Cantilever type auxiliary assembly robot for aviation finished products and diagnosis control method

Abstract

The invention belongs to the technical field of intelligent robots, and particularly relates to a cantilever type auxiliary assembly robot for aviation finished products and a diagnosis control method. The method comprises the steps that an assembly robot is operated to start to move, the position of an obstacle is diagnosed and avoided, the assembly robot safely moves to a workpiece taking position, and therefore a clamp mechanism clamps a workpiece; then the assembly robot is operated to move to the assembly position, the mechanical arm is adjusted to the proper height and angle, and the mechanical arm is stretched to adjust the tail end posture adjusting device to the position above the assembly position; a plurality of hand rockers are used for adjusting the position and the angle of the clamp mechanism, so that the workpiece is positioned and aligned with the assembly hole site in the assembly position, and the workpiece assembly is completed; according to the invention, in a man-machine cooperation mode, aviation assembly has the advantages of high efficiency, accuracy and safety.

Description

Technical Field

[0001] This invention belongs to the field of intelligent robot technology, specifically relating to a cantilevered auxiliary assembly robot for aerospace finished products and its diagnostic control method. Background Technology

[0002] In the current aviation manufacturing industry, aviation manufacturing assembly has the following characteristics: First, the work objects are large in size and heavy in load; second, the work objects are often complex in structure and special in material, and the assembly precision requirements are high; third, the work objects are characterized by multiple varieties and small batches. Due to the problems of long workpiece assembly cycle, low positioning accuracy and laborious lifting in complex and narrow spaces in traditional aircraft manufacturing assembly, traditional aircraft manufacturing assembly technology does not meet the requirements of modern aircraft manufacturing.

[0003] In traditional aircraft manufacturing and assembly technology, multi-degree-of-freedom assembly platforms are widely used in automated production due to their ability to move precisely in multiple directions. However, the motion control of existing platforms faces many challenges, including the increased control complexity caused by the increased degrees of freedom and the need for real-time feedback. In addition, traditional communication methods are difficult to meet the requirements of efficient and low-latency data transmission, affecting the control accuracy and stability of the platform. Furthermore, the complex structure and motion of multi-degree-of-freedom platforms make fault diagnosis difficult, and traditional manual diagnostic methods are inefficient and cannot monitor faults in real time and handle them promptly.

[0004] Therefore, there is an urgent need for an assembly robot and method that can achieve efficient assembly while also improving the assembly accuracy and real-time fault diagnosis of assembly robots in aircraft manufacturing.

[0005] For example, a Chinese patent, publication number CN120207604A, publication date June 27, 2025, entitled "A Collaborative Robot for Rapid Assisted Assembly of Aircraft Cabins," discloses the following technical solution: This invention discloses a collaborative robot for rapid assisted assembly of aircraft cabin doors, belonging to the field of aircraft assembly technology. It includes a main structure, an adsorption unit, a power system, and a control system. The main structure carries the adsorption unit, power system, and control system, which work together to achieve multi-positional servo control. The adsorption unit is pneumatically powered by the power system to adsorb cabin door products. The power system provides negative pressure for the adsorption unit's operation and power for the main structure's servo control. The control system controls adsorption, release, and multi-degree-of-freedom free attitude adjustment.

[0006] Although the aforementioned patents can operate accurately in confined assembly spaces and are characterized by flexible structure, easy operation, and rapid movement, the assembly robots have low assembly precision and cannot perform fine adjustments at the end effector. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides a cantilever-type assisted assembly robot for aerospace products, capable of high-degree-of-freedom end-effector orientation adjustment and precise clamping for assembly, along with a diagnostic control method.

[0008] To achieve the above-mentioned technical effects, the technical solution of this application is as follows: Firstly, a cantilevered assisted assembly robot for aerospace finished products includes an omnidirectional transport device, a lifting device, a robotic arm, and an end effector. The lifting device, robotic arm, and end effector are all connected to a control system. The lifting device is connected to the robotic arm, and the robotic arm is connected to the end effector. The lifting device is mounted on an omnidirectional transport device equipped with a lidar sensor. Ultrasonic sensors are installed on the lifting device and the robotic arm. The lifting device includes a rotating mechanism, a column assembly, and a lifting mechanism. The rotating mechanism is located at the bottom of the column assembly. The lifting mechanism is located on the column assembly and drives the robotic arm to move on the column assembly. The end effector includes an adjustment mechanism, a floating platform mechanism, and a clamping device. The floating platform mechanism includes an upper floating platform, a lower floating platform, a floating platform connecting plate, and multiple hand cranks for adjusting the position and angle of the clamping mechanism. The multiple hand cranks are located on the sides of the upper floating platform and the floating platform connecting plate. The upper floating platform is connected to the clamping structure. The upper and lower floating platforms are connected by multiple springs. A floating platform connecting plate is located around the lower floating platform, and the lower floating platform is connected to the floating platform connecting plate by multiple springs. A small ball joint for fixing the upper floating platform is also connected between the upper and lower floating platforms. A large ball joint for fixing the lower floating platform is also connected between the lower floating platform and the attitude adjustment mechanism.

[0009] Furthermore, the clamping mechanism includes multiple grippers; all grippers are connected to the floating platform via quick-change nuts.

[0010] Furthermore, the attitude adjustment mechanism includes an electric cylinder and a clamping body; the electric cylinder is disposed on the side of the clamping body, and the clamping body is connected to the lower floating platform through a large ball joint; multiple claws are also evenly disposed on the side of the clamping body, and a support seat is disposed at one end of the clamping body; the support seat is connected to the robotic arm.

[0011] Furthermore, the large ball joint includes a ball head and a flange support; the ball head is disposed inside the clamping body, and the top of the ball head is connected to the flange support; the flange support is connected to the lower floating platform; three movable claws are evenly arranged around the ball head, and one end of the three claws contacts the ball head; the other end of the three claws contacts one end of three push rods respectively; the two sides of the three push rods are provided with tracks to facilitate the sliding of the push rods; the other end of the three push rods contacts a rolling ball; the rolling ball is placed on the arc surface of the arc-shaped push rod; the arc-shaped push rod is connected to the electric cylinder.

