large lifting arm, the top of the overhanging arm is connected with a concave supporting seat, and the concave supporting seat is arranged outside an inner supporting seat in a sleeving mode. A first rotation control part used for driving the inner supporting seat to rotate is arranged on the outer side end face of the concave supporting seat, the inner supporting seat is arranged outside the deflection table in a sleeving mode, the top of the deflection table is connected with the bottom of the XY-direction adjusting table through a second rotation control part, and a six-degree-of-freedom posture adjusting platform is arranged above the XY-direction adjusting table. The tail end of the equipment has a six-degree-of-freedom posture adjusting function, and the posture of a product is very convenient to adjust. Due to the fact that the height of the aircraft is relatively high, the equipment can lift the parts to the corresponding height as well, and assembly of the large parts can be really completed through one aircraft.

Description

Technical Field

[0001] The present invention specifically relates to a force-position hybrid control assembly robot. Background Art

[0002] During the installation of existing aircraft components, due to the large size and heavy weight of the component products on the aircraft, some complex and large auxiliary mechanisms or toolings are often required during aircraft assembly production. Usually, a large gantry crane or a conventional lift truck is also needed for assistance. General installation equipment or tools result in extremely low installation efficiency, and it is very troublesome when the component needs to adjust its posture. Therefore, the present application proposes a force-position hybrid control assembly robot to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a force-position hybrid control assembly robot in view of the deficiencies of the prior art, and this force-position hybrid control assembly robot can well solve the above problems.

[0004] To meet the above requirements, the technical solution adopted by the present invention is: to provide a force-position hybrid control assembly robot, which includes an AGV body, a six-degree-of-freedom posture adjustment platform and a lifting boom; the upper end surface of the AGV body is connected to one end of the lifting boom through a rotating base. An outer extension arm that extends along the lifting boom is provided inside the lifting boom. The top of the outer extension arm is connected with a concave support seat. The concave support seat is sleeved outside the inner support seat. A first rotation control component for driving the inner support seat to rotate is provided on the outer end surface of the concave support seat. The inner support seat is sleeved outside the yaw platform. The top of the yaw platform is connected to the bottom of the XY-direction adjustment platform through a second rotation control component. A six-degree-of-freedom posture adjustment platform is provided above the XY-direction adjustment platform.

[0005] The advantages of this force-position hybrid control assembly robot are as follows:

[0006] The end of this device has the function of six-degree-of-freedom posture adjustment, which is very convenient for adjusting the posture of the product. Since the height of the aircraft itself is relatively high, this device can also lift the component to the corresponding height, truly realizing that one machine can complete the assembly of large components. In addition to the above usage scenarios, this device can be extended to some occasions where large products need precise alignment or installation. Brief Description of the Drawings

[0007] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The same reference numerals are used to represent the same or similar parts in these drawings. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0008] Figure 1Schematically shown is the structural schematic diagram of a force-position hybrid control assembly robot during use according to an embodiment of the present application.

[0009] Figure 2 Schematically shown is the structural schematic diagram of a force-position hybrid control assembly robot according to an embodiment of the present application.

[0010] Figure 3 Schematically shown is the structural schematic diagram of the lifting boom of a force-position hybrid control assembly robot according to an embodiment of the present application.

[0011] Figure 4 Schematically shown is the structural schematic diagram of the six-degree-of-freedom pose adjustment platform and the concave support base of a force-position hybrid control assembly robot according to an embodiment of the present application.

[0012] Figure 5 Schematically shown is the structural schematic diagram of the six-degree-of-freedom pose adjustment platform and the concave support base of a force-position hybrid control assembly robot according to an embodiment of the present application.

[0013] Figure 6 Schematically shown is the structural schematic diagram of the six-degree-of-freedom pose adjustment platform and the concave support base of a force-position hybrid control assembly robot according to an embodiment of the present application.

[0014] Wherein: 1. Six-degree-of-freedom pose adjustment platform; 2. Lifting boom; 3. Rotary base; 4. Operation panel; 5. Boosting arm; 6. AGV body; 7. Outstretched arm; 8. Concave support base; 9. First rotation control component; 10. Inner support base; 11. Second rotation control component; 12. XY-direction adjustment table; 13. Six-axis force sensor; 14. Y-axis motion track; 15. X-axis motion track; 16. Yaw table; 17. Lifting boom rotation component. Detailed implementation manners

[0015] To make the objectives, technical solutions and advantages of the present application clearer, the following further elaborates on the present application in detail in combination with the accompanying drawings and specific embodiments.

[0016] In the following description, references to "an embodiment", "embodiments", "an example", "examples", etc. indicate that the described embodiment or example may include specific features, structures, characteristics, properties, elements or limitations, but not every embodiment or example necessarily includes specific features, structures, characteristics, properties, elements or limitations. Additionally, repeated use of the phrase "according to an embodiment of the present application" does not necessarily refer to the same embodiment, although it may refer to the same embodiment.

[0017] For simplicity, certain technical features known to those skilled in the art are omitted in the following description.

