A hole-making robot for composite part machining

Abstract

This invention discloses a drilling robot for processing composite parts, comprising a mobile positioning subsystem, a six-degree-of-freedom robotic arm, an integrated end effector, an environmental dust removal subsystem, and an axial feed system. The integrated end effector includes a spindle mounting housing fixedly connected to the end of the six-degree-of-freedom robotic arm, with an ultrasonic transducer fixedly mounted on one side of the spindle mounting housing. This invention features an active floating pressure foot. The pressure foot sleeve is fitted onto the outer circumference of the spindle housing via a linear bearing and can slide freely axially. Before drilling begins, the robotic arm advances, and the pressure foot sleeve contacts the workpiece surface before the drill bit, compressing the spring to generate a preload. This preload generates compressive stress between the composite layers, offsetting the interlayer tensile stress caused by the axial force of the drilling, thus suppressing delamination from a mechanical perspective. Simultaneously, the combination of ultrasonic vibration and floating pressure foot technology effectively suppresses delamination and tearing of carbon fiber composite materials, improving the hole wall quality.

Description

Technical Field

[0001] This invention relates to the field of advanced manufacturing equipment technology, specifically to a hole-making robot for processing composite parts. Background Technology

[0002] Composite materials (such as carbon fiber reinforced polymer (CFRP) and glass fiber reinforced polymer (GFRP)) are increasingly widely used in aerospace, automotive, and wind power industries due to their advantages such as high specific strength, high specific modulus, and good fatigue resistance. In the assembly of composite parts, hole making (drilling, reaming, countersinking) is one of the most critical and labor-intensive processes. Because composite materials have physical properties such as high hardness, poor thermal conductivity, anisotropy, and low interlayer bonding strength, traditional hole making methods and equipment face many technical bottlenecks.

[0003] However, composite material drilling is highly susceptible to defects such as delamination, tearing, burrs, and fiber pull-out. In particular, carbon fiber dust is extremely small in diameter, spreads easily, and is highly conductive. The dust generated by traditional open-type drilling not only endangers the health of operators, but if inhaled into electrical control cabinets or robot joints, it can cause short circuits or wear failures.

[0004] Meanwhile, most existing industrial robots adopt a serial structure, which, while highly flexible, has poor rigidity. Under the action of axial force during hole drilling, the robot arm is prone to elastic deformation, leading to a decrease in hole position accuracy and chattering during processing, affecting the surface quality of the hole wall.

[0005] To address this, we propose a new drilling robot for machining composite parts. Summary of the Invention

[0006] The purpose of this invention is to provide a drilling robot for processing composite parts, which effectively solves the defects in existing composite drilling technologies, such as delamination, tearing, burrs, and fiber pull-out. In particular, carbon fiber dust has a very small diameter, is easily dispersed, and has strong conductivity. The dust generated by traditional open-type drilling not only harms the health of operators, but if inhaled into the electrical control cabinet or robot joints, it can cause short circuits or wear failures. Furthermore, during composite part processing, the robot arm is prone to elastic deformation under the axial force of the drilling, leading to decreased hole position accuracy and chattering during processing, affecting the surface quality of the hole wall.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a hole-making robot for processing composite parts, comprising a mobile positioning subsystem, a six-degree-of-freedom robotic arm, an integrated end effector, an environmental dust removal subsystem, and an axial feed system; The integrated end effector includes a spindle mounting housing fixedly connected to the end of a six-degree-of-freedom robotic arm. An ultrasonic transducer is fixedly mounted on one side of the spindle mounting housing, and a servo drive motor is provided at the bottom of the spindle mounting housing. A bracket fixing base is fixedly connected to the bottom of the servo drive motor. The output end of the servo drive motor extends through to the bottom of the bracket fixing base and is fixedly connected to a high-speed electric spindle. A floating pressure foot mechanism is provided at one end of the bracket fixing base. A mechanical linkage pressurization component is provided between the floating presser foot mechanism and the environmental protection dust removal subsystem.

