Composite robot for realizing assembly of large components

Abstract

The invention discloses a composite robot for achieving large component assembling. The composite robot comprises a fixed assembling component, a movable assembling component and a composite robot body. The composite robot comprises a mobile AGV, a Stewart parallel robot and a mounting frame. The installation frame is in a right triangle shape, one right-angle side of the installation frame is fixed to the upper surface of the mobile AGV, the Stewart parallel robot is fixedly installed on the other right-angle side of the installation frame, and the Stewart parallel robot is kept horizontally placed. The mobile AGV achieves remote adjustment, the mobile assembly component is fixedly installed on the Stewart parallel robot, and the spatial pose of the mobile assembly component is adjusted through the Stewart parallel robot. According to the invention, the problem of large-scale transportation of the large components is solved, accurate pose adjustment can be realized, the influence of pose detection on pose adjustment is avoided, and butt-joint assembly of the large components with large length is realized through a plurality of composite robots.

Description

Technical Field

[0001] The present invention belongs to the field of industrial robot automated assembly, and particularly relates to a composite robot for realizing the assembly of large components. Background Art

[0002] With the development of industry and the progress of science and technology, in the modern industrial field, especially in the industrial field of large-size products represented by products such as aerospace, ships, and wind power generation equipment, the product size is getting larger and the assembly accuracy requirements are getting higher. Due to reasons such as complex operation, low efficiency, and easy occurrence of accidents, the traditional manual assembly method cannot meet the requirements in terms of assembly accuracy, efficiency, and safety of large components today, and is gradually being replaced by high-precision assembly equipment.

[0003] In the initial stage of the development of automated docking and assembly technology, foreign advanced aviation manufacturing enterprises such as Airbus and Boeing promoted digital assembly technology. The pose adjustment of large components is realized through multiple positioners, and each positioner can realize precise position adjustment in the three directions of X, Y, and Z. However, the on-site layout of this system is relatively complex, and coordinated control of the pose requires complex calculations. The system using multiple positioners is usually fixed at a fixed position in the assembly workshop, and large components need to be hoisted onto the positioners by other transportation equipment. Therefore, such a system cannot realize the long-distance transportation of large components.

[0004] The Stewart parallel robot adopts a parallel structure, has good structural stiffness and load-bearing capacity, and is easy to realize pose adjustment. Its application in the current docking and assembly system is gradually increasing. The upper plane of the Stewart parallel robot is used to install and fix the workpiece. The installation height of the tooling fixture will cause the control coordinate system of the Stewart parallel robot to rise, and the height of the tooling fixture will amplify the position error of the pose error of the Stewart parallel robot, resulting in the failure of large component assembly.

[0005] Therefore, there is an urgent need to invent a composite robot for realizing the assembly of large components, which can realize the long-distance transportation of large components, and at the same time adopt a flexible component clamping mechanism to avoid the error amplification problem caused by the pose error of the Stewart parallel robot and the pose measurement error of the external measurement equipment. Summary of the Invention

[0006] The purpose of the present invention is to provide a composite robot for realizing the assembly of large components, which can realize the movement of large components in a large range, precise pose adjustment, and at the same time avoid the influence of pose detection on pose adjustment, so as to solve the defects and deficiencies of the prior art in the long-distance transportation of the assembly robot system and sensitivity to pose errors.

[0007] To solve the above technical problems, the specific technical solution of the present invention is as follows:

[0008] The composite robot system of the present invention for the device to achieve large-range movement of large components, precise pose adjustment, and avoid the influence of pose detection on pose adjustment to realize the assembly of large components mainly realizes the transportation and assembly docking of large components. A composite robot for realizing the assembly of large components includes a fixed assembly component, a movable assembly component, and a composite robot body; the movable assembly component is fixed on the composite robot body, and the fixed assembly component is fixedly installed at any position in the assembly workshop according to actual needs. The composite robot carries the movable assembly component to realize docking assembly with the fixed assembly component;

[0009] The composite robot 3 includes a mobile AGV (Automated Guided Vehicle), a Stewart parallel robot, and a mounting frame; the Stewart parallel robot is horizontally fixed on the mounting frame; the mobile AGV realizes long-distance adjustment, and the movable assembly component is fixedly installed on the Stewart parallel robot, and the spatial pose of the movable assembly component is adjusted by the Stewart parallel robot.

[0010] Further, the fixed assembly component, the movable assembly component, and the tooling fixture adopt a cylindrical structure.