[0012] Furthermore, multiple hand-cranked joysticks are equipped with sensors for monitoring and adjusting data; these multiple hand-cranked joysticks include multiple U-shaped joysticks, multiple straight joysticks, and multiple L-shaped joysticks; the multiple U-shaped joysticks and multiple straight joysticks are all located on the side of the upper floating platform; the multiple L-shaped joysticks are evenly located on the side of the floating platform connecting plate.

[0013] Furthermore, the robotic arm includes a large arm and a forearm; both ends of the large arm are provided with large arm joints; one end of the forearm is provided with a forearm joint, and the other end of the forearm is provided with an end-effector joint; one end of the end-effector joint is connected to a support base via a flange; the large arm joint at one end of the large arm is connected to the forearm joint at one end of the forearm; a base is provided on the large arm joint at the other end of the large arm, and the base is connected to a lifting device.

[0014] Furthermore, the upper arm joint, forearm joint, and end-rotation joint are all non-powered joints; the non-powered joint includes a brake shaft, an electromagnetic brake, and a bearing; the brake shaft passes through the bearing and the electromagnetic brake, and the bearing and the brake shaft are connected by a key; the brake disc of the electromagnetic brake is connected to the brake shaft.

[0015] Furthermore, the other end of the end-rotator joint is also provided with a handle for adjusting the robotic arm.

[0016] Furthermore, safety contact edges are provided on the outer sides of the upper arm, forearm, upper arm joint, forearm joint, and end joint; ultrasonic sensors are provided on the sides of the upper arm and forearm.

[0017] Furthermore, the rotating mechanism includes a slewing bearing; the slewing bearing is mounted on a base flange, and the base flange is mounted on the chassis frame of the omnidirectional transport device; a reducer and a drive motor are mounted on the slewing bearing, and the drive motor and the reducer are connected; the reducer meshes with the slewing bearing; the column assembly is mounted on the top of the slewing bearing; an emergency stop switch is mounted on the side of the column assembly, and an alarm light and an ultrasonic sensor are mounted on the top of the column assembly; a safety contact edge is mounted on the outer side of the top of the column assembly.

[0018] Furthermore, the lifting mechanism includes a lifting motor, a ball screw, and a guide rail assembly; the lifting motor is mounted on the top of the column assembly, and its output end is connected to the ball screw; a cable is fixedly connected to the column assembly, and the cable is connected to the column connecting plate; the guide rail assembly includes a column lifting guide rail and a column lifting slider; the column lifting guide rail is symmetrically installed on the front side of the column assembly; a limit switch for limiting the lifting stroke is provided at the lower part of the column lifting guide rail; the column connecting plate is mounted on the column lifting guide rail via the column lifting slider; the column lifting slider is symmetrically installed on the column lifting guide rail and connected to the column connecting plate.

[0019] Furthermore, the column assembly includes a column body, a base mounting plate, and a base flange; the base mounting plate is disposed at the bottom of the column body and is disposed on the base flange.

[0020] Furthermore, the omnidirectional transport device includes wheels, support leg assemblies, a chassis frame, and an integrated assembly; the chassis frame of the omnidirectional transport device has a door on its side, and a battery for powering the assembly robot is installed inside the chassis frame; the wheels include steering wheels and omnidirectional wheels, both of which are located at the bottom of the chassis frame; the steering wheels are equipped with encoders and angle sensors; the chassis frame also has an integrated assembly for providing power and transport commands; the sides of the chassis frame are equipped with lidar and an emergency stop switch; the bottom of the sides of the chassis frame has safety contact edges; the support leg assembly includes multiple support legs, evenly distributed on the sides of the chassis frame.

[0021] Furthermore, the control system includes a PLC controller, and the PLC controller is located inside the integrated machine assembly.

[0022] Furthermore, the integrated unit includes a body, an HMI (Human Machine Interface), function buttons, a handheld wired controller, and a cable reel; the HMI is mounted on the body; the function buttons include a start button, a pause button, an emergency stop button, and a power button, which are symmetrically mounted on both sides of the HMI; the handheld wired controller is mounted on the body; and the cable reel is fixedly mounted at the rear of the body, storing cables for powering the omnidirectional transport device.

[0023] Secondly, the diagnostic control method for cantilevered auxiliary assembly robots for aerospace products, based on the cantilevered auxiliary assembly robot for aerospace products described in the first aspect, includes the following method steps: S1: The omnidirectional transport device is operated to drive the assembly robot to start moving. The ultrasonic sensor and lidar are used to diagnose and avoid the position of obstacles, so that the assembly robot can safely move to the picking position, thereby completing the clamping mechanism of the end-effector to pick up the workpiece. S2: Then operate the omnidirectional transport device to move the assembly robot to the assembly position, adjust the robotic arm to a suitable height and angle through the lifting and rotating mechanisms, and extend the robotic arm to adjust the end effector to above the assembly position. S3: Use multiple hand cranks to adjust the upper and lower floating platforms, thereby adjusting the position and angle of the fixture mechanism, so that the workpiece is aligned with the assembly holes on the assembly position, thus completing the workpiece assembly.

[0024] Furthermore, the specific method in S1 for diagnosing and avoiding obstacles using ultrasonic sensors and lidar, thereby enabling the assembly robot to safely move to the part-picking position, is as follows: the PLC controller of the control system processes the signals transmitted by the lidar and ultrasonic sensors, and then sends the signal requiring angle compensation to the steering wheel to the steering wheel. At this time, the steering motor of the steering wheel corrects the angle in time, thereby avoiding obstacles.

[0025] Furthermore, in step S3, the lower floating platform is adjusted by using an L-shaped rocker arm, thereby adjusting the position of the clamping mechanism and fixing the large ball joint. Then, the upper floating platform is adjusted by using a straight rocker arm and a U-shaped rocker arm, thereby adjusting the position and angle of the clamping mechanism and fixing the small ball joint.

