Adaptive foot device for robotic end effector and end effector

Abstract

The application discloses an adaptive foot pressing device for a robot end effector and the end effector. The end effector comprises a base unit, and the device comprises a receiver, a foot pressing unit, an elastic reset assembly and a non-contact distance measuring assembly. The foot pressing unit is movably connected with the receiver and can adaptively deflect to fit a workpiece when pressed; the distance measuring assembly detects the distance between the base and the workpiece, and feeds back to guide the robot to adjust the posture to realize normal alignment. The end effector is also provided with a switching unit which integrates drilling, hole diameter and hole depth measurement and hole detection hole units, and through movement, the units can successively share a second channel to work. The application solves the problems of difficult normal alignment and rigid collision of complex curved surfaces, realizes the full-process automation and closed-loop control of normal alignment, hole making, dust collection and detection, and significantly improves the machining precision and efficiency.

Description

Technical Field

[0001] This application relates to the field of aerospace component processing, and in particular to an adaptive presser foot device and an end effector for a robot end effector. Background Technology

[0002] In the manufacturing process of modern aircraft and spacecraft, the fuselage skin and frame are typically layered structures, with surfaces often being hyperboloids or variable curvature shapes. To ensure connection quality, numerous drilling operations are required on the skin surface. Currently, the mainstream machining method is to use a six-axis industrial robot equipped with an end effector for automated drilling. The end effector typically includes a pressure foot device for clamping the workpiece surface and a drilling unit for performing the cutting.

[0003] However, most existing robot end effector pressers are rigidly connected or only have simple unidirectional cushioning functions. When a rigid presser foot contacts a curved surface, a gap is created between the presser foot and the surface, resulting in uneven force distribution. If forced to press, the workpiece surface can be easily damaged; if not pressed, effective support cannot be formed at the hole-making position, affecting the subsequent hole-making process. Summary of the Invention

[0004] To solve the problem of normal alignment on the surface of a workpiece with large curvature, this application provides an adaptive presser foot device and an end effector for a robot end effector.

[0005] Firstly, the adaptive pressure foot device for a robot end effector provided in this application adopts the following technical solution:

[0006] An adaptive pressure foot device for a robot end effector, the end effector including a base unit, the pressure foot device comprising:

[0007] A receiver is installed inside the base unit, and a first channel is provided through the center of the receiver for the drilling unit to extend and retract through. The receiver is configured to be rigidly connected to the base unit and move accordingly.

[0008] The presser foot unit has a second channel that is aligned and communicates with the first channel through its center. The rear end face of the presser foot unit is movably connected to the front end face of the receiver, so that the presser foot unit can omnidirectionally oscillate relative to the axis of the receiver while maintaining the second channel communication. The front end face of the presser foot unit is configured to directly contact the workpiece surface.

[0009] An elastic reset assembly, one end connected to the receiver and the other end acting on the pressure foot unit, applies an axial preload to the pressure foot unit, ensuring that the pressure foot unit always maintains a rearward tendency to press against the receiver; and

[0010] A non-contact ranging component includes at least three ranging sensors mounted on the base unit. The ranging sensors are positioned with their detection direction facing the workpiece surface. They are used to detect the actual distance between each measuring point on the base unit and the workpiece surface when the presser foot unit is pressed and wobbles relative to the base unit, so as to provide feedback for the robot to adjust the posture of the base unit.

[0011] By adopting the above technical solution, the functions of physical contact of the presser foot and normal measurement of the base are decoupled. Specifically, by utilizing the universal joint and elastic reset component between the presser foot unit and the receiver, the presser foot can adapt to the curvature changes of the workpiece surface, achieving close contact and flexible contact, thus avoiding rigid collision damage to the workpiece. At the same time, by mounting the distance sensor on the rigid base unit, rather than on the moving presser foot, the tilt of the base relative to the workpiece surface can be accurately measured even when the presser foot is stably in contact with the workpiece but the base is not yet vertical. The base unit can then be adjusted based on the tilt to achieve subsequent vertical processing. This flexible contact + rigid measurement architecture effectively solves the problems of inaccurate positioning relying solely on theoretical digital models and the tendency to detach from the workpiece when relying solely on rigid distance measurement in curved surface processing, significantly improving the accuracy and efficiency of normal alignment.

