Universal follow-up positioning and clamping device for robot cooperation type automatic feeding drill

Abstract

The invention discloses a universal follow-up positioning and clamping device for a robot cooperation type automatic feeding drill, which belongs to the technical field of aviation machinery assembly and comprises an external flange, a universal follow-up module, an output shaft, a motor, a harmonic reducer, a clamping mechanism and a clamping jaw. The universal follow-up module comprises a follow-up flange, a floating guide shaft and a pre-tightening spring, the middle of the follow-up flange is coaxially sleeved with the floating guide shaft, a plurality of spring guide grooves are formed in the peripheral side of the floating guide shaft, and spring mounting holes are correspondingly formed in the follow-up flange in the circumferential direction; a pre-tightening spring is arranged between the spring guide groove and the spring mounting hole; one side of the output shaft is fixedly connected with the floating guide shaft, and the motor is fixedly connected with the output shaft. Rapid positioning of the automatic feeding drill on the drill plate in the narrow space is achieved, the extra intervention procedure of manual fine adjustment is eliminated by effectively guaranteeing the perpendicularity of the main shaft of the automatic feeding drill and the hole position of the drill plate, and the efficiency of cooperative hole making is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of aerospace mechanical assembly, specifically relating to a universal follow-up positioning and clamping device for a robot collaborative automatic feed drill. Background Technology

[0002] Automatic feed drilling (AFD), as a semi-automatic hole-making method, has advantages such as small size and light weight, but still requires manual assistance to change the hole position, resulting in high labor intensity. Specifically, current AFD applications typically involve a person manually holding the AFD and clamping it onto a drill template for drilling. During clamping, manual fine-tuning of the position is required, consuming additional time. Efficiency can be further improved by combining it with industrial collaborative robots. Collaborative robots, with their advantages of rapid motion response and continuous operation without human assistance, have led to the emergence of a new hole-making mode combining industrial collaborative robots and AFDs. However, this new mode is still under research and has not yet reached engineering application. Currently, experimental robot clamping devices for AFDs are rigidly connected, relying on visual recognition for hole position correction and clamping, resulting in high cost and low efficiency. In the hole-making process of this new mode, the rigid positioning of the robot introduces positioning errors, causing inaccurate clamping and positioning of the AFD, hindering rapid clamping of the AFD.

[0003] For example, Chinese patent CN201510198217.2 discloses a rapid positioning device for use in automatic feed drills. The lead screw frame of this rapid positioning device connects to an external lead screw device, providing feed thrust during operation. A front guide assembly enables micro-movement of the drilling tool along the axial direction. A rear locking assembly connects the straight shank pneumatic drill body to the front guide assembly and, through the cooperation of a universal bearing and the lead screw frame, ensures that the external lead screw device stably transmits feed thrust to the drilling tool. Guided by the front guide assembly, the drilling tool, even under large axial forces and torques, is prevented from shifting or oscillating along the axial centerline, thus successfully completing the task of drilling layered materials. The cooperation between the front guide assembly and the rear locking assembly ensures stable feed during drilling, preventing tool jamming. However, this technology cannot be applied to the combined drilling mode of industrial collaborative robots and automatic feed drills, and cannot meet the rapid positioning requirements during robot clamping of the automatic feed drill.

[0004] Therefore, in order to ensure that various types of automatic feed drills can be accurately and quickly clamped on the drill template, it is urgent to design a fast positioning and clamping device with a certain degree of universal follow-up for use in the hole-making mode of industrial collaborative robots and automatic feed drills. Summary of the Invention

[0005] The purpose of this invention is to provide a universal follow-up positioning and clamping device for robotic collaborative automatic feed drilling, which aims to solve the problem of inaccurate positioning of automatic feed drilling caused by positioning errors.

[0006] This invention is mainly achieved through the following technical solutions: A robotic collaborative automatic feed drilling universal follower positioning and clamping device includes, from left to right, an external flange, a universal follower module, an output shaft, a motor, a harmonic reducer, a clamping mechanism, and grippers; the external flange is used to connect to the robot's end flange. The universal follow-up module includes a follow-up flange, a floating guide shaft, and a preload spring. The follow-up flange is fixedly connected to an external flange. A floating guide shaft is coaxially mounted in the middle of the follow-up flange. Several spring guide grooves are provided on the periphery of the floating guide shaft. Spring mounting holes are correspondingly provided on the periphery of the follow-up flange. A preload spring is provided between the spring guide grooves and the spring mounting holes. One side of the output shaft is fixedly connected to the floating guide shaft, and the motor is fixedly connected to the output shaft.