[0026] Furthermore, the specific fixing method of the large ball joint is as follows: the electric push cylinder is connected to the arc-shaped push rod. When it is necessary to fix and support the workpiece, the ball head needs to be clamped. The electric push cylinder pushes the arc-shaped push rod forward, and the rolling ball moves upward along the arc surface, pushing the three push rods to make the three jaws rotate inward, thereby clamping the ball head. At this time, the electric push cylinder stops pushing and maintains the clamped state. When it is necessary to rotate the workpiece, the ball head needs to be released. The electric push cylinder pulls back the arc-shaped push rod, and the rolling ball moves downward along the arc surface. The push rod releases the pressure, making the three jaws rotate outward, thereby releasing the ball head.

[0027] Furthermore, in S2, the robotic arm is stretched by the grip of the robotic arm.

[0028] Based on the above technical solution, the beneficial effects of the present invention are as follows: 1. The device of the present invention, by employing a lifting device, a robotic arm, and an end effector, enables aircraft assembly to achieve high efficiency, precision, and safety in a human-machine collaborative mode.

[0029] 2. In the device of the present invention, the end-effector attitude adjustment device adopts a floating platform mechanism, which realizes fine adjustment of the position and angle of the end-effector attitude adjustment device, and realizes precise alignment of the workpiece with the assembly hole position on the assembly position, thereby completing the precise adjustment of the assembly.

[0030] 3. The method of the present invention uses a PLC controller and an omnidirectional transport device to receive and transmit signals, enabling the omnidirectional transport device to avoid obstacles on the route and thus safely move to the pickup location.

[0031] 4. The device of the present invention employs a lifting mechanism, a rotating mechanism, and a column assembly, which can perform lifting and rotating in synergy to accurately transport workpieces to assembly stations at different heights, in order to adapt to assembly requirements of varying heights.

[0032] 5. The device of the present invention uses a floating platform, springs, large ball joints and small ball joints to achieve fine adjustment of the position and angle of the clamping mechanism, and clamps or releases the workpiece by cooperating with the large ball joints and small ball joints, thereby completing the precise positioning of the workpiece and avoiding damage to the assembly robot caused by impact during assembly. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the auxiliary assembly robot structure according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the omnidirectional transport device of the present invention; Figure 3 This is a schematic diagram of the lifting mechanism structure of the present invention; Figure 4 This is a schematic diagram of the drag-and-traction robotic arm structure of the present invention; Figure 5 This is a schematic diagram of the end effector attitude adjustment device of the present invention; Figure 6 This is a schematic diagram of the internal structure of the upper arm, forearm joint, and distal rotational joint of the present invention. Figure 7 This is a partial structural schematic diagram of the lifting mechanism of the present invention; Figure 8 This is a schematic diagram of the internal structure of the clamping body; Figure 9 This is a flowchart illustrating the method of the present invention.

[0034] In the attached diagram: 1. Chassis frame; 2. Steering wheel; 3. Casters; 4. Support leg assembly; 5. Integrated unit assembly; 6. HMI (Human-Machine Interface); 7. Function buttons; 8. Handheld wired controller; 9. Cable reel; 10. Rotation mechanism; 11. Column body; 12. Lifting mechanism; 13. Base flange; 14. Slewing bearing; 15. Drive motor; 16. Reducer; 17. Start button; 18. Column assembly; 20. Alarm light; 23. Lifting motor; 24. Ball screw; 25. Column lifting guide rail; 26. Limit switch; 27. Column connecting plate; 28. Cable routing; 29. ​​Base; 30. Boom joint; 31. Boom; 32. Forearm joint; 33. Forearm; 34. End joint; 35. Handle; 36. Flange; 37. Attitude adjustment mechanism; 38. Floating platform mechanism; 39. Clamping mechanism; 40. Emergency stop switch; 41. LiDAR; 43. Safety contact edge; 44. Ultrasonic sensor; 45. Emergency stop button; 46. Power button; 47. Large ball joint; 48. Clamping body; 49. Support base; 50. Spring; 51. L-shaped rocker arm; 52. U-shaped rocker arm; 53. Straight rocker arm; 54. Floating platform connecting plate; 55. Upper floating platform; 56. Lower floating platform; 57. Small ball joint; 58. Quick-change nut; 59. Gripper; 60. Electromagnetic brake; 61. Brake shaft; 62. Bearing; 64. Arc-shaped push rod; 65. Ball head; 66. Push rod; 67. Column lifting slider; 68. Rolling ball; 69. Pause button; 70. Electric cylinder; 76. Claw. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0036] Example 1 like Figure 1 As shown, a cantilever-type assisted assembly robot for aerospace finished products includes an omnidirectional transport device, a lifting device, a robotic arm, and an end effector. The lifting device, robotic arm, and end effector are all connected to a control system. The lifting device is connected to the robotic arm, and the robotic arm is connected to the end effector. The lifting device is mounted on the omnidirectional transport device equipped with a lidar 41. Ultrasonic sensors 44 are mounted on the lifting device and the robotic arm. The lidar 41 is a Xingsong SE-0522. The lifting device includes a rotating mechanism 10, a column assembly 18, and a lifting mechanism 12. The rotating mechanism 10 is located at the bottom of the column assembly 18. The lifting mechanism 12 is located on the column assembly 18 and drives the robotic arm to move on the column assembly 18. Figure 5As shown, the end effector includes an adjustment mechanism 37, a floating platform mechanism 38, and a clamping mechanism 39. The floating platform mechanism 38 includes an upper floating platform 55, a lower floating platform 56, a floating platform connecting plate 54, and multiple hand cranks for adjusting the position and angle of the clamping mechanism 39. The multiple hand cranks are located on the sides of the upper floating platform 55 and the floating platform connecting plate 54. The ends of the multiple hand cranks are threaded and connected through pre-drilled threaded holes in the floating platform. The upper floating platform 55 is connected to the clamping structure. The upper floating platform 55 and the lower floating platform 56 are connected by multiple springs 50. The lower floating platform 56 is surrounded by a floating platform connecting plate 54. The lower floating platform 56 is connected to the floating platform connecting plate 54 by multiple springs 50. The floating platform springs 50 have preload. When using a hand crank, the operator overcomes the preload to deform the horizontal / vertical springs 50 for fine adjustment. After adjustment, the large ball joint 47 is locked by the adjustment mechanism 37, thereby locking the floating platform. At the same time, the contact pressure between the workpiece and the mounting hole offsets the rebound potential energy of the springs 50, and the springs 50 will not cause the floating platform to return to its original position. A small ball joint 57 for fixing the upper floating platform 55 is also connected between the upper floating platform 55 and the lower floating platform 56. A large ball joint 47 for fixing the lower floating platform 56 is also connected between the lower floating platform 56 and the adjustment mechanism 37.