[0012] Optionally, the presser foot unit and the receiver are provided with a negative pressure chamber; the side wall of the receiver is provided with a dust suction port that communicates with the negative pressure chamber. The dust suction port is used to connect to an external negative pressure source so that chips, dust and tool lubricant can be sucked out through the second channel and the first channel during the hole making process.

[0013] By adopting the above technical solution, the dust collection function is deeply integrated into the omnidirectional swing structure. By setting an interface on the side wall of the receiver and connecting it to the internal negative pressure chamber, and using the first and second channels as dust collection ducts, chips and dust can be directly extracted from the source of cutting. This not only avoids chip accumulation affecting drilling accuracy or scratching the workpiece surface, but also effectively prevents dust overflow and contamination of the processing environment. Furthermore, it eliminates the need for additional external dust collection piping, maintaining the compact structure of the end effector.

[0014] Optionally, an observation port is provided on one side of the presser foot unit, and a processing status monitoring module is installed on the base unit. The detection direction of the processing status monitoring module is set towards the observation port, and it is used to monitor the processing position of the drilling unit and the workpiece. At least two environmental status monitoring modules are installed on the base unit. The detection direction of the environmental status monitoring modules is set towards the front end face of the presser foot unit, and it is used to monitor the position information of the presser foot unit and the workpiece.

[0015] By adopting the above technical solutions, comprehensive visualization and monitoring capabilities are provided. The machining status monitoring module, through the observation port, can directly observe the feed point in the closed environment inside the pressure foot, ensuring accurate drilling position. At the same time, due to the setting of the negative pressure chamber, debris will not fall along the observation port, and an airflow path is provided, further improving the negative pressure dust collection effect. The environmental status monitoring module provides macroscopic navigation for the robot's approach process, preventing the pressure foot from not reaching the designated area or from accidentally colliding with the workpiece, thus improving the safety of automated operations.

[0016] Optionally, the ranging sensor is a laser displacement sensor, and four laser displacement sensors are provided and are centrally symmetrically distributed around the central axis of the first channel; the ranging component is configured to output four independent distance signals for calculating the angular deviation between the receiver axis and the normal vector of the workpiece surface.

[0017] By adopting the above technical solution, a redundant measurement system is constructed using four centrally symmetrically distributed sensors. Compared to three sensors, four sensors can provide richer data points. Through differential calculation, the local plane equation of the workpiece surface can be more accurately fitted, effectively offsetting the measurement noise caused by the minute unevenness of the workpiece surface, thereby improving the robustness and accuracy of the normal deviation calculation.

[0018] Optionally, a pressure detection air passage is provided between the rear end face of the presser foot unit and the front end face of the receiver. A pressure detection system is externally connected to the pressure detection air passage, and the pressure detection system is communicatively connected to the robot's numerical control system. When the deflection angle between the presser foot unit and the receiver exceeds a preset angle, the pressure detection air passage is connected to the first channel. When the air pressure in the pressure detection air passage drops to a threshold pressure, the robot stops.

[0019] By adopting the above technical solution, a mechanical soft-limit protection mechanism based on pneumatic principles was constructed. When the workpiece curvature is too large or the pressure foot unit is subjected to excessive lateral force, causing the pressure foot to deflect beyond the designed safe range, the air passage is opened, resulting in a sudden change in air pressure. The system immediately identifies this and triggers an emergency stop. This purely physical triggering method is rapid and reliable, effectively preventing the universal structure from jamming or being damaged due to excessive deflection, while also protecting expensive workpieces and drilling units.

[0020] Secondly, this application also discloses an end effector, comprising:

[0021] Base unit, used for mounting at the output end of industrial robots;

[0022] As described above, the adaptive pressure foot device is mounted on the front end of the base unit; and

[0023] The control unit is communicatively connected to the industrial robot and the non-contact ranging component. The control unit is configured to execute a normal alignment procedure: controlling the industrial robot to drive the base unit to press the workpiece, causing the presser foot unit to undergo adaptive deflection, and then adjusting the posture of the base unit with the contact point between the presser foot unit and the receiver as the rotation center according to the distance difference fed back by the non-contact ranging component, until the reading difference of all ranging sensors is within a preset range.