[0008] Preferably, the floating pressure foot mechanism includes a T-shaped connecting component fixedly connected to one end of the support fixing base plate. The two ends of the T-shaped connecting component are symmetrically threaded with preload adjustment components. The top of the preload adjustment component is fitted with a locking limit nut threadedly connected to it. The bottom of the preload adjustment component is fixedly connected with a pressure foot sleeve. The bottom of the pressure foot sleeve is fixedly connected with a flexible connecting element. A high-frequency displacement sensor is fixedly installed through the side wall of the T-shaped connecting component.

[0009] Through the above technical solution, the presser foot sleeve can first contact the surface of the composite part and provide reverse support force during the drilling process. The pressing force can be steplessly adjusted by the preload adjustment component. The high-frequency acquisition displacement sensor is a contact-type high-frequency acquisition displacement sensor, which is installed between the presser foot sleeve and the spindle mounting housing. It is used to monitor the compression of the presser foot sleeve relative to the spindle housing in real time, and then calculate the actual pressure value applied to the workpiece surface.

[0010] Preferably, the environmental protection dust removal subsystem includes a dust isolation cover fixedly connected to the lower surface of the bracket fixing base plate and a pressure boosting plunger fixedly connected to one side of the outer surface of the spindle mounting housing. The dust isolation cover is sleeved on the outside of the high-speed electric spindle. A second linkage pressure boosting pipeline is fixedly connected between the dust isolation cover and the pressure boosting plunger, and a one-way valve is fixedly installed at the end of the second linkage pressure boosting pipeline near the dust isolation cover.

[0011] With the above technical solution, the entire cutting process is carried out in a sealed dust isolation hood, and the carbon fiber dust generated during cutting is confined inside the dust isolation hood, preventing the dust from entering the external environment.

[0012] Preferably, the flexible connecting element has a sealed volume chamber inside, and a conductive rubber sealing ring is fixedly connected to the bottom of the flexible connecting element. The top of the pressurizing plunger is fixedly connected to a first linkage pressurizing pipeline, and the first linkage pressurizing pipeline is connected to the interior of the flexible connecting element.

[0013] Through the above technical solution, when the presser foot contacts the carbon fiber surface, the static charge is quickly conducted away, preventing static sparks from damaging precision electronic components or attracting dust that could affect the sensor's accuracy.

[0014] Preferably, the side wall of the dust isolation hood is fixedly connected to a negative pressure pipeline, and the interior of the dust isolation hood is provided with an annular dust suction chamber, the inner wall of which is provided with a spiral guide groove.

[0015] Through the above technical solution, the spiral guide channel is used to generate swirling flow when the airflow passes through, and uses centrifugal force to separate the denser carbon fiber dust from the airflow, preventing the dust from depositing on the inner wall of the pipe.

[0016] Preferably, the booster plunger has a hollow interior, and a movable piston plate is slidably connected to the inner wall of the booster plunger. A return spring is fixedly connected between the upper surface of the movable piston plate and the inner wall of the booster plunger.

[0017] With the above technical solution, when the floating presser foot mechanism does not generate high-pressure airflow, the moving piston plate can return to its initial position under the elastic force of the return spring, thus waiting for the next hole-making operation.

[0018] Preferably, the axial feed system is disposed on one side of the outer surface of the spindle mounting housing. The axial feed system includes a mounting block fixedly connected to one side of the outer surface of the spindle mounting housing. An electric push rod is fixedly mounted on one side of the outer surface of the mounting block. A movable plate is fixedly connected to the output end of the electric push rod. One side of the movable plate is fixedly connected to a servo drive motor.

[0019] Through the above technical solution, the movement of the output end of the electric push rod can drive the movable plate to move, thereby changing the vertical position of the servo drive motor and realizing the vertical hole-making operation of the high-speed electric spindle.

[0020] Preferably, the mobile positioning subsystem includes an operating platform and a base. The base is fixedly connected to the bottom of the six-degree-of-freedom robotic arm and is placed on the upper surface of the operating platform. A parts clamping system and a collection system are also placed at one end of the operating platform.

[0021] Through the above technical solution, the mobile behavior subsystem can drive the robot to move by moving the base, thereby making holes in the composite parts above the parts clamping system, and the collection system can collect the composite parts after the holes are made.