[0037] Example 2 Based on Example 1, such as Figure 8 As shown, the clamping mechanism 39 includes multiple grippers 59; all grippers 59 are connected to the upper floating platform 55 via quick-change nuts 58; the spacing between the grippers 59 is customized according to the shape and size of the workpiece, and is not limited here; the attitude adjustment mechanism 37 includes an electric cylinder 70 and a clamping body 48; the electric cylinder 70 is located on the side of the clamping body 48, and the clamping body 48 is connected to the lower floating platform 56 via a large ball joint 47; multiple chucks 76 are also evenly arranged on the side of the clamping body 48, and a support seat 49 is provided at one end of the clamping body 48; the support seat 49 is connected to the robotic arm.

[0038] The large ball joint 47 includes a ball head 65 and a flange support; the ball head 65 is located inside the clamping body 48, and the top of the ball head 65 is connected to the flange support; the flange support is connected to the lower floating platform 56; three movable claws 76 are evenly arranged around the ball head 65, and one end of the three claws 76 contacts the ball head 65; the other end of the three claws 76 contacts one end of the three push rods 66 respectively; the two sides of the three push rods 66 are provided with tracks to facilitate the sliding of the push rods 66. The tracks for sliding the push rods 66 are already mature existing technology in this field, and the specific track used will not be described here; the other end of the three push rods 66 contacts the rolling ball 68; the rolling ball 68 is placed on the arc surface of the arc-shaped push rod 64; the arc-shaped push rod 64 is connected to the electric cylinder 70; the push rod 66 is located inside the clamping body 48, and the clamping body 48 has three reserved channels for installing the push rod 66.

[0039] Multiple hand-cranked joysticks are equipped with sensors for monitoring and adjusting data; the multiple hand-cranked joysticks include multiple U-shaped joysticks 52, multiple straight joysticks 53, and multiple L-shaped joysticks 51; the multiple U-shaped joysticks 52 and multiple straight joysticks 53 are all located on the side of the upper floating platform 55; the multiple L-shaped joysticks 51 are evenly located on the side of the floating platform connecting plate 54; without the hand-cranked joysticks, it is impossible to transmit human power to overcome the elastic force of the spring 50, the outer and inner layers of the lower floating platform 56 will not move horizontally relative to each other, and the upper floating platform 55 will not be able to rotate around the ball joint. The floating platform can only maintain its current posture, and the movement changes cannot be manually controlled, which cannot meet the requirements of flexible posture adjustment.

[0040] Example 3 Based on Example 2, such as Figure 4 As shown, the robotic arm includes a large arm 31 and a forearm 33; large arm joints 30 are provided at both ends of the large arm 31; a forearm joint 32 is provided at one end of the forearm 33, and an end-effector joint 34 is provided at the other end of the forearm 33; a handle 35 for adjusting the robotic arm is also provided at the other end of the end-effector joint 34; safety contact edges 43 are provided on the outer sides of the large arm 31, forearm 33, large arm joint 30, forearm joint 32 and end-effector joint 34; ultrasonic sensors 44 are provided on the sides of the large arm 31 and forearm 33; one end of the end-effector joint 34 is connected to a support base 49 through a flange 36; the large arm joint 30 at one end of the large arm 31 is connected to the forearm joint 32 at one end of the forearm 33; a base 29 is provided on the large arm joint 30 at the other end of the large arm 31, and is connected to a lifting device through the base 29.

[0041] like Figure 6As shown, the upper arm joint 30, the forearm joint 32, and the end-effector rotational joint 34 are all non-powered joints. Each non-powered joint includes a brake shaft 61, an electromagnetic brake 60, and a bearing 62. The brake shaft 61 passes through the bearing 62 and the electromagnetic brake 60, and the bearing 62 is connected to the brake shaft 61 by a key. The brake disc of the electromagnetic brake 60 is connected to the brake shaft 61 and rotates with the brake shaft 61. During braking, the electromagnet is energized, generating magnetism that causes friction between the brake disc and the friction components, acting on the brake shaft 61 to impede its rotation. The bearing 62 supports the brake shaft 61, ensuring the stability of the shaft during braking and ensuring normal rotation of the robotic arm during operation. The robotic arm used here is not an innovation of this invention; conventional electrically driven robotic arms from the prior art can also be used. The choice of robotic arm will not be further elaborated here.

[0042] The rotating mechanism 10 includes a slewing bearing 14; the slewing bearing 14 is mounted on a base flange 13, and the base flange 13 is mounted on the chassis frame 1 of the omnidirectional transport device; a reducer 16 and a drive motor 15 are mounted on the slewing bearing 14, and the drive motor 15 and the reducer 16 are connected; the reducer 16 meshes with the slewing bearing 14; a column assembly 18 is mounted on the top of the slewing bearing 14; an emergency stop switch 40 is mounted on the side of the column assembly 18, and an alarm light 20 and an ultrasonic sensor 44 are mounted on the top of the column assembly 18; a safety contact edge 43 is mounted on the outer side of the top of the column assembly 18.