[0024] By adopting the above technical solution, a complete closed-loop control system for normal alignment is provided. In particular, the algorithm strategy of "using the contact point between the presser foot unit and the receiver as the rotation center" ensures that the front end face of the presser foot unit remains pressed in its original position during the robot's posture adjustment process, preventing lateral slippage. This guarantees that the hole-making position accuracy will not deviate due to the alignment action, achieving precise control of both position and posture.

[0025] Optionally, a switching unit is movably provided on the base unit. The switching unit is equipped with a drilling unit, a hole diameter and depth measuring unit, and a hole detection unit. The drilling unit is used to move forward or backward in a direction perpendicular to the workpiece surface. The hole diameter and depth measuring unit is used to measure the hole diameter and depth of the drilled hole in a non-contact manner. The hole detection unit is used to measure the hole diameter of the drilled hole in a contact manner.

[0026] The switching unit is movable so that the drilling unit, the borehole diameter and depth measuring unit, and the borehole detection unit can move independently to the working position aligned with the first channel opening to process or inspect the workpiece.

[0027] By adopting the above technical solution, integrated "drilling-measurement-inspection" operations are achieved without replacing the end effector or mobile robot. Through the movement of the internal switching unit, multiple functional modules can share the same "first channel" and "presser foot device" as the work exit. This significantly shortens the process cycle time, eliminates repetitive positioning errors caused by tool changes, and substantially improves drilling efficiency and quality consistency.

[0028] Optionally, a countersinking depth control and measurement system is provided on the side of the drilling unit; the countersinking depth control and measurement system is communicatively connected to the drilling unit, and the countersinking depth control and measurement system is used to detect the feed depth of the drilling unit relative to the pressure foot unit in real time after the non-contact ranging component determines the reference distance between the base unit and the workpiece surface.

[0029] By adopting the above technical solution, precise closed-loop control of the countersinking depth is achieved. Since the measurement reference is the presser foot unit that is directly pressed onto the workpiece surface, the influence caused by workpiece position fluctuation or skin thickness tolerance can be eliminated, ensuring the accuracy of the countersinking depth relative to the outer surface of the workpiece and meeting the stringent requirements for pin flatness in aerospace manufacturing.

[0030] Optionally, the switching unit is provided with a calibration unit, which is used to calibrate the detection end of the hole detection unit before the hole detection unit detects.

[0031] By adopting the above technical solution, a self-calibration function is integrated into the actuator. Before each testing task, the borehole detection unit can be zeroed or calibrated using the onboard calibration unit, eliminating measurement errors caused by sensor zero-point drift or changes in ambient temperature, and further ensuring the reliability of the testing data.

[0032] In summary, this application includes at least one of the following beneficial technical effects:

[0033] 1. High-precision adaptive and alignment capability for curved surfaces: This application creatively adopts a structure of "flexible presser foot follow-up + rigid base ranging", combined with a posture adjustment algorithm centered on the contact point, to solve the problem of normal alignment of workpiece surfaces with large curvature. This ensures both non-destructive and tight contact between the presser foot and the workpiece, and achieves precise feedback and adjustment of the robot's posture, greatly improving the vertical accuracy of hole drilling.

[0034] 2. Highly Integrated Multifunctional Design: This application integrates multiple functions, including drilling, high-negative-pressure dust extraction, non-contact measurement, contact borehole probing, and counterboring depth control, within a compact end effector. In particular, the design of the switching unit enables seamless switching between multiple processes, significantly improving production efficiency and reducing equipment investment costs.

[0035] 3. Comprehensive process monitoring and safety protection mechanism: By integrating visual monitoring, pneumatic over-limit emergency stop protection and sensor self-calibration function, this application can not only monitor the processing quality in real time, but also effectively prevent equipment misoperation or accidental damage, which greatly improves the intelligence level and operational safety of the automated hole-making system. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the presser foot device and the end effector assembled according to an embodiment of this application.

[0037] Figure 2 This is another perspective view of the assembled presser foot device and end effector according to an embodiment of this application.

[0038] Figure 3 This is a schematic diagram of the presser foot device according to an embodiment of this application.

[0039] Figure 4 This is a cross-sectional view of the presser foot device according to an embodiment of this application.