[0022] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention addresses the problem of easy deformation and delamination in thin-walled composite parts by designing an active floating pressure foot. The pressure foot sleeve is mounted on the outer circumference of the spindle housing via a linear bearing and can slide freely along the axial direction. Before drilling begins, the robotic arm advances, and the pressure foot sleeve contacts the workpiece surface before the drill bit, compressing the spring to generate a preload. This preload generates compressive stress between the composite layers, offsetting the interlayer tensile stress caused by the axial force of the drilling, thus suppressing delamination from its mechanical source.

[0023] Meanwhile, the combination of ultrasonic vibration and floating pressure foot technology effectively suppressed delamination and tearing of carbon fiber composite materials, improving the quality of the pore walls.

[0024] 2. This invention employs an environmentally friendly dust removal subsystem, directly converting the mechanical motion of the floating presser foot mechanism into a power source for the environmentally friendly dust removal subsystem. When the presser foot sleeve slides backward and compresses under the reaction force of the workpiece, the gas in the sealed volume chamber is pressurized and injected at high speed into the annular dust collection chamber through the second linkage pressurization pipeline, forming a local negative pressure turbulence in the drilling area. This promotes the diffusion of dust generated by the high-speed electric spindle drilling, which is then sucked out by the negative pressure pipeline. This simultaneously solves the dust problem generated by traditional open-type drilling and the problem of reduced suction power of external vacuum cleaners for dust at the bottom of deep or blind holes. Attached Figure Description

[0025] Figure 1 This is a top view of the overall structure in an embodiment of the present invention; Figure 2 This is a first-view structural diagram of the six-degree-of-freedom robotic arm in an embodiment of the present invention; Figure 3 This is a second-view structural diagram of the six-degree-of-freedom robotic arm in an embodiment of the present invention; Figure 4 This is a third-view structural diagram of the six-degree-of-freedom robotic arm in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the environmental protection dust removal subsystem in an embodiment of the present invention; Figure 6 This is a schematic diagram of the pressurized plunger in an embodiment of the present invention; Figure 7 This is a schematic diagram of the axial feed system in an embodiment of the present invention.

[0026] Legend: 100. Mobile positioning subsystem; 101. Operating platform; 102. Base; 200. Six-DOF robotic arm; 300. Integrated end effector; 400. Environmental dust removal subsystem; 500. Axial feed system; 600. Part clamping system; 700. Collection system; 1. Spindle mounting housing; 2. Servo drive motor; 3. Bracket fixing base plate; 4. High-speed electric spindle; 5. T-shaped connecting component; 6. Floating pressure foot mechanism; 61. Pressure foot sleeve; 62. Preload adjustment component; 63. Locking limit nut; 64. Flexible connecting element; 65. High-frequency displacement sensor; 66. Conductive rubber sealing ring; 67. Sealed volume chamber; 7. First linkage pressurization pipeline; 8. Pressurization plunger; 9. Second linkage pressurization pipeline; 10. One-way valve; 11. Dust isolation hood; 12. Negative pressure pipeline; 13. Spiral guide groove; 14. Annular dust collection chamber; 15. Moving piston plate; 16. Return spring; 17. Mounting block; 18. Electric push rod; 19. Movable plate; 20. Ultrasonic transducer. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example Please see Figure 1 - Figure 7 The present invention provides a hole-making robot for processing composite parts, including a mobile positioning subsystem 100, a six-degree-of-freedom robotic arm 200, an integrated end effector 300, an environmental protection dust removal subsystem 400, and an axial feed system 500. The mobile positioning subsystem 100 is used to drive the robot to perform large-scale movement and coarse positioning; the six-degree-of-freedom robotic arm 200 is mounted on the mobile positioning subsystem 100 and is used to adjust the spatial pose of the end effector; the integrated end effector 300 is mounted on the end flange of the six-degree-of-freedom robotic arm 200; the environmental dust removal subsystem 400 is integrated on the integrated end effector 300; and a control system should also be set up to communicate with the above subsystems. The integrated end effector 300 includes a spindle mounting housing 1 fixedly connected to the end of a six-degree-of-freedom robotic arm 200. The spindle mounting housing 1 is integrally cast or welded from high-strength aluminum alloy and has internal reinforcing ribs to effectively suppress resonance during high-speed spindle rotation. An ultrasonic transducer 20 is fixedly mounted on one side of the spindle mounting housing 1, enabling the high-speed electric spindle 2 to perform ultrasonic vibration-assisted machining. The ultrasonic transducer 20 converts high-frequency electrical energy into mechanical vibration energy, driving the drill bit to generate axial high-frequency micro-amplitude vibration. The vibration frequency range of the ultrasonic transducer 20 is 15kHz to 40kHz, and the amplitude range is 1μm to 10μm. High-frequency vibration reduces the friction coefficient and cutting resistance in the cutting zone. During drilling, the drill bit receives axial high-frequency vibration superimposed on its rotational motion. This "intermittent cutting" mechanism makes chips easier to break and facilitates smooth chip removal. Simultaneously, the "acoustic softening" effect generated by ultrasonic vibration reduces the yield stress of the material, significantly reduces cutting force, greatly improves hole wall quality, and reduces exit tearing.