[0043] like Figure 3 and Figure 7As shown, the lifting mechanism 12 includes a lifting motor 23, a ball screw 24, and a guide rail assembly. The lifting motor 23 is mounted on the top of the column assembly 18, and its output end is connected to the ball screw 24. The ball screw 24 is the core transmission of the lifting mechanism 12, converting the rotational motion of the lifting servo motor into linear motion, thereby achieving precise lifting of the drag-and-pull robotic arm and meeting the high-precision transmission requirements under heavy loads. A cable tray 28 is fixedly connected to the column assembly 18, and the cable tray 28 is connected to the column connecting plate 27. The guide rail assembly includes a column lifting guide rail 25 and a column lifting slider 67. The guide rail assembly is enclosed by a protective cover to prevent water, dust, debris, etc. from entering. The column lifting guide rail 25 is symmetrically installed on the front side of the column assembly 18. A limit switch 26 for limiting the lifting stroke is provided at the lower part of the guide rail 25. The limit switch 26 adopts LXZ1. The column connecting plate 27 is set on the column lifting guide rail 25 through the column lifting slider 67. The drive motor of the lifting mechanism is directly connected to the ball screw 24 at the top of the column assembly 18. The ball screw 24 is arranged vertically inside the column, and the screw nut is connected to the column connecting plate 27. The column lifting slider 67 is connected to the column connecting plate 27 by bolts, and the column connecting plate 27 slides with the lifting guide rail on the inner side of the column to realize the stable lifting of the column connecting plate 27 along the lifting guide rail. The column lifting slider 67 is symmetrically installed on the column lifting guide rail 25 and connected to the column connecting plate 27. The lifting mechanism 12 is a mature existing technology in this field.

[0044] The column assembly 18 includes a column body 11, a base mounting plate, and a base flange 13; the base mounting plate is located at the bottom of the column body 11 and is mounted on the base flange 13; the column assembly 18 itself is equipped with a controller, specifically the Huichuan AM522-0808TN.

[0045] like Figure 2As shown, the omnidirectional transport device is a mature existing device in this field, specifically the Delta DVP32ES300R; the omnidirectional transport device includes wheels, support leg assemblies 4, chassis frame 1, and integrated machine assembly 5; the chassis frame 1 of the omnidirectional transport device has a door on its side, and a battery for providing power to the assembly robot is installed inside the chassis frame 1 to assist the assembly robot in powering; the omnidirectional transport device has doors on its left, right, and rear sides for easy disassembly during maintenance and power supply replacement; the wheels include steering wheels 2 and omnidirectional wheels 3, and the steering wheels 2 and omnidirectional wheels 3 are... All steering wheels 3 are located at the bottom of the chassis frame 1; encoders and angle sensors are installed on the steering wheels 2; an integrated unit 5 for providing power and transport commands is also installed on the chassis frame 1; a lidar 41 and an emergency stop switch 40 are also installed on the side of the chassis frame 1; a safety contact edge 43 is installed at the bottom of the side of the chassis frame 1; an emergency stop switch 40 is installed at each of the four corners of the omnidirectional transport device, and a lidar 41 is installed at one diagonal; safety contact edges 43 are installed on the lower sides of the omnidirectional transport device; in this embodiment, the safety contact edges 43 are all made of Womino A431-1-4555 / A431-1-4556; The support leg assembly 4 includes multiple support legs, evenly arranged on the side of the chassis frame 1; the support legs are an existing structure, with a total of 4 support legs, installed at the four corners of the omnidirectional transport chassis and connected to the chassis by welding; after the omnidirectional transport chassis is moved to the assembly position, the operator manually extends the support legs downward from the chassis retracted state until they contact the ground and form stable support, thereby improving the stability of the omnidirectional transport device chassis during parking operations and preventing the equipment from shaking or tipping over during the lifting and tilting of the robotic arm; after assembly, the support legs are then retracted upward to the chassis and off the ground, ensuring that the omnidirectional transport chassis can move normally in all directions without affecting its motion function.

[0046] The control system includes a PLC controller, which is located inside the integrated machine component 5. The omnidirectional transport device, lifting mechanism 12, robotic arm, end effector, ultrasonic sensor 44, lidar 41, safety edge 43, alarm light 20, integrated machine component 5, handheld wire controller 8, and handheld controller can all communicate with the control system. Other electrical components in this solution are also connected to the control system, so that the control system can control the operation of each device and component.

[0047] The integrated unit 5 includes a body, an HMI (Human Machine Interface) 6, function buttons 7, a handheld wire controller 8, and a cable reel 9. The HMI 6 is mounted on the body. The function buttons 7 include a start button 17, a pause button 69, an emergency stop button 45, and a power button 46, which are symmetrically mounted on both sides of the HMI 6. Controlling the assembly robot through the integrated unit 5 is a mature existing technology in this field, and the internal connection method between the buttons and the assembly robot will not be described here. The handheld wire controller 8 is mounted on the body. The cable reel 9 is fixedly mounted at the rear of the body and stores the cable used to power the omnidirectional transport device.

[0048] Example 4 The diagnostic control method for cantilevered auxiliary assembly robots for aerospace finished products is implemented based on the cantilevered auxiliary assembly robots for aerospace finished products described in Examples 1 to 3, such as... Figure 9 As shown, the method includes the following steps: S1: Rotate the power button 46 on the integrated machine assembly 5 and press the start button 17 to power on the auxiliary assembly robot. Remove the handheld wire controller 8 from the integrated machine assembly 5 and operate the omnidirectional transport device to move the assembly robot. The ultrasonic sensor 44 and the lidar 41 diagnose and avoid the position of obstacles, allowing the assembly robot to safely move to the part-picking position, thereby completing the clamping mechanism 39 of the end-effector to pick up the workpiece. The handheld wire controller on the integrated machine assembly is a mature existing technology device in this field. S2: Move the assembly robot to the assembly position by operating the omnidirectional transport device through the handheld wire controller 8, extend the support leg assembly 4, adjust the robotic arm to a suitable height and angle through the lifting mechanism 12 and the rotating mechanism 10, and stretch the robotic arm to adjust the end effector to above the assembly position. S3: Use multiple hand cranks to adjust the upper floating platform 55 and the lower floating platform 56, thereby adjusting the position and angle of the fixture mechanism 39, so that the workpiece is aligned with the assembly hole on the assembly position, thereby completing the workpiece assembly.