[0007] To better realize the present invention, a limiting groove is further provided on the outer side of the floating guide shaft between adjacent spring guide grooves, and a limiting boss is correspondingly provided on the inner circumference of the follower flange. The limiting groove and the limiting boss are used to limit the floating of the floating guide shaft.

[0008] To better realize the present invention, a positioning boss is further provided on one side of the output shaft, and a positioning hole is correspondingly provided in the middle of the floating guide shaft. The positioning boss of the output shaft and the positioning hole of the floating guide shaft are coaxially connected.

[0009] To better realize the present invention, the clamping mechanism further includes a clamping mechanism flange seat, a drive shaft, and a movable gear seat. The drive shaft is coaxially arranged in the middle of the clamping mechanism flange seat, and a bevel gear disk is arranged on the right side of the drive shaft. The harmonic output shaft of the harmonic reducer is fixedly connected to the drive shaft. Movable gear seats are slidably arranged at both ends of the right side of the clamping mechanism flange seat. Clamping jaws are respectively arranged on the right side of each movable gear seat, and gear seat drive teeth that mesh with the bevel gear disk are respectively arranged on the left side. A cavity is formed between two adjacent clamping jaws for clamping an automatic feed drill. Preferably, a harmonic input hole is provided in the middle of the harmonic reducer, and the motor output shaft of the motor is fixedly connected to the harmonic input hole.

[0010] To better realize the present invention, a motor connection hole is further provided on the right side of the output shaft, and one end of the motor is fixedly connected to the motor connection hole; a motor output flange is provided on the other end of the motor, and a harmonic reducer input flange is provided on one side of the harmonic reducer, and the motor output flange of the motor is fixedly connected to the harmonic reducer input flange of the harmonic reducer; a harmonic output flange is provided on the right side of the harmonic reducer, and the harmonic output flange is fixedly connected to the clamping mechanism flange seat.

[0011] To better realize the present invention, two guide grooves are symmetrically arranged 180 degrees around the right side of the clamping mechanism flange seat, and the movable gear seat is symmetrically installed circumferentially on the right side of the clamping mechanism flange seat; a guide boss is provided on the left end face of the movable gear seat, and the movable gear seat is linearly slidably connected to the guide groove through the guide boss.

[0012] To better realize the present invention, the guide groove is any one or more of the following: T-shaped structure, dovetail groove shape, and rectangular structure.

[0013] To better realize the present invention, the tooth profile of the gear seat transmission teeth is an involute tooth or an arc-shaped tooth; the tooth distribution structure of the umbrella-shaped tooth disk is an Archimedean spiral, and the tooth profile is consistent with that of the gear seat transmission teeth.

[0014] To better realize the present invention, the movable toothed seat is further provided with a mounting plane and a mounting hole, and the gripper is connected to the mounting hole on the mounting plane.

[0015] To better realize the present invention, the gripper is further provided with an anti-slip cloth inside.

[0016] The beneficial effects of this invention are as follows: (1) Based on the principle of overall spatial positioning, this invention uses a floating positioning design and a follow-up positioning clamping method to achieve rapid positioning of the automatic feed drill on the drilling template in a narrow space. By effectively ensuring the perpendicularity of the automatic feed drill spindle to the hole position of the drilling template, the extra intervention process of manual fine adjustment is eliminated, thus improving the efficiency of collaborative hole making. This invention is easy to disassemble, replace and install, with low cost and high reliability. Specifically, the floating guide shaft can float inside the follow-up flange, realizing the floating of the output shaft and the motor relative to the robot. The motor output shaft is fixedly connected to the harmonic input hole, thereby realizing the input of motor power; the harmonic output shaft is fixedly connected to the transmission shaft, used to transmit the output power of the harmonic reducer to the transmission shaft. The movable gear seat moves linearly along the circumference of the transmission shaft, while driving the control jaw to move. This invention realizes the clamping and releasing of the automatic feed drill by controlling the opening and closing degree of the jaw; by controlling the relative movement distance of the jaw, it can adapt to the clamping of automatic feed drills of different sizes.