[0040] Figure 5 This is a schematic diagram of the presser foot device in the over-limit protection state according to an embodiment of this application.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100. Receiver; 101. First Channel; 102. Dust Suction Interface; 103. Pressure Detection Airway; 110. Presser Foot Unit; 111. Second Channel; 112. Observation Port; 120. Elastic Reset Assembly; 130. Non-Contact Distance Measurement Assembly; 140. Negative Pressure Chamber; 150. Processing Status Monitoring Module; 160. Environmental Status Monitoring Module; 200. Base Unit; 300. Switching Unit; 400. Drilling Unit; 410. Counterboring Depth Control Measurement System; 500. Hole Diameter and Hole Depth Measurement Unit; 600. Hole Detection Hole Unit; 700. Calibration Unit. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below with reference to specific embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0044] Example 1: This example provides an adaptive pressure foot device for a robot end effector, which aims to solve technical problems such as difficulty in normal alignment and rigid collision when the robot is machining complex curved surfaces.

[0045] Reference Figures 1-3 The end effector includes a base unit 200, which is the basic support component of the entire presser foot device and is used to install on the end flange of the industrial robot; the presser foot device includes a receiver 100, a presser foot unit 110, an elastic reset assembly 120, and a non-contact ranging assembly 130.

[0046] In one embodiment, the receiver 100 is installed inside the base unit 200. Optionally, the receiver 100 can be detachably installed inside the base unit 200 via a flange, and can move with the base unit 200; see reference. Figure 2 and Figure 4 The receiver 100 has a first channel 101 extending through its center along the axial direction. The inner diameter of the first channel 101 is designed to allow the drilling unit 400 to freely extend and retract through it.

[0047] The presser foot unit 110 is located at the front end of the receiver 100, i.e., the side facing the workpiece. A second channel 111, aligned and communicating with the first channel 101, is provided through the center of the presser foot unit 110. The rear end face of the presser foot unit 110 is movably connected to the front end face of the receiver 100. In one embodiment, the front end face of the receiver 100 is designed as a ball-head or ball-and-socket structure, and the rear end face of the presser foot unit 110 forms a matching ball-and-socket or ball-head structure, thus constituting a universal ball joint. This connection method allows the presser foot unit 110 to omnidirectionally oscillate relative to the axis of the receiver 100 while maintaining communication between the second channel 111 and the first channel 101. The front end face of the presser foot unit 110 is configured to directly contact the workpiece surface, and this front end face can be designed as a planar surface or a specific contoured surface according to the surface characteristics of the workpiece.

[0048] Reference Figure 3 One end of the elastic reset assembly 120 is connected to the receiver 100, and the other end acts on the pressure foot unit 110. The elastic reset assembly 120 is used to apply an axial preload to the pressure foot unit 110, so that in the non-working state, the pressure foot unit 110 tends to press backward against the receiver 100 and remains in a centered position. Optionally, the elastic reset assembly 120 uses multiple tension springs distributed circumferentially, or a gas spring can be used as the elastic element.

[0049] Reference Figure 1 and Figure 2 The non-contact ranging component 130 includes at least three ranging sensors mounted on the base unit 200, with the detection direction of the sensors facing the workpiece surface. It is important to emphasize that the sensors are mounted on the base unit 200, which is relatively fixed in position, rather than on the floating presser foot unit 110. Its working principle is as follows: when the presser foot unit 110 is pressed and wobbles relative to the base unit 200 to conform to the workpiece surface, the ranging sensors detect the actual distance of each measuring point on the base unit 200 relative to the workpiece surface. This distance data serves as feedback for the robot to adjust the posture of the base unit 200. The robot then adjusts the posture of the base unit 200 to adjust the angle of the receiver 100, making the axis of the receiver 100 parallel to the axis of the presser foot unit 110, thus completing posture calibration before subsequent drilling operations, improving the vertical accuracy of the hole.

[0050] Reference Figure 2 and Figure 4In a preferred embodiment, the ranging sensors are laser displacement sensors, four in number, and centrally symmetrically distributed around the central axis of the first channel 101. The ranging component is configured to send four independent distance signals to the control unit for calculating the angular deviation between the axis of the receiver 100 and the normal vector of the workpiece surface. Using four independent distance signals, the angular deviation between the axis of the receiver 100 and the normal vector of the workpiece surface can be calculated more accurately, improving the robustness and accuracy of the normal deviation calculation.