[0049] After the workpiece assembly is completed, the robotic arm assembly is retracted to the initial position by dragging the handle 35, and then the support leg assembly 4 is retracted; the auxiliary assembly robot is exited to the assembly position by using the handheld wire controller 8, waiting for the next installation.

[0050] Example 5 Based on Example 4, the specific method in S1 for diagnosing and avoiding obstacles using ultrasonic sensor 44 and lidar 41 to enable the assembly robot to safely move to the part-picking position is as follows: The PLC controller of the control system processes the signals transmitted by lidar 41 and ultrasonic sensor 44, and then sends the signal that the steering wheel 2 needs to be angle-compensated to the steering wheel 2. At this time, the steering motor of the steering wheel 2 corrects the angle in time to avoid obstacles; the PLC controller selected is Huichuan EASY501-0808TN and Delta DVP32ES300R.

[0051] The speed control of the omnidirectional transport device is based on the kinematic decomposition of the vehicle body. The position of the steering wheel 2 is calculated into the speed of each wheel, and the speed is synchronously sent to the driver of the steering wheel 2 via the CAN bus. The omnidirectional wheel 3 adopts a follow-up strategy: when traveling in a straight line, the speed matches the speed of the vehicle body center; when rotating in place, the angular velocity component is compensated in the opposite direction; and when moving in a curved path, the proportional coefficient is dynamically adjusted according to the trajectory radius to ensure that the speed is coordinated with the steering wheel 2. Furthermore, the speed space is optimized in real time through the dynamic window method (DWA) so that the two steering wheels 2 and the omnidirectional wheel 3 maintain speed consistency in complex paths.

[0052] The entire vehicle is placed in the world coordinate system, and an angle is introduced to represent the angle between the world coordinate system and the vehicle body coordinate system. At this point, the vehicle's pose model in the world coordinate system is shown in the figure below, and the position vector can be described as... The position vector in the vehicle coordinate system can be described as In the formula, The meaning is the x-component of the i-th steering wheel. The meaning is that it represents the component of the i-th steering wheel on the y-axis. The meaning is the angle between the i-th steering wheel and the X-axis in the vehicle coordinate system.

[0053] The pose vector in the world coordinate system can be represented by an orthogonal transformation matrix. The result of the conversion is:

[0054]

[0055]

[0056] In the formula, The meaning of is the position vector, and L is the distance between the left and right steering wheels. The meaning is the angle between the steering wheel and the X-axis in the vehicle coordinate system. The meaning is the inverse matrix.

[0057] The components of the coordinates of each steering wheel in the world coordinate system along the x and y axes are as follows: x wi andy wi (i = 1,2,3,4 ) The result is obtained from the position of the vehicle's center and the positional relationship of each steering wheel:

[0058] In the formula, x wi The meaning is the coordinate component of the i-th steering wheel on the x-axis of the world coordinate system. y wi The meaning of is the coordinate component of the i-th steering wheel on the y-axis of the world coordinate system, L is the distance between the left and right steering wheels, and D is the distance between the front and rear steering wheels. The meaning is the x-axis direction corresponding to the world coordinate system. The meaning is the y-axis direction corresponding to the world coordinate system.

[0059] Furthermore, the dual-steering wheel omnidirectional AGV system is subject to nonholonomic constraints, namely: Differentiating the actual vehicle pose P yields the actual kinematic equations in the world coordinate system:

[0060] In the formula, The meaning is to seek The first derivative, The meaning is to seek The first derivative, It is the slip angle of the center point of the vehicle body.

[0061] This equation serves as the mathematical foundation for global motion description and control, representing the pose and motion state of an omnidirectional vehicle in global space. This kinematic equation belongs to the existing framework; differentiating the actual vehicle pose P yields the actual kinematic equation in the world coordinate system:

[0062]

[0063] In the formula, J represents the Jacobian matrix, which is the matrix connecting the spatial motion parameters and the world coordinate system in the equation. u includes the angular velocity ω, and the components of the center point velocity on the x and y axes are ν. x and ν y v represents the speed at the center point of the vehicle.

[0064] In S2, the robotic arm is stretched using the gripper of the robotic arm.

[0065] To achieve a balance between motion envelope (the space within which the robotic arm moves, i.e., the reachable space) and force-saving characteristics, a mechanical optimization equation is established based on a two-bar linkage model to constrain the robotic arm's range of motion.

[0066] in, These refer to the lengths of the upper arm and forearm, respectively. The maximum working radius required for the task; The minimum working radius required for the task; Establish the torque balance equation: Assuming the end load is F The joint torque (at the end joint of the robotic arm) must meet the following requirements:

[0067] in, This is the maximum braking torque of the electromagnetic brake. These are the angles between the upper arm and forearm, respectively.

[0068] In S3, the lower floating platform 56 is adjusted by L-shaped rocker arm 51, thereby adjusting the position of the clamping mechanism 39 and fixing the large ball joint 47. Then, the upper floating platform 55 is adjusted by straight rocker arm 53 and U-shaped rocker arm 52, thereby adjusting the position and angle of the clamping mechanism 39 and fixing the small ball joint 57.

[0069] like Figure 8 As shown, the fixing method of the large ball joint 47 is as follows: the electric push cylinder is connected to the arc-shaped push rod 64. When it is necessary to fix and support the workpiece, the ball head 65 needs to be clamped. The electric push cylinder pushes the arc-shaped push rod 64 forward, and the rolling ball 68 moves upward along the arc surface, pushing the three push rods 66, causing the three jaws 76 to rotate inward, thereby clamping the ball head 65. At this time, the electric push cylinder stops pushing, and the clamping state is maintained by the clamping principle between the rolling ball 68 and the arc surface and the self-locking property of the electric push cylinder. When it is necessary to rotate the workpiece, the ball head 65 needs to be released. The electric push cylinder pulls back the arc-shaped push rod 64, the rolling ball 68 moves downward along the arc surface, the push rod 66 releases pressure, and the three jaws 76 rotate outward, thereby releasing the ball head 65. There are many ways to fix ball joints, and there are many conventional methods in the existing technology, not just the ball joint fixing method provided above. The fixing method of the small ball joint 57 will not be described here.