[0017] (2) The present invention is a floating integral self-positioning drilling mechanism with a narrow joint space. Through the universal follow-up positioning of the structure, the perpendicularity of the automatic feed drill spindle and the hole position of the drill template is ensured. The verticality accuracy of the automatic feed drill positioning in the traditional way is within 1.5° and the direction is relatively random, requiring extra time for manual fine-tuning. The verticality accuracy of the positioning of the present invention can reach 0.5°, which improves the accuracy by 67%. It realizes robot self-positioning without manual intervention, and the efficiency is improved by more than 20%, which has good practicality. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the universal follow-up positioning and clamping device for robot collaborative automatic feed drilling of the present invention; Figure 2 This is a cross-sectional view of the universal follow-up positioning and clamping device for robot collaborative automatic feed drilling of the present invention; Figure 3 This is a structural schematic diagram of the universal follow-up module; Figure 4 This is a schematic diagram of the floating guide shaft. Figure 5 This is a schematic diagram of the output shaft; Figure 6 This is a schematic diagram of the clamping mechanism; Figure 7 This is a schematic diagram of the drive shaft structure; Figure 8 This is a schematic diagram of the movable gear seat; Figure 9 This is a structural schematic diagram of the clamping mechanism flange seat; Figure 10 This is a schematic diagram of the gripper structure; Figure 11 This is an exploded view of the components of the universal follow-up positioning and clamping device for robot collaborative automatic feed drilling of the present invention.

[0019] Wherein: 1-External flange; 2-Universal follower module; 2a-Follower flange; 2b-Limiting boss; 2c-Spring mounting hole; 3-Output shaft; 3a-Positioning boss; 3b-Motor connection hole; 4-Motor; 4a-Motor output flange; 4b-Motor output shaft; 5-Harmonic reducer; 5a-Harmonic reducer input flange; 5b-Harmonic input hole; 5c-Harmonic output flange; 5d-Harmonic output shaft; 6-Clamping mechanism; 6a-Clamping mechanism flange seat; 6b-Guide groove; 7-Gripper; 7a-Cavity; 8-Floating guide shaft; 8a-Spring guide groove; 8b-Limiting groove; 8c-Positioning hole; 9-Preload spring; 10-Drive shaft; 10a-Umbrella gear disc; 11-Moving gear seat; 11a-Guide boss; 11b-Gear seat drive gear; 11c-Mounting plane; 11d-Mounting hole. Detailed Implementation

[0020] Example 1: A robotic collaborative automatic feed drilling universal follow-up positioning and clamping device, such as Figures 1-11 As shown, the device includes, from left to right, an external flange 1, a universal follower module 2, an output shaft 3, a motor 4, a harmonic reducer 5, a clamping mechanism 6, and a gripper 7; the external flange 1 is used to connect to the robot's end flange, thereby enabling the installation of the device on the robot.

[0021] like Figure 3 As shown, (a) is a schematic diagram of the left side structure of the universal follower module, and (b) is a schematic diagram of the right side structure of the universal follower module. The universal follower module includes a follower flange 2a, a floating guide shaft 8, and a preload spring 9; the follower flange 2a is fixedly connected to the external flange 1; the floating guide shaft 8 is placed inside the follower flange 2a and is coaxially installed with the follower flange 2a.

[0022] like Figure 4 As shown, (a) is a schematic diagram of the left side structure of the floating guide shaft 8, and (b) is a schematic diagram of the right side structure of the floating guide shaft 8. The floating guide shaft 8 is symmetrically provided with spring guide grooves 8a and limiting grooves 8b, the number of which is equal to the number of limiting bosses. The following flange 2a is symmetrically provided with limiting bosses 2b inside, and the following flange 2a is symmetrically provided with spring mounting holes 2c. A preloaded spring 9 is installed in the spring guide groove, and the other end of the spring passes through the spring mounting hole 2c and is limited by a set screw. The floating guide shaft 8 can float inside the following flange 2a, and is limited by the limiting grooves 8b and the limiting bosses 2b, thereby controlling the range of motion of the floating guide shaft 8 within the following flange 2a.