[0051] In one embodiment, the presser foot unit 110 and the receiver 100 are provided with a negative pressure chamber 140 inside. The receiver 100 has a dust suction port 102 on its side wall that communicates with the negative pressure chamber 140 for connecting to an external negative pressure source. During the hole-making process, chips, dust, and tool lubricant can be sucked out through the second channel 111, the first channel 101, and the negative pressure chamber 140, achieving source dust suction.

[0052] Furthermore, an observation port 112 is provided on one side of the presser foot unit 110. Optionally, the observation port 112 is a through hole. Simultaneously, a machining status monitoring module 150 is correspondingly mounted on the base unit 200, with its detection direction facing the observation port 112, for visually monitoring the machining position of the drilling unit 400 and the workpiece. Optionally, this machining status monitoring module 150 is an industrial camera. In addition, at least two environmental status monitoring modules 160 can also be mounted on the base unit 200, with their detection direction facing the front end face of the presser foot unit 110, for monitoring the relative position information of the presser foot unit 110 and the workpiece during robot movement, providing proximity-based navigation.

[0053] Reference Figure 4 and Figure 5 , Figure 5 The dashed arrows in the diagram indicate the direction of gas flow. To improve safety, this embodiment can also include a pneumatic protection mechanism. A pressure detection airway 103 is provided between the rear end face of the presser foot unit 110 and the front end face of the receiver 100. The pressure detection airway 103 can be an annular airway surrounding the presser foot unit 110. A pressure detection system is connected to the external pressure detection airway 103, and the pressure detection system is communicatively connected to the robot's numerical control system. During normal operation, the pressure detection airway 103 remains relatively sealed. When the deflection angle between the presser foot unit 110 and the receiver 100 exceeds a preset angle, misalignment of the mating surfaces causes the pressure detection airway 103 to connect with the first channel 101 or the outside world. The pressure inside the pressure detection airway 103 drops, and the pressure detection system detects the pressure value. When the pressure drops to a threshold pressure, the system can trigger the robot to stop, thereby achieving a mechanical soft limit.

[0054] Example 2: This example provides an end effector, which includes a base unit 200, the adaptive pressure foot device described in Example 1, and a control unit.

[0055] Reference Figure 1 The base unit 200 is installed at the output end of the industrial robot, and the adaptive pressure foot device is installed at the front end of the base unit 200, serving as the interface for direct interaction with the workpiece. The control unit is communicatively connected to the industrial robot and the non-contact ranging component 130. The control unit is configured to execute a normal alignment program: controlling the industrial robot to drive the base unit 200 to press against the workpiece, causing the pressure foot unit 110 to undergo adaptive deflection under the action of the elastic reset component 120, thereby conforming to the workpiece surface; subsequently, calculating the attitude deviation based on the distance difference fed back by the non-contact ranging component 130; then, using the contact point between the pressure foot unit 110 and the receiver 100 as the rotation center, adjusting the attitude of the base unit 200 using the robot until the reading differences of all non-contact ranging components 130 are within a preset range.

[0056] In order to achieve integrated operation of multiple processes, a switching unit 300 can also be movably installed on the base unit 200 of the end effector. The switching unit 300 is equipped with a drilling unit 400, a hole diameter and depth measuring unit 500, and a hole detection unit 600.

[0057] Reference Figure 1 and Figure 4 Optionally, the switching unit 300 includes a support plate and a motor screw structure. The support plate is slidably mounted on the base unit 200, and the sliding direction of the support plate is perpendicular to the axis of the receiver 100. The motor screw structure is used to control the movement of the support plate. The drilling unit 400, the hole diameter and depth measuring unit 500, and the hole detection unit 600 are all mounted on the support plate. The support plate can move, allowing the drilling unit 400, the hole diameter and depth measuring unit 500, and the hole detection unit 600 to move independently to the working position aligned with the opening of the first channel 101. Since they share the same channel, processing and inspection can be completed sequentially while keeping the workpiece pressed still by the pressure foot unit 110, without frequent adjustments to the robot position.

[0058] The drilling unit 400 is used to move forward or backward in a direction perpendicular to the workpiece surface to perform hole-making operations. In one embodiment, the drilling unit 400 includes a servo feed mechanism, an electric spindle, and a cutting tool mounted on the front end of the electric spindle. The drilling unit 400 can be understood in conjunction with existing technology. Optionally, the cutting tool is a twist drill or a step drill. The servo feed mechanism is fixed on the switching unit 300, and the electric spindle is connected to the output end of the servo feed mechanism. The control unit drives the electric spindle and the cutting tool to feed axially through the servo feed mechanism, passing through the first channel 101 and the second channel 111 to perform cutting operations on the workpiece.