[0011] Further, the mounting frame is in the shape of a right triangle. One right side of the mounting frame is fixed on the upper surface of the mobile AGV 301, and the Stewart parallel robot is fixedly installed on the other right side of the mounting frame to keep the Stewart parallel robot horizontally placed.

[0012] Further, the Stewart parallel robot includes an upper platform, a lower platform, six electric cylinders, a tooling fixture, and a fixing pin; the upper platform and the lower platform are of a central hole structure; the movable assembly component is fixed at the center of the upper platform through the tooling fixture; the upper platform and the lower platform are connected through six electric cylinders; the pose of the upper platform is adjusted by controlling the elongation of the six electric cylinders.

[0013] Further, when the size of the mobile AGV is greater than twice the distance between the upper platform and the lower platform, an additional mounting frame and a Stewart parallel robot are added at the rear end of the mobile AGV, and the front and rear structures adopt a symmetric form, so as to be able to adapt to large components of medium and long sizes.

[0014] Furthermore, since both the upper platform and the lower platform adopt a hollow structure, when the size of the mobile assembly component is greater than twice the distance between the upper platform and the lower platform, the mobile assembly component passes through the lower platform, forming a common adjustment of the pose of the mobile assembly component by two composite robot bodies. This method can not only solve the problem of excessive length of large components, but also reduce the flexible error of large components through multiple support points.

[0015] A composite robot for realizing the assembly of large components according to the present invention has the following advantages: First, it can realize the transportation problem of large components in a large range; Second, it can effectively realize precise pose adjustment and avoid the influence of attitude detection on pose adjustment; Third, it can realize the butt joint assembly of large components with large length through multiple composite robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of a composite robot system for flexible assembly of large components of the present invention;

[0017] Figure 2 is a schematic diagram of the structure of the composite robot of the present invention;

[0018] Figure 3 is a schematic diagram of the structure of a parallel robot in the composite robot of the present invention;

[0019] Figure 4 is a side view of the parallel robot in the composite robot of the present invention;

[0020] Figure 5 is a schematic diagram of the front and back installation of a single device to realize the butt joint adjustment of a long component;

[0021] Figure 6 is a schematic diagram of the front and back installation of two devices to realize the butt joint adjustment of a long component;

[0022] Description of the reference numerals in the drawings: 1, fixed assembly component; 2, mobile assembly component; 3, composite robot; 301, mobile AGV; 302, Stewart parallel robot; 303, installation frame; 401, upper platform; 402, lower platform; 403, first electric cylinder; 404, second electric cylinder; 405, third electric cylinder; 406, fourth electric cylinder; 407, fifth electric cylinder; 408, sixth electric cylinder; 409, tooling fixture. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to better understand the purpose, structure and function of the present invention, the following further describes in detail a composite robot for realizing the assembly of large components according to the present invention with reference to the drawings.

[0024] See Figure 1As shown in the figure, the composite robot for realizing the assembly of large components mainly realizes the transportation and assembly docking of large components. This robot mainly includes a fixed assembly component 1, a mobile assembly component 2, and a composite robot 3. The mobile assembly component 2 is fixed on the composite robot 3. The fixed assembly component 1 is fixedly installed at any position in the assembly workshop according to actual needs. The composite robot 3 carries the mobile assembly component 2 to achieve docking assembly with the fixed assembly component 1. The fixed assembly component 1 and the mobile assembly component 2 adopt a typical cylindrical structure and can be replaced with large components of different structures according to actual situations.

[0025] See Figure 2 As shown in the figure, the composite robot 3 mainly includes a mobile AGV 301, a Stewart parallel robot 302, and an installation frame 303. Among them, the installation frame 303 presents a right triangle shape. One right side of the installation frame 303 is fixed on the upper surface of the mobile AGV 301, and the Stewart parallel robot 302 is fixedly installed on the other right side of the installation frame 303, keeping the Stewart parallel robot 302 horizontally placed. The mobile AGV 301 can achieve long-distance adjustment. Specifically, according to different schemes of the current robot, one is the SLAM technology, which realizes positioning and navigation through lidar, and the other is that there is a guiding line on the ground, through the form of line tracking. The mobile assembly component 2 is fixedly installed on the Stewart parallel robot 302, and the spatial pose of the mobile assembly component 2 is adjusted by the Stewart parallel robot 302. As Figure 5 As shown in the figure, when the size of the mobile AGV 301 adopted by the composite robot 3 is relatively long, that is, when the size of the mobile AGV 301 is greater than twice the distance between the upper platform 401 and the lower platform 402, an additional installation frame 303 and a Stewart parallel robot 302 can also be added at the back end. The front and rear structures adopt a symmetrical form, and the fixing methods of the front and rear installation frames and the Stewart parallel robots are the same, so as to be able to adapt to large components of medium and long sizes.