[0023] like Figure 1 , Figure 2 and Figure 5 As shown, the output shaft 3 and the floating guide shaft 8 are fixedly connected. One end of the output shaft 3 is provided with a positioning boss 3a, and the floating guide shaft 8 is provided with a positioning hole 8c. The output shaft 3 and the floating guide shaft 8 are coaxially connected through the cooperation of the positioning boss 3a and the positioning hole 8c. The other end of the output shaft 3 is provided with a motor connection hole 3b. One end of the motor 4 is fixedly connected to the motor connection hole 3b, thereby realizing the fixed connection between the motor 4 and the output shaft 3. The other end of the motor 4 is provided with a motor output flange 4a, and one side of the harmonic reducer 5 is provided with a harmonic reducer input flange 5a. The motor 4 and the harmonic reducer 5 are fixedly connected through the motor output flange 4a and the harmonic reducer input flange 5a. The motor 4 is provided with a motor output shaft 4b, and the harmonic reducer 5 is provided with a harmonic input hole 5b. The motor output shaft 4b and the harmonic input hole 5b are fixedly connected, thereby realizing the input of motor power.

[0024] like Figure 6 As shown, (a) is a schematic diagram of the left side structure of the clamping mechanism 6, and (b) is a schematic diagram of the right side structure of the clamping mechanism 6. Figure 9 As shown, (a) is a schematic diagram of the right side of the clamping mechanism flange seat 6a, and (b) is a schematic diagram of the left side of the clamping mechanism flange seat 6a. The clamping mechanism 6 includes a clamping mechanism flange seat 6a, a drive shaft 10, and a movable gear seat 11; the harmonic reducer 5 is provided with a harmonic output end flange 5c on the other side, and the harmonic reducer 5 and the clamping mechanism 6 are fixedly connected to the clamping mechanism flange seat 6a through the harmonic output end flange 5c. The drive shaft 10 is placed inside the clamping mechanism flange seat 6a and is coaxially installed with the clamping mechanism flange seat 6a; the harmonic reducer 5 is provided with a harmonic output shaft 5d on the other side, and the harmonic output shaft is fixedly connected to the drive shaft 10, used to transmit the output power of the harmonic reducer to the drive shaft 10.

[0025] like Figures 7-10 As shown, the clamping mechanism 6 has two guide grooves 6b symmetrically arranged 180 degrees around its circumference. One end face of the movable gear seat 11 is provided with a guide boss 11a. The movable gear seat 11 is symmetrically and circumferentially installed inside the flange seat 6a of the clamping mechanism, and can achieve linear movement through the cooperation of the guide boss 11a and the guide grooves 6b. The movable gear seat 11 is provided with gear seat transmission teeth 11b, such as... Figure 7As shown, one end of the drive shaft 10 is provided with a bevel gear disk 10a. The drive shaft 10 and the movable gear seat 11 are connected by gear transmission between the bevel gear disk 10a and the gear seat transmission teeth 11b, enabling the movable gear seat 11 to move linearly along the circumference of the drive shaft 10. The movable gear seat 11 is provided with a mounting plane 11c and a mounting hole 11d. The grippers 7 are mounted on the movable gear seat 11 through the mounting plane 11c and the mounting hole 11d. The number of grippers 7 is equal to the number of movable gear seats 11. Figure 10 As shown, the two grippers 7 form cavities 7a inside for gripping the automatic feed drill; the gripping and releasing of the automatic feed drill is realized by controlling the opening and closing degree of the grippers 7; the relative movement distance of the grippers 7 is controlled to adapt to the clamping of automatic feed drills of different sizes.

[0026] Preferably, the tooth profile of the gear seat transmission tooth 11b can be an involute tooth or an arc-shaped tooth.

[0027] Preferably, the tooth distribution structure of the umbrella-shaped toothed disk 10a can be an Archimedean spiral, and the tooth profile structure is consistent with that of the toothed drive tooth 11b.

[0028] Preferably, the guide boss 11a cooperates with the guide groove 6b to achieve linear movement, and the guide groove structure can be a T-shaped structure, a dovetail groove shape, a rectangular structure, or a superimposed structure of the above.

[0029] Preferably, the inside of the gripper 7 can be covered with anti-slip cloth to increase friction and make the gripping reliable.

[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A universal follow-up positioning and clamping device for a robot collaborative automatic feed drill, characterized in that, The system includes, from left to right, an external flange (1), a universal follower module (2), an output shaft (3), a motor (4), a harmonic reducer (5), a clamping mechanism (6), and a gripper (7); the external flange (1) is used to connect to the robot's end flange. The universal follow-up module includes a follow-up flange (2a), a floating guide shaft (8), and a preload spring (9); the follow-up flange (2a) is fixedly connected to the external flange (1), the floating guide shaft (8) is coaxially mounted in the middle of the follow-up flange (2a), the floating guide shaft (8) is provided with a number of spring guide grooves (8a) on its periphery, the follow-up flange (2a) is provided with spring mounting holes (2c) in the circumferential direction, and a preload spring (9) is provided between the spring guide grooves (8a) and the spring mounting holes (2c); one side of the output shaft (3) is fixedly connected to the floating guide shaft (8), and the motor (4) is fixedly connected to the output shaft (3).