[0029] Furthermore, a servo drive motor 2 is installed at the bottom of the spindle mounting housing 1, and a bracket fixing base plate 3 is fixedly connected to the bottom of the servo drive motor 2. The output end of the servo drive motor 2 extends through to the bottom of the bracket fixing base plate 3 and is fixedly connected to a high-speed electric spindle 4. The operation of the servo drive motor 2 can drive the rotation of the high-speed electric spindle 4, thereby performing hole drilling operations on the composite parts. A floating pressure foot mechanism 6 is installed at one end of the bracket fixing base plate 3. The floating pressure foot mechanism 6 includes a T-shaped connecting component 5 fixedly connected to one end of the bracket fixing base plate 3. Both ends of the T-shaped connecting component 5 are symmetrically threaded with preload adjustment components 62. A locking limit nut 63 is threadedly connected to the top of the preload adjustment component 62, and a pressure foot sleeve 61 is fixedly connected to the bottom of the preload adjustment component 62. A flexible connecting element 64 is fixedly connected to the bottom of the pressure foot sleeve 61, and a high-frequency displacement sensor 65 is fixedly installed through the side wall of the T-shaped connecting component 5. In actual use, the preload adjustment component 62 can be a screw, which can be turned to change its position relative to the T-shaped connecting component 5, thus achieving stepless adjustment of the clamping force. Tightening the locking limit nut 63 so that its lower surface abuts against the upper surface of the T-shaped connecting component 5 locks the position of the preload adjustment component 62. The pressure foot sleeve 61 can contact the surface of the composite part first during drilling and provide reverse support force. The high-frequency acquisition displacement sensor 65 is a contact-type high-frequency acquisition displacement sensor, which is installed between the presser foot sleeve 61 and the spindle mounting housing 1. It is used to monitor the compression of the presser foot sleeve 61 relative to the spindle housing 1 in real time, and then calculate the actual pressure value applied to the workpiece surface.

[0030] Furthermore, a mechanical linkage pressurization component is provided between the floating presser foot mechanism 6 and the environmental dust removal subsystem 400. Specifically, the environmental dust removal subsystem 400 includes a dust isolation cover 11 fixedly connected to the lower surface of the bracket fixing base plate 3 and a pressurization plunger 8 fixedly connected to one side of the outer surface of the spindle mounting housing 1. The dust isolation cover 11 is fitted outside the high-speed electric spindle 4, so that the high-speed electric spindle 4 is confined inside the dust isolation cover 11 during the process of drilling holes in composite parts. A negative pressure pipeline 12 is fixedly connected to the side wall of the dust isolation cover 11. One end of the negative pressure pipeline 12 is connected to an external pump and dust collection equipment, so that after the front end of the dust isolation cover 11 is in contact with the workpiece surface, a sealed cutting area is formed. A dust suction interface is provided on the side of the dust isolation cover 11 to connect to the negative pressure pipeline 12 and to an external industrial vacuum cleaner. The dust generated during internal drilling can be discharged to the external dust collection equipment through the negative pressure pipeline 12.

[0031] Meanwhile, the dust isolation cover 11 has an annular dust suction chamber 14 inside, and the inner wall of the annular dust suction chamber 14 has a spiral guide groove 13, which is used to generate vortex when the airflow passes through, and use centrifugal force to separate the dense carbon fiber dust from the airflow, preventing dust from depositing on the inner wall of the pipe.