[0059] In one embodiment, a countersinking depth control and measurement system 410 may also be provided beside the drilling unit 400. Optionally, the countersinking depth control and measurement system 410 includes a laser rangefinder sensor mounted on the moving side of the drilling unit 400 and a reflector mounted on the stationary side of the drilling unit 400. Optionally, the laser rangefinder sensor is mounted on the electric spindle, and the reflector is mounted on the housing of the servo feed mechanism.

[0060] The countersinking depth control and measurement system 410 is communicatively connected to the drilling unit 400. After the non-contact ranging component 130 determines the reference distance between the base unit 200 and the workpiece surface, it detects the feed depth of the drilling unit 400 relative to the pressure foot unit 110 in real time. Since the pressure foot unit 110 is in close contact with the workpiece surface, this measurement essentially measures the depth relative to the workpiece surface, thereby enabling precise control of the countersinking depth.

[0061] The aperture and recess depth measuring unit 500 is used for non-contact measurement of the borehole diameter and recess diameter. In one embodiment, the aperture and recess depth measuring unit 500 includes a laser profile scanner or a structured light camera. The aperture and recess depth measuring unit 500 is fixed on the switching unit 300. When the switching unit 300 moves the aperture and recess depth measuring unit 500 to the alignment position of the first channel 101, the laser beam emitted by the laser profile scanner or structured light camera passes through the first channel 101 and the second channel 111 and is projected into the processed hole. By receiving the reflected light, the three-dimensional profile data of the hole is constructed, thereby calculating the aperture and recess diameter values.

[0062] The hole detection unit 600 is used for contact measurement of the borehole diameter. In one embodiment, the hole detection unit 600 includes an elastic telescopic mechanism and a contact probe mounted on the front end of the elastic telescopic mechanism. Optionally, the contact probe is a segmented borehole diameter measuring probe. The elastic telescopic mechanism is used to push the contact probe into the borehole to be measured. During measurement, the contact probe directly contacts the inner wall of the borehole, converting physical displacement into an electrical signal that is fed back to the control unit to achieve high-precision borehole diameter measurement.

[0063] For the hole detection unit 600, the switching unit 300 may also be equipped with a calibration unit 700. The calibration unit 700 is used to level or calibrate the detection end of the hole detection unit 600 before detection, eliminating zero-point drift error. In one embodiment, the calibration unit 700 includes a rocker arm drive cylinder and a standard ring gauge installed at the end of the rocker arm drive cylinder. The rocker arm drive cylinder is fixed on the switching unit 300 and located on one side of the hole detection unit 600. When calibration is required, the rocker arm drive cylinder drives the standard ring gauge to swing to the front of the contact probe, and the contact probe extends into the standard ring gauge for calibration; after calibration, the rocker arm drive cylinder drives the standard ring gauge to swing back to the avoidance position.