[0070] The above description is a detailed description of the preferred embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit of the present invention should fall within the patent scope covered by the present invention.

Claims

1. A cantilevered auxiliary assembly robot for finished aerospace products, characterized in that: It includes an omnidirectional transport device, a lifting device, a robotic arm, and an end effector; the lifting device, the robotic arm, and the end effector are all connected to the control system; the lifting device is connected to the robotic arm, and the robotic arm is connected to the end effector. The lifting device is mounted on an omnidirectional transport device equipped with a lidar (41); the lifting device and the robotic arm are equipped with ultrasonic sensors (44); the lifting device includes a rotating mechanism (10), a column assembly (18) and a lifting mechanism (12); the rotating mechanism (10) is mounted on the bottom of the column assembly (18); the lifting mechanism (12) is mounted on the column assembly (18) and drives the robotic arm to move on the column assembly (18); The end effector includes an adjustment mechanism (37), a floating platform mechanism (38), and a clamping mechanism (39); the floating platform mechanism (38) includes an upper floating platform (55), a lower floating platform (56), a floating platform connecting plate (54), and multiple hand cranks for adjusting the position and angle of the clamping mechanism (39); the multiple hand cranks are located on the side of the upper floating platform (55) and the side of the floating platform connecting plate (54); the upper floating platform (55) is connected to the clamping structure; the upper floating platform (55) and the lower floating platform... (56) are connected by multiple springs (50); a floating platform connecting plate (54) is provided on the periphery of the lower floating platform (56), and the lower floating platform (56) and the floating platform connecting plate (54) are connected by multiple springs (50); a small ball joint (57) for fixing the upper floating platform (55) is also connected between the upper floating platform (55) and the lower floating platform (56); a large ball joint (47) for fixing the lower floating platform (56) is also connected between the lower floating platform (56) and the attitude adjustment mechanism (37).

2. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 1, characterized in that: The clamping mechanism (39) includes multiple grippers (59); all grippers (59) are connected to the upper floating platform (55) via quick-change nuts (58).

3. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 1, characterized in that: The posture adjustment mechanism (37) includes an electric cylinder (70) and a clamping body (48); the electric cylinder (70) is disposed on the side of the clamping body (48), and the clamping body (48) is connected to the lower floating platform (56) through a large ball joint (47); a plurality of claws (76) are evenly disposed on the side of the clamping body (48), and a support seat (49) is disposed at one end of the clamping body (48); the support seat (49) is connected to the robotic arm.

4. The cantilevered assisted assembly robot for aerospace finished products according to claim 3, characterized in that: The large ball joint (47) includes a ball head (65) and a flange support; the ball head (65) is located inside the clamping body (48), and the top of the ball head (65) is connected to the flange support; the flange support is connected to the lower floating platform (56); three movable claws (76) are evenly arranged around the ball head (65), and one end of the three claws (76) is in contact with the ball head (65); the other end of the three claws (76) is in contact with one end of the three push rods (66); the two sides of the three push rods (66) are provided with tracks to facilitate the sliding of the push rods (66); the other end of the three push rods (66) is in contact with the ball (68); the ball (68) is placed on the arc surface of the arc push rod (64); the arc push rod (64) is connected to the electric cylinder (70).

5. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 2, characterized in that: Multiple hand-cranked joysticks are equipped with sensors for monitoring and adjusting data; the multiple hand-cranked joysticks include multiple U-shaped joysticks (52), multiple straight joysticks (53) and multiple L-shaped joysticks (51); the multiple U-shaped joysticks (52) and multiple straight joysticks (53) are all located on the side of the upper floating platform (55); the multiple L-shaped joysticks (51) are evenly located on the side of the floating platform connecting plate (54).

6. The cantilevered assisted assembly robot for aerospace finished products according to claim 3, characterized in that: The robotic arm includes a large arm (31) and a small arm (33); the large arm (31) is provided with large arm joints (30) at both ends; one end of the small arm (33) is provided with a small arm joint (32), and the other end of the small arm (33) is provided with an end joint (34); one end of the end joint (34) is connected to the support base (49) through a flange (36); the large arm joint (30) at one end of the large arm (31) is connected to the small arm joint (32) at one end of the small arm (33); a base (29) is provided on the large arm joint (30) at the other end of the large arm (31), and is connected to the lifting device through the base (29).

7. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 6, characterized in that: The upper arm joint (30), forearm joint (32), and end joint (34) are all non-powered joints; the non-powered joints include a brake shaft (61), an electromagnetic brake (60), and a bearing (62); the brake shaft (61) passes through the bearing (62) and the electromagnetic brake (60), and the bearing (62) and the brake shaft (61) are connected by a key; the brake disc of the electromagnetic brake (60) is connected to the brake shaft (61).

8. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 7, characterized in that: The other end of the end-rotation joint (34) is also provided with a handle (35) for adjusting the robotic arm.

9. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 8, characterized in that: Safety contact edges (43) are provided on the outer sides of the upper arm (31), forearm (33), upper arm joint (30), forearm joint (32) and end joint (34); ultrasonic sensors (44) are provided on the sides of the upper arm (31) and forearm (33).

10. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 8, characterized in that: The rotating mechanism (10) includes a slewing bearing (14); the slewing bearing (14) is mounted on a base flange (13), and the base flange (13) is mounted on the chassis frame (1) of the omnidirectional transport device; a reducer (16) and a drive motor (15) are mounted on the slewing bearing (14), and the drive motor (15) and the reducer (16) are connected; the reducer (16) meshes with the slewing bearing (14); the column assembly (18) is mounted on the top of the slewing bearing (14); an emergency stop switch (40) is mounted on the side of the column assembly (18), and an alarm light (20) and an ultrasonic sensor (44) are mounted on the top of the column assembly (18); a safety contact edge (43) is mounted on the outer side of the top of the column assembly (18).

11. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 9, characterized in that: The lifting mechanism (12) includes a lifting motor (23), a ball screw (24), and a guide rail assembly; the lifting motor (23) is located on the top of the column assembly (18), and the output end of the lifting motor (23) is connected to the ball screw (24); a cable tray (28) is fixedly connected to the column assembly (18), and the cable tray (28) is connected to the column connecting plate (27); the guide rail assembly includes a column lifting guide rail (25) and a column lifting slider (67); the column lifting guide rail (25) is symmetrically installed on the front side of the column assembly (18); a limit switch (26) for limiting the lifting stroke is provided at the lower part of the column lifting guide rail (25); the column connecting plate (27) is located on the column lifting guide rail (25) through the column lifting slider (67); the column lifting slider (67) is symmetrically installed on the column lifting guide rail (25) and connected to the column connecting plate (27).

12. The cantilevered assisted assembly robot for aerospace finished products according to claim 11, characterized in that: The column assembly (18) includes a column body (11), a base mounting plate and a base flange (13); the base mounting plate is located at the bottom of the column body (11) and is located on the base flange (13).

13. The cantilevered auxiliary assembly robot for aerospace finished products according to claim 12, characterized in that: The omnidirectional transport device includes wheels, support leg assemblies (4), chassis frame (1), and integrated machine assembly (5); the chassis frame (1) of the omnidirectional transport device is provided with a box door on its side, and a battery for providing power to the assembly robot is provided inside the chassis frame (1); the wheels include steering wheels (2) and universal wheels (3), and both steering wheels (2) and universal wheels (3) are provided at the bottom of the chassis frame (1); the steering wheels (2) are provided with an encoder and an angle sensor; the chassis frame (1) is also provided with an integrated machine assembly (5) for providing power and transport commands; the chassis frame (1) is also provided with a laser radar (41) and an emergency stop switch (40) on its side; a safety contact edge (43) is provided at the bottom of the side of the chassis frame (1); the support leg assembly (4) includes multiple support legs, which are evenly arranged on the side of the chassis frame (1).

14. The cantilevered assisted assembly robot for aerospace finished products according to claim 13, characterized in that: The control system includes a PLC controller, and the PLC controller is located inside the integrated unit (5).

15. The cantilevered assisted assembly robot for aerospace finished products according to claim 14, characterized in that: The integrated unit (5) includes a body, an HMI (human-machine interface) (6), function buttons (7), a handheld wire controller (8), and a cable reel (9); the HMI (human-machine interface) (6) is mounted on the body; the function buttons (7) include a start button (17), a pause button (69), an emergency stop button (45), and a power button (46); the start button (17), pause button (69), emergency stop button (45), and power button (46) are symmetrically mounted on both sides of the HMI (human-machine interface) (6); the handheld wire controller (8) is mounted on the body; the cable reel (9) is fixedly mounted at the rear of the body and stores cables for powering the omnidirectional transport device.

16. A diagnostic and control method for cantilever-type assisted assembly robots for aerospace finished products, characterized in that, The method, implemented using the cantilevered assisted assembly robot for aerospace finished products as described in any one of claims 1 to 15, includes the following steps: S1: The omnidirectional transport device is operated to drive the assembly robot to start moving, and the ultrasonic sensor (44) and laser radar (41) are used to diagnose and avoid the position of obstacles, so that the assembly robot can safely move to the pick-up position, thereby completing the clamping mechanism (39) of the end-positioning tooling to pick up the workpiece. S2: Then operate the omnidirectional transport device to move the assembly robot to the assembly position, and extend the robotic arm to adjust the end effector to be above the assembly position; S3: Use multiple hand cranks to adjust the upper floating platform (55) and the lower floating platform (56), thereby adjusting the position and angle of the fixture mechanism (39) so that the workpiece is aligned with the assembly hole on the assembly position, thereby completing the workpiece assembly.

17. The diagnostic control method for a cantilevered assisted assembly robot for aerospace finished products according to claim 16, characterized in that: The specific method for diagnosing and avoiding obstacles by using ultrasonic sensors (44) and laser radar (41) in S1, so that the assembly robot can safely move to the picking position, is as follows: The PLC controller of the control system processes the signals transmitted by the laser radar (41) and ultrasonic sensors (44), and then sends the signal that the steering wheel (2) needs to be angle compensated to the steering wheel (2). At this time, the steering motor of the steering wheel (2) corrects the angle, thereby avoiding obstacles.

18. The diagnostic control method for a cantilevered assisted assembly robot for aerospace finished products according to claim 16, characterized in that: In S3, the lower floating platform (56) is adjusted by the L-shaped rocker (51), thereby adjusting the position of the clamping mechanism (39) and fixing the large ball joint (47). Then, the upper floating platform (55) is adjusted by the straight rocker (53) and the U-shaped rocker (52), thereby adjusting the position and angle of the clamping mechanism (39) and fixing the small ball joint (57).

19. The diagnostic control method for a cantilevered assisted assembly robot for aerospace finished products according to claim 18, characterized in that: The specific fixing method of the large ball joint (47) is as follows: the electric push cylinder is connected to the arc-shaped push rod (64). When it is necessary to fix and support the workpiece, the ball head (65) needs to be clamped. The electric push cylinder pushes the arc-shaped push rod (64) forward, and the rolling ball (68) moves upward along the arc surface, pushing the three push rods (66) to make the three jaws (76) rotate inward, thereby clamping the ball head (65). At this time, the electric push cylinder stops pushing and maintains the clamped state. When it is necessary to rotate the workpiece, the ball head (65) needs to be released. The electric push cylinder pulls back the arc-shaped push rod (64), the rolling ball (68) moves downward along the arc surface, the push rod (66) releases pressure, and the three jaws (76) rotate outward, thereby releasing the ball head (65).

20. The diagnostic control method for a cantilevered assisted assembly robot for aerospace finished products according to claim 19, characterized in that: In S2, the robotic arm is stretched by the grip (35) of the robotic arm.

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