[0032] To prevent carbon fiber dust from accumulating inside the suction tube, the inner walls of the negative pressure pipe 12 and the dust isolation cover 11 are coated with Teflon and designed with a spiral guide channel 13 to use the centrifugal force generated by the airflow rotation to throw the dust toward the pipe wall and discharge it.

[0033] The booster plunger 8 has a hollow interior, and a movable piston plate 15 is slidably connected to its inner wall. A return spring 16 is fixedly connected between the upper surface of the movable piston plate 15 and the inner wall of the booster plunger 8. A second linkage booster pipe 9 is fixedly connected between the dust isolation cover 11 and the booster plunger 8, and a one-way valve 10 is fixedly installed at the end of the second linkage booster pipe 9 near the dust isolation cover 11.

[0034] The dust isolation hood 11 is connected to the inside of the booster plunger 8 through the second linkage booster pipe 9, and when the movable plug 15 moves along the inner wall of the booster plunger 8, it can change the air pressure inside the second linkage booster pipe.

[0035] The flexible connecting element 64 has a sealed volume chamber 67 inside, and a conductive rubber sealing ring 66 is fixedly connected to the bottom of the flexible connecting element 64. The conductive rubber sealing ring 66 is grounded to the robot body through a wire. When the pressure foot contacts the carbon fiber surface, the static charge is quickly conducted away, preventing electrostatic sparks from damaging precision electronic components or attracting dust that may affect sensor accuracy. The top of the pressure boosting plunger 8 is fixedly connected to the first linkage pressure boosting pipe 7, and the first linkage pressure boosting pipe 7 is connected to the interior of the flexible connecting element 64. The interior of the flexible connecting element 64 and the sealed volume chamber 67 are connected to the pressure boosting plunger 8 through the first linkage pressure boosting pipe 7. The air pressure change inside the sealed volume chamber 67 can be reflected to the pressure boosting plunger 8, causing the air pressure inside the pressure boosting plunger 8 to change, and ultimately changing the air pressure inside the dust isolation cover 11.

[0036] It directly converts the mechanical motion of the floating presser foot mechanism 6 into a power source for the environmentally friendly dust removal subsystem 400. Specifically, by utilizing the axial displacement of the presser foot when it clamps the workpiece, it drives the moving piston plate 15 structure inside the booster plunger 8, instantly generating a local high negative pressure in the drilling area that is much higher than that provided by the external vacuum cleaner. This design makes it easier to prevent delamination when the pressure is tighter, and easier to remove dust when the local suction is stronger, forming a positive feedback loop in terms of mechanical structure and function.

[0037] When the presser foot sleeve 41 slides backward and is compressed by the reaction force of the workpiece, the gas in the sealed volume chamber 67 is pressurized and injected at high speed into the annular dust collection chamber 14 through the second linkage pressurization pipeline 9, forming a local negative pressure turbulence in the drilling area. The negative pressure sealing dust collection and anti-static structure eliminates the harm of carbon fiber dust to the environment and equipment, meeting the requirements of green manufacturing.

[0038] The axial feed system 500 is located on one side of the outer surface of the spindle mounting housing 1. The axial feed system 500 includes a mounting block 17 fixedly connected to one side of the outer surface of the spindle mounting housing 1. An electric push rod 18 is fixedly mounted on one side of the outer surface of the mounting block 17. A movable plate 19 is fixedly connected to the output end of the electric push rod 18. One side of the movable plate 19 is fixedly connected to the servo drive motor 2. The movement of the output end of the electric push rod 18 can drive the movable plate 19 to move, thereby changing the vertical position of the servo drive motor 2 and realizing the vertical drilling operation of the high-speed electric spindle 4.

[0039] The mobile positioning subsystem 100 includes an operating platform 101 and a base 102. The base 102 is fixedly connected to the bottom of the six-degree-of-freedom robotic arm 200 and is placed on the upper surface of the operating platform 101. A part clamping system 600 and a collection system 700 are also placed at one end of the operating platform 101. The mobile behavior subsystem 100 can drive the robot to move by moving the base 102, thereby making holes in the composite parts above the part clamping system 600. The collection system 700 can collect the composite parts after the holes are made.