[0026] See Figure 3 and Figure 4As shown, the Stewart parallel robot 302 mainly includes an upper platform 401, a lower platform 402, a first electric cylinder 403, a second electric cylinder 404, a third electric cylinder 405, a fourth electric cylinder 406, a fifth electric cylinder 407, a sixth electric cylinder 408, a tooling fixture 409, and a fixing pin 410. The moving assembly member 2 is of a cylindrical structure, and the tooling fixture 409 is also of a cylindrical structure. The upper platform 401 is of a central hole structure, and the lower platform 402 is also of a central hole structure. The moving assembly member 2 is fixed at the center of the upper platform 401 through the tooling fixture 409. The upper platform 401 and the lower platform 402 are connected through the first electric cylinder 403, the second electric cylinder 404, the third electric cylinder 405, the fourth electric cylinder 406, the fifth electric cylinder 407, and the sixth electric cylinder 408. By controlling the elongation of the first electric cylinder 403, the second electric cylinder 404, the third electric cylinder 405, the fourth electric cylinder 406, the fifth electric cylinder 407, and the sixth electric cylinder 408, the pose adjustment of the upper platform 401 is realized. Since the moving assembly member 2 is located at the center of the upper platform 401, when the Stewart parallel robot 302 performs Z-axis pose adjustment, no position deviation will occur. When performing X-axis and Y-axis pose adjustments, the extended length can be effectively shortened, thereby reducing the position deviation generated by the X-axis and Y-axis.

[0027] As Figure 6 shown, since both the upper platform 401 and the lower platform 402 adopt a hollow structure, when the size of the moving assembly member 2 is greater than twice the distance between the upper platform 401 and the lower platform 402, the moving assembly member 2 can pass through the lower platform 402 to form a common adjustment of the pose of the large components of two composite robots 3. This method can not only solve the problem of the excessive length of large components, but also reduce the flexible error of large components through multiple support points.

[0028] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. Additionally, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A composite robot for realizing the assembly of large components, characterized in that, It includes a fixed assembly component (1), a movable assembly component (2), and a composite robot body (3); the movable assembly component (2) is fixed on the composite robot body (3), and the composite robot (3) carries the movable assembly component (2) to achieve docking assembly with the fixed assembly component (1). The composite robot 3 includes a mobile AGV (301), a Stewart parallel robot (302), and a mounting frame (303); the Stewart parallel robot (302) is horizontally fixed on the mounting frame (303); the mobile AGV (301) realizes long-distance adjustment, and the movable assembly component (2) is fixedly installed on the Stewart parallel robot (302), and the spatial pose of the movable assembly component (2) is adjusted through the Stewart parallel robot (302).

2. The composite robot for realizing the assembly of large components according to claim 1, wherein, The fixed assembly component (1), the movable assembly component (2), and the tooling fixture (409) adopt a cylindrical structure.

3. The composite robot for realizing the assembly of large components according to claim 1, wherein, The mounting frame (303) is in the shape of a right triangle. One right side of the mounting frame (303) is fixed on the upper surface of the mobile AGV 301, and the Stewart parallel robot (302) is fixedly installed on the other right side of the mounting frame (303) to keep the Stewart parallel robot (302) horizontally placed.

4. The composite robot for realizing the assembly of large components according to claim 2, characterized in that, The Stewart parallel robot (302) includes an upper platform (401), a lower platform (402), six electric cylinders, a tooling fixture (409), and a fixing pin (410); the upper platform (401) and the lower platform (402) are of a central hole structure; the movable assembly component (2) is fixed at the center of the upper platform (401) through the tooling fixture (409); the upper platform (401) and the lower platform (402) are connected through six electric cylinders; the pose adjustment of the upper platform (401) is realized by controlling the elongation of the six electric cylinders.

5. The composite robot for realizing the assembly of large components according to claim 4, characterized in that, When the size of the mobile AGV (301) is greater than twice the distance between the upper platform (401) and the lower platform (402), an additional mounting frame (303) and a Stewart parallel robot (302) are added at the rear end of the mobile AGV (301), and the front and rear structures are in a symmetrical form.

6. The composite robot for realizing the assembly of large components according to claim 4, characterized in that, When the size of the movable assembly component (2) is greater than twice the distance between the upper platform (401) and the lower platform (402), two composite robots are installed front and back.

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