[0064] The above configuration integrates multiple functions, including drilling, high-negative-pressure dust extraction, non-contact measurement, contact borehole probing, and counterboring depth control, within a compact end effector. In particular, the design of the switching unit 300 enables seamless switching between multiple processes, significantly improving production efficiency and reducing equipment investment costs.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An end effector, characterized in that, include: Base unit (200) for mounting at the output end of an industrial robot; An adaptive pressure foot device is installed at the front end of the base unit (200). The pressure foot device includes a receiver (100), a pressure foot unit (110), and a non-contact ranging component (130). The receiver (100) has a first channel (101) through its center for the drilling unit (400) to extend and retract through. The receiver (100) is configured to be rigidly connected to the base unit (200) and move accordingly. The pressure foot unit (110) has a second channel (111) through its center that is aligned and communicates with the first channel (101). The control unit is connected in communication with the industrial robot and the non-contact ranging component (130). The control unit is configured to execute a normal alignment procedure: control the industrial robot to drive the base unit (200) to press the workpiece, causing the presser foot unit (110) to undergo adaptive deflection, and then adjust the posture of the base unit (200) with the contact point between the presser foot unit (110) and the receiver (100) as the rotation center according to the distance difference value fed back by the non-contact ranging component (130) until the reading difference of all ranging sensors is within a preset range; The presser foot unit (110) and the receiver (100) are provided with a negative pressure chamber (140); the receiver (100) is provided with a dust suction port (102) communicating with the negative pressure chamber (140) on its side wall. The dust suction port (102) is used to connect to an external negative pressure source so that chips, dust and tool lubricant can be sucked out through the second channel (111) and the first channel (101) during the hole making process. A pressure detection air passage (103) is provided between the rear end face of the presser foot unit (110) and the front end face of the receiver (100). The pressure detection air passage (103) is externally connected to a pressure detection system, which is communicatively connected to the robot's numerical control system. When the deflection angle between the presser foot unit (110) and the receiver (100) exceeds a preset angle, the pressure detection air passage (103) is connected to the first channel (101). When the air pressure in the pressure detection air passage (103) drops to a threshold pressure, the robot stops. A switching unit (300) is movably disposed on the base unit (200). A drilling unit (400), a hole diameter and countersink depth measuring unit (500), and a hole detection unit (600) are mounted on the switching unit (300). The drilling unit (400) is used to move forward or backward in a direction perpendicular to the workpiece surface. The hole diameter and countersink depth measuring unit (500) is used to non-contactly measure the hole diameter and countersink depth of the drilled hole. The hole detection unit (600) is used to contactally measure the hole diameter of the drilled hole. The switching unit (300) is movable so that the drilling unit (400), the borehole depth measuring unit (500), and the borehole detection unit (600) can move independently to the working position aligned with the opening of the first channel (101) to process or inspect the workpiece.

2. The end effector according to claim 1, characterized in that, A countersinking depth control and measurement system (410) is provided on the side of the drilling unit (400); the countersinking depth control and measurement system (410) is communicatively connected to the drilling unit (400), and the countersinking depth control and measurement system (410) is used to detect the feed depth of the drilling unit (400) relative to the presser foot unit (110) in real time after the non-contact ranging component (130) determines the reference distance of the base unit (200) relative to the workpiece surface.

3. The end effector according to claim 2, characterized in that, The switching unit (300) is provided with a calibration unit (700), which is used to calibrate the detection end of the hole detection unit (600) before the hole detection unit (600) detects.

4. The end effector according to claim 3, characterized in that, The presser foot device also includes an elastic reset component. The receiver (100) is installed in the base unit (200). The rear end face of the presser foot unit (110) is movably connected to the front end face of the receiver (100) so that the presser foot unit (110) can omnidirectionally oscillate relative to the axis of the receiver (100) while maintaining the second channel (111) in communication. The front end face of the presser foot unit (110) is configured to directly contact the workpiece surface. One end of the elastic reset component (120) is connected to the receiver (100), and the other end acts on the presser foot unit (110) to apply an axial preload to the presser foot unit (110), so that the presser foot unit (110) always maintains a tendency to press backward against the receiver (100); The non-contact ranging component (130) includes at least three ranging sensors mounted on the base unit (200). The ranging sensors are positioned with their detection direction facing the workpiece surface. They are used to detect the actual distance between each measuring point on the base unit (200) and the workpiece surface when the presser foot unit (110) is pressed and wobbles relative to the base unit (200). This serves as feedback for the robot to adjust the posture of the base unit (200).

5. The end effector according to claim 4, characterized in that, The presser foot unit (110) has an observation port (112) on one side, and a processing status monitoring module (150) is installed on the base unit (200). The detection direction of the processing status monitoring module (150) is set towards the observation port (112) to monitor the processing position of the drilling unit (400) and the workpiece.

6. The end effector according to claim 5, characterized in that, At least two environmental condition monitoring modules (160) are installed on the base unit (200). The detection direction of the environmental condition monitoring module (160) is set towards the front end face of the presser foot unit (110) and is used to monitor the position information of the presser foot unit (110) and the workpiece.

7. The end effector according to claim 6, characterized in that, The ranging sensor is a laser displacement sensor, and four laser displacement sensors are arranged in a centrally symmetrical distribution around the central axis of the first channel (101); the ranging component is configured to output four independent distance signals for calculating the angular deviation between the axis of the receiver (100) and the normal vector of the workpiece surface.

Images