2. The universal follow-up positioning and clamping device for a robot cooperative automatic feed drill according to claim 1, characterized in that, A limiting groove (8b) is provided on the outside of the floating guide shaft (8) between adjacent spring guide grooves (8a), and a limiting boss (2b) is provided on the inner circumference of the follower flange (2a). The limiting groove (8b) and the limiting boss (2b) are used to limit the floating of the floating guide shaft (8).

3. The universal follow-up positioning and clamping device for a robot cooperative automatic feed drill according to claim 1 or 2, characterized in that, A positioning boss (3a) is provided on one side of the output shaft (3), and a positioning hole (8c) is provided in the middle of the floating guide shaft (8). The positioning boss (3a) of the output shaft (3) and the positioning hole (8c) of the floating guide shaft (8) are coaxially connected.

4. The universal follow-up positioning and clamping device for a robot collaborative automatic feed drill according to claim 1, characterized in that, The clamping mechanism (6) includes a clamping mechanism flange seat (6a), a drive shaft (10), and a movable gear seat (11). The drive shaft (10) is coaxially arranged in the middle of the clamping mechanism flange seat (6a), and an umbrella-shaped gear disk (10a) is arranged on the right side of the drive shaft (10). The harmonic output shaft (5d) of the harmonic reducer (5) is fixedly connected to the drive shaft (10). Movable gear seats (11) are slidably arranged at both ends of the right side of the clamping mechanism flange seat (6a). The right side of the movable gear seat (11) is provided with jaws (7), and the left side is provided with gear seat transmission teeth (11b) that mesh with the umbrella-shaped gear disk (10a). A cavity (7a) is formed between two adjacent jaws (7) for clamping the automatic feed drill.

5. The universal follow-up positioning and clamping device for a robot cooperative automatic feed drill according to claim 4, characterized in that, The output shaft (3) has a motor connection hole (3b) on its right side, and one end of the motor (4) is fixedly connected to the motor connection hole (3b); the other end of the motor (4) has a motor output flange (4a), and one side of the harmonic reducer (5) has a harmonic reducer input flange (5a). The motor output flange (4a) of the motor (4) is fixedly connected to the harmonic reducer input flange (5a) of the harmonic reducer (5); the right side of the harmonic reducer (5) has a harmonic output flange (5c), and the harmonic output flange (5c) is fixedly connected to the clamping mechanism flange seat (6a).

6. The universal follow-up positioning and clamping device for a robot collaborative automatic feed drill according to claim 4, characterized in that, Two guide grooves (6b) are symmetrically arranged 180 degrees around the right side of the clamping mechanism flange seat (6a). The movable gear seat (11) is symmetrically installed around the right side of the clamping mechanism flange seat (6a). A guide boss (11a) is provided on the left end face of the movable gear seat (11), and the movable gear seat (11) is linearly slidably connected to the guide groove (6b) through the guide boss (11a).

7. The universal follow-up positioning and clamping device for a robot cooperative automatic feed drill according to claim 6, characterized in that, The guide groove (6b) can be any one or more of the following: T-shaped structure, dovetail groove shape, and rectangular structure.

8. The universal follow-up positioning and clamping device for a robot cooperative automatic feed drill according to claim 4, characterized in that, The tooth profile of the gear seat transmission tooth (11b) is an involute tooth or an arc tooth; the tooth distribution structure of the umbrella-shaped tooth disk (10a) is an Archimedean spiral, and the tooth profile is consistent with that of the gear seat transmission tooth (11b).

9. A universal follow-up positioning and clamping device for a robot collaborative automatic feed drill according to claim 4 or 8, characterized in that, The movable gear seat (11) is provided with a mounting plane (11c) and a mounting hole (11d) is provided on the mounting plane (11c). The gripper (7) is connected to the mounting hole (11d) on the mounting plane (11c).

10. The universal follow-up positioning and clamping device for a robot cooperative automatic feed drill according to claim 1, characterized in that, The gripper (7) has an anti-slip cloth inside.

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