[0040] Furthermore, adaptive improvements were made to the end effector based on this: Internal cooling function: The spindle is designed with coolant channels inside, and a small amount of atomized cutting fluid (MQL) is introduced through a rotary joint. The small amount of oil mist is sprayed into the cutting zone through the center hole of the drill bit, which plays a role in lubrication and cooling, and prevents the hole wall from scorching.

[0041] Pecking drill process: To address the difficulty of chip removal in thick plates, the control program adopts a pecking drill cycle logic. That is, after drilling to a certain depth, such as 5mm, the spindle quickly retracts to the starting position, and the strong airflow in the pressure foot cavity blows out the chips in the deep hole, and then the feed is rapid to continue cutting.

[0042] Meanwhile, the following is a detailed description of the working principle of the control system: The control system adopts a distributed fieldbus architecture (such as EtherCAT or Profinet) and mainly consists of the following hardware units: Central control unit: A high-performance industrial PC or embedded controller responsible for trajectory planning, data fusion, and decision-making.

[0043] Motion control module: Servo driver that controls the six-DOF robotic arm 200 and the axial feed mechanism 500.

[0044] Data acquisition module: High-frequency acquisition of real-time data from displacement sensor 65 and spindle power sensor.

[0045] The control system divides the hole-making process into three continuous closed-loop processes: "flexible contact and attitude adjustment stage", "linkage clamping and pressure-flow coupling control stage", and "variable parameter drilling and quality monitoring stage".

[0046] Before the presser foot sleeve 61 contacts the workpiece, the control system is in position control mode. When the presser foot sleeve 61 is detected to be in contact with the workpiece surface, the system switches to impedance control mode: the high-frequency displacement sensor 63 detects the displacement of the presser foot sleeve 61 relative to the spindle mounting housing 1. Based on Hooke's law, the system calculates the current contact pressure in real time. To avoid hard impact damage to the composite surface, when the contact threshold, such as 10N, is reached, the control system reduces the feed speed of the six-degree-of-freedom robotic arm 200 and adjusts the robotic arm posture so that the spindle axis adaptively aligns with the normal direction of the workpiece surface, eliminating small angular deviations.

[0047] As the feed motion progresses, the pressure foot sleeve 61 retracts under pressure, compressing the sealed volume chamber and driving the booster plunger 8. The control system converts the mechanical compression into airflow control parameters through an algorithm: when the feed speed increases, meaning a larger cutting volume and more dust generation, the booster plunger moves faster, automatically enhancing the explosive airflow generated internally. At this time, the control system simultaneously instructs the external vacuum cleaner to reduce its power to energy-saving mode, because the internal booster has already provided sufficient local suction. This achieves dynamic matching of "faster feed, stronger suction; slower feed, weaker suction," avoiding the energy waste caused by traditional vacuum systems that are constantly running.

[0048] The control system, by real-time calculation of signals from the high-frequency displacement sensor 65, not only achieves precise control of the presser foot's clamping force but also uses this mechanical motion data to feed back into the environmental dust removal subsystem, realizing a deep linkage where "mechanical structure determines fluid dynamics." This control logic unifies previously isolated physical components into an organic whole at the information flow level, significantly improving the automation level and process reliability of composite material hole making.

[0049] Specific workflow: First, the robot moves to above the hole position according to the offline program. The robotic arm continues to feed along the normal direction. The pressure foot sleeve 61 of the floating pressure foot mechanism 6 contacts the workpiece surface before the drill bit. The pressure foot sleeve 61 is compressed backward by resistance; the high-frequency displacement sensor 63 monitors the displacement of the pressure foot sleeve 61 in real time. The control system calculates the current clamping force according to the preset pressure-displacement relationship curve. When the clamping force reaches the set value, such as 200N, the robotic arm feed speed is reduced to the drilling speed, preparing for cutting.