[0018] According to an embodiment of the present application, a force-position hybrid control assembly robot is provided. As Figure 1-3 shown, it includes an AGV body 6, a six-degree-of-freedom posture adjustment platform 1, and a lifting boom 2. The upper end surface of the AGV body 6 is connected to one end of the lifting boom 2 through a rotating base 3. The lifting boom 2 can rotate horizontally at the rotating base 3. At the same time, the lifting boom 2 can rotate up and down under the combined action of a boosting arm 5 and a lifting boom rotating component 17. An extensible arm 7 that extends along the lifting boom 2 is provided inside the lifting boom 2. The top of the extensible arm 7 is connected with a concave support seat 8. The concave support seat 8 is sleeved outside an inner support seat 10. A first rotation control component 9 for driving the inner support seat 10 to rotate is provided on the outer end surface of the concave support seat 8. The first rotation control component 9 drives the inner support seat 10 to rotate inside the concave support seat 8. The inner support seat is a metal ring structure. The inner support seat is sleeved outside a yaw platform. The yaw platform swings inside the inner support seat sleeve. The top of the yaw platform is connected to the bottom of an XY-direction adjustment platform through a second rotation control component. A six-degree-of-freedom posture adjustment platform is provided above the XY-direction adjustment platform.

[0019] According to an embodiment of the present application, an operation panel 4 is provided on the front end surface of the AGV body of the force-position hybrid control assembly robot.

[0020] According to an embodiment of the present application, battery and electronic control bins are provided on both sides of the upper end surface of the AGV body of the force-position hybrid control assembly robot.

[0021] According to an embodiment of the present application, a six-axis force sensor 13 is installed inside the six-degree-of-freedom posture adjustment platform 1 of the force-position hybrid control assembly robot. The six-axis force sensor 13 mainly realizes two major functions: (1) It is used to monitor the force on the entire end product in six dimensions. The force in six dimensions refers to the tensile and compressive forces in the Z, Y, and Z directions, and the torques in the X, Y, and Z directions. When the force on the end product is abnormal, the entire system can alarm and stop immediately. (2) It can realize the function of manually dragging the end product. For example, when a person drags in a certain direction, according to the monitoring of the force sensor and the relevant algorithms of the system, the product can move in the direction of the person's drag.

[0022] According to an embodiment of the present application, a Y-axis movement track 14 and an X-axis movement track 15 for the six-degree-of-freedom posture adjustment platform 1 to move in the X-axis and Y-axis directions are provided on the top of the XY-direction adjustment platform 12 of the force-position hybrid control assembly robot.

[0023] According to an embodiment of the present application, when the six-degree-of-freedom posture adjustment platform 1 of the force-position hybrid control assembly robot moves along the Y-axis movement track 14 and the X-axis movement track 15, a servo motor and a lead screw are used to provide driving energy.

[0024] According to an embodiment of the present application, the telescopic arm 7 of the force-position hybrid control assembly robot realizes telescopic movement by using a servo screw rod inside the lifting boom 2.

[0025] According to an embodiment of the present application, a speed reducer for driving the yaw table to perform yaw movement inside the inner support seat is provided inside the yaw table of the force-position hybrid control assembly robot.

[0026] According to an embodiment of the present application, both the first rotation control component 9 and the second rotation control component 11 of the force-position hybrid control assembly robot realize rotation control through a servo motor and a high-precision RV speed reducer.

[0027] According to an embodiment of the present application, the six-degree-of-freedom pose adjustment platform 1 of the force-position hybrid control assembly robot has extremely high flexibility and can realize functions such as rotation, deflection, yaw, and displacement of the product.

[0028] According to an embodiment of the present application, a tooling platform is provided at the top of the six-degree-of-freedom pose adjustment platform 1 of the force-position hybrid control assembly robot. A six-axis force sensor 13 is installed inside the platform, which can be used to monitor the force condition of the platform, and the device can give an alarm immediately when the external force changes.

[0029] The above embodiments merely represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but should not be construed as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the claims described.

Claims

1. A force-position hybrid control assembly robot, characterized in that: It includes an AGV body, a six-degree-of-freedom pose adjustment platform and a lifting boom. One end of the lifting boom is connected to the upper end surface of the AGV body through a rotating base. An extension arm that can extend and retract along the lifting boom is arranged inside the lifting boom. The top of the extension arm is connected with a concave support seat. The concave support seat is sleeved outside the inner support seat. A first rotation control component for driving the inner support seat to rotate is arranged on the outer side end surface of the concave support seat. The inner support seat is sleeved outside the yaw table. The top of the yaw table is connected to the bottom of the XY-direction adjustment table through a second rotation control component. A six-degree-of-freedom pose adjustment platform is arranged above the XY-direction adjustment table.

2. The force-position hybrid control assembly robot according to claim 1, characterized in that: An operation panel is arranged on the front end surface of the AGV body.

3. The force-position hybrid control assembly robot according to claim 1, characterized in that: Battery and electronic control bins are arranged on both sides of the upper end surface of the AGV body.

4. The force-position hybrid control assembly robot according to claim 1, wherein: A six-axis force sensor is installed inside the six-degree-of-freedom pose adjustment platform.

5. The force-position hybrid control assembly robot according to claim 1, wherein: Y-axis movement tracks and X-axis movement tracks for the six-degree-of-freedom pose adjustment platform to move along the X-axis and Y-axis directions are arranged on the top of the XY-direction adjustment table.

6. The force-position hybrid control assembly robot according to claim 5, characterized in that: When the six-degree-of-freedom pose adjustment platform moves along the Y-axis movement tracks and X-axis movement tracks, servo motors and lead screws are used to provide driving energy.

7. The force-position hybrid control assembly robot according to claim 1, characterized in that: The extension arm realizes telescopic movement inside the lifting boom by using a servo lead screw.

8. The force-position hybrid control assembly robot according to claim 1, characterized in that: Both the first rotation control component and the second rotation control component realize rotation control through servo motors and high-precision RV reducers.

9. The force-position hybrid control assembly robot according to claim 1, wherein: A reducer for driving the yaw table to perform yaw movement inside the inner support seat is arranged inside the yaw table.

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