[0050] The preload adjustment component 62 of the floating presser foot mechanism 6 can adjust the initial compression of the spring to adapt to different working conditions. Simultaneously, the conductive rubber sealing ring 611 on the end face of the presser foot sleeve 61 is tightly attached to the workpiece, forming a sealed cavity and dissipating static electricity. Specifically, the preload adjustment component 62 is essentially a screw; by turning it and tightening the locking nut 63, it can be restricted to different positions on the side wall of the T-shaped connecting component 5. Subsequently, the high-speed electric spindle 2 starts, with the speed set to 15,000 rpm. At the same time, the ultrasonic transducer 20 inside the high-speed electric spindle 2 starts, driving the drill bit to generate axial high-frequency vibration.

[0051] The drive spindle of the axial feed mechanism 500 feeds axially. The entire cutting process takes place in a sealed dust isolation hood 11. The annular dust collection chamber 61 of the environmental dust removal subsystem 400 generates negative pressure. The carbon fiber dust generated during cutting is sucked into the annular dust collection chamber 61, and after being separated by the swirling flow generated by the spiral guide groove 13, the dust enters the external dust collection pipeline.

[0052] This invention achieves deep coupling between the floating pressure foot and the dust removal system through a mechanically linked pressurization component, thus abandoning the traditional independent control logic. Mechanical action coupling compression is energy storage: As the robot feeds, the presser foot sleeve 61 first contacts the surface of the composite workpiece. As the spindle continues to feed, the presser foot sleeve 61 slides backward relative to the spindle mounting housing 1. At this time, the pressure-boosting plunger 8 fixed on the housing forcibly compresses the gas in the chamber. This process converts the mechanical energy generated by the presser foot pressing the workpiece into the pressure energy of the gas, realizing the synchronization of "pressing action" and "gas compression".

[0053] Functional complementary high-pressure suction: The compressed high-pressure gas is transported to the annular dust suction chamber 14 at the front end of the drill bit through the second linkage booster pipe 9.

[0054] For the presser foot mechanism: the greater the clamping force, the higher the compression ratio of the sealed volume chamber 67, and the greater the gas pressure. This provides the presser foot with additional pneumatic elastic support, making the clamping force control more gentle and stable.

[0055] For the dust removal system: High-pressure gas is ejected at high speed through the exhaust nozzle of the second linkage booster pipe 9 located in the dust isolation hood 11, forming a high-speed jet in the drilling area. According to Bernoulli's principle in fluid mechanics, the high-speed jet generates a strong entrainment effect at the bottom of the drilled blind hole, forming a local high negative pressure zone. This explosive suction can instantly suck up the newly generated, easily floating carbon fiber dust, solving the problem of reduced suction power of traditional external vacuum cleaners for dust at the bottom of deep holes or blind holes.

[0056] Environmental protection and anti-clogging self-cleaning cycle: The high-speed airflow ejected from the linkage booster pipe not only carries dust into the external main suction pipe, but also uses high-pressure airflow to blow away the fiber burrs adhering to the inner wall of the annular suction chamber 61, thus achieving self-cleaning of the suction channel.

[0057] Furthermore, a high-precision contact-type high-frequency displacement sensor 65 is installed between the presser foot sleeve and the T-shaped connecting component. The output signal of the high-frequency displacement sensor 65 is proportional to the pressure. The control system acquires this signal in real time and adjusts the feed pressure of the robotic arm through closed-loop control to ensure that the clamping force is always maintained within the optimal process window.

[0058] By introducing a mechanically linked pressurizing component, this invention is no longer a simple combination of a "pressurizer foot + suction pipe". The floating pressurizer foot mechanism is not only a positioning and anti-delamination tool, but also becomes the power pump of the environmentally friendly dust removal subsystem; the environmentally friendly dust removal subsystem is not only an environmental protection device, but its local high-pressure airflow in turn enhances the chip removal efficiency and reduces the increase in axial force caused by chip blockage, thereby helping to suppress delamination.

[0059] This structure integrates the two functions of "anti-delamination" and "environmentally friendly dust removal" into one physical structure, promoting each other and significantly improving the overall process performance of composite material hole making.

[0060] In summary, this invention provides a hole-making robot for processing composite parts. By designing an integrated high-rigidity end effector, integrating floating pressure foot and force control technology, ultrasonic vibration-assisted hole-making technology, and an efficient and environmentally friendly dust removal system, it achieves high-quality, high-efficiency, and automated hole-making for composite parts.

[0061] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A hole-making robot for processing composite parts, characterized in that, It includes a mobile positioning subsystem (100), a six-degree-of-freedom robotic arm (200), an integrated end effector (300), an environmental dust removal subsystem (400), and an axial feed system (500). The integrated end effector (300) includes a spindle mounting housing (1) fixedly connected to the end of a six-degree-of-freedom robotic arm (200). An ultrasonic transducer (20) is fixedly mounted on one side of the spindle mounting housing (1), and a servo drive motor (2) is provided at the bottom of the spindle mounting housing (1). A bracket fixing plate (3) is fixedly connected to the bottom of the servo drive motor (2). The output end of the servo drive motor (2) extends through to the bottom of the bracket fixing plate (3) and is fixedly connected to a high-speed electric spindle (4). A floating pressure foot mechanism (6) is provided at one end of the bracket fixing plate (3). A mechanical linkage pressurization component is provided between the floating presser foot mechanism (6) and the environmental protection dust removal subsystem (400).

2. The drilling robot for composite parts processing according to claim 1, characterized in that, The floating presser foot mechanism (6) includes a T-shaped connecting component (5) fixedly connected to one end of the bracket fixing base plate (3). The two ends of the T-shaped connecting component (5) are symmetrically threaded with a preload adjustment component (62). The top of the preload adjustment component (62) is threaded with a locking limit nut (63). The bottom of the preload adjustment component (62) is fixedly connected with a presser foot sleeve (61). The bottom of the presser foot sleeve (61) is fixedly connected with a flexible connecting element (64). A high-frequency acquisition displacement sensor (65) is fixedly installed through the side wall of the T-shaped connecting component (5).

3. The drilling robot for composite parts processing according to claim 1, characterized in that, The environmental dust removal subsystem (400) includes a dust isolation cover (11) fixedly connected to the lower surface of the bracket fixing base plate (3) and a booster plunger (8) fixedly connected to one side of the outer surface of the spindle mounting housing (1). The dust isolation cover (11) is sleeved on the outside of the high-speed electric spindle (4). A second linkage booster pipeline (9) is fixedly connected between the dust isolation cover (11) and the booster plunger (8). A one-way valve (10) is fixedly installed at one end of the second linkage booster pipeline (9) near the dust isolation cover (11).

4. The drilling robot for processing composite parts according to claim 3, characterized in that, The flexible connecting element (64) has a sealed volume chamber (67) inside, and a conductive rubber sealing ring (66) is fixedly connected to the bottom of the flexible connecting element (64). The top of the booster plunger (8) is fixedly connected to a first linkage booster pipe (7), and the first linkage booster pipe (7) is connected to the inside of the flexible connecting element (64).

5. The drilling robot for composite parts processing according to claim 4, characterized in that, The side wall of the dust isolation cover (11) is fixedly connected to a negative pressure pipeline (12), and the interior of the dust isolation cover (11) is provided with an annular dust suction chamber (14), and the inner wall of the annular dust suction chamber (14) is provided with a spiral guide groove (13).

6. A hole-making robot for processing composite parts according to claim 3, characterized in that, The interior of the booster plunger (8) is hollow, and a movable piston plate (15) is slidably connected to the inner wall of the booster plunger (8). A return spring (16) is fixedly connected between the upper surface of the movable piston plate (15) and the inner wall of the booster plunger (8).

7. A hole-making robot for processing composite parts according to claim 1, characterized in that, The axial feed system (500) is located on one side of the outer surface of the spindle mounting housing (1). The axial feed system (500) includes a mounting block (17) fixedly connected to one side of the outer surface of the spindle mounting housing (1). An electric push rod (18) is fixedly installed on one side of the outer surface of the mounting block (17). A movable plate (19) is fixedly connected to the output end of the electric push rod (18). One side of the movable plate (19) is fixedly connected to a servo drive motor (2).

8. A hole-making robot for processing composite parts according to claim 1, characterized in that, The mobile positioning subsystem (100) includes an operating platform (101) and a base (102). The base (102) is fixedly connected to the bottom of the six-degree-of-freedom robotic arm (200), and the base (102) is placed on the upper surface of the operating platform (101). A parts clamping system (600) and a collection system (700) are also placed at one end of the operating platform (101).

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