Mechanical hand moving platform positioning structure and positioning method

Abstract

This application relates to a positioning structure and method for a robotic arm mobile platform, comprising a platform body, a robotic arm, a set of moving wheels, and a calibration and positioning module. The robotic arm and the moving wheels are both mounted on the platform body. The calibration and positioning module is located on the outer side of the platform body. A detection and positioning module is also provided on the platform body, which cooperates with the calibration and positioning module to perform positioning of the platform body. A pre-positioning module is also provided on the platform body. This application effectively ensures that the mobile processing platform equipped with the robotic arm can accurately position itself after movement.

Description

Technical Field

[0001] This application relates to the technical field of robotic arm movement and positioning, and in particular to a positioning structure and positioning method for a robotic arm movement platform. Background Technology

[0002] During the fabrication of aircraft panels, bolting or riveting is usually performed in the factory area. However, due to the large size and weight of individual aircraft panel parts, mobile processing platforms equipped with robotic arms are typically used to process the fixed aircraft panels.

[0003] For mobile processing platforms equipped with robotic arms, they need to be moved so that the robotic arms are in the corresponding positions for processing. At this time, the robotic arms need to be precisely positioned to ensure processing accuracy. Summary of the Invention

[0004] To ensure that the mobile processing platform equipped with a robotic arm can accurately position itself after movement, this application provides a positioning structure and method for a robotic arm mobile platform.

[0005] This application provides a positioning structure and method for a robotic arm mobile platform, which adopts the following technical solution: In a first aspect, a positioning structure for a robotic arm mobile platform includes a platform body, a robotic arm, a set of moving wheels, and a calibration positioning module. The robotic arm and the set of moving wheels are both mounted on the platform body. The calibration positioning module is located on the outside of the platform body, and when in use, the calibration positioning module (4) is mounted under the platform of the part to be processed. A detection positioning module is provided on the platform body, and the detection positioning module is used to cooperate with the calibration positioning module to position the platform body. A pre-positioning module is also provided on the platform body.

[0006] By adopting the above technical solution, the pre-positioning module can pre-position the platform body after it has moved, ensuring that the platform body will not be too far from the predetermined processing position after it has moved. Then, the detection positioning module and the calibration positioning module are used to accurately calibrate the position, so that the mobile processing platform equipped with the robotic arm can accurately position itself at the processing position after it has moved.

[0007] Preferably, the detection and positioning module includes a horizontal locator installed on the platform body and a deflection locator installed on the platform body, wherein two horizontal locators are provided.

[0008] By adopting the above technical solution, and by setting up a horizontal positioner and a deflection positioner, the horizontal positioner is used to determine whether the platform body is parallel to the calibration positioning module, and the deflection positioner is used to determine whether the platform body is tilted, so as to facilitate precise adjustment of the platform body position.

[0009] Preferably, the calibration positioning module includes a horizontal positioning module and a central positioning module. There are two horizontal positioning modules, and the two horizontal positioning modules are arranged opposite to the two horizontal positioners. The central positioning module is arranged opposite to the deflection positioner.

[0010] By adopting the above technical solution, and by setting up a horizontal positioning module and a central positioning module, which are pre-loaded on the platform to be processed, it is easy to determine the relative position between the platform to be processed and the platform body, thereby achieving precise positioning of the platform body relative to the equipment to be processed.

[0011] Preferably, the central positioning module has a V-shaped groove.

[0012] By adopting the above technical solution and through the setting of the V-shaped groove, the central positioning module has higher positions on both sides and the lowest position in the center, which makes it easier for the horizontal positioner to determine the farthest distance based on the detection distance, thus achieving precise linear positioning.

[0013] Preferably, the central positioning module has a conical groove.

[0014] By adopting the above technical solution and setting the conical groove, the central positioning module has a higher surrounding position and a lowest central position, which facilitates the horizontal positioner to sense and detect the distance to determine the farthest distance, thereby achieving precise single-point positioning.

[0015] Preferably, the pre-positioning module is a crosshair laser installed on the platform body.

[0016] By adopting the above technical solution and setting up the crosshair laser, during the pre-positioning process, the crosshair laser can clearly enable the staff to observe the pre-positioning location, and the staff can intuitively judge whether the platform body has moved to the pre-positioning location based on the degree of overlap between the ground markings and the crosshair laser.

[0017] Preferably, the platform body is provided with support legs for supporting the platform body.

[0018] By adopting the above technical solution and setting the support legs, after positioning is completed, the support legs can extend to provide stable support for the platform body, ensuring stability during processing.

[0019] Secondly, a method for positioning a robotic arm mobile platform includes the following steps: S1: The staff draws a pre-positioning mark on the ground and manipulates the moving wheels on the platform to move until the pre-positioning module moves to the pre-positioning mark; S2: The two horizontal positioners send signals to detect and compare the distance to the corresponding horizontal positioning module. The platform body moves until the distance between the two horizontal positioners and the corresponding horizontal positioning module is the same and the same as the preset parameters. S3: The deflector sends a signal to detect and compare the distance to the central positioning module. At this time, the platform body moves in multiple directions, causing the distance between the deflector and the central positioning module to fluctuate. Then, the platform body is moved to the position where the distance between the deflector and the central positioning module is the maximum value. S4: Calculate the difference between the maximum distance between the deflection locator and the central positioning module and the distance between the horizontal locator and the corresponding horizontal positioning module, and compare it with the preset parameters. If it matches the preset parameters, the device has moved to the standard position. If it does not match the preset parameters, repeat step S3 until the difference matches the preset parameters.

[0020] By adopting the above technical solution and the above positioning steps, the staff first moves the platform body to initial positioning, then corrects the parallel position and relative distance by detecting the distance between the horizontal positioner and the horizontal positioning module, and then corrects the vertical position by correcting the central position by the deflection positioner, thus achieving precise positioning.

[0021] In summary, this application includes at least one of the following beneficial technical effects: By setting up the detection positioning module and the calibration positioning module, the calibration positioning module is installed at the location of the equipment to be processed, and the detection positioning module is installed on the platform body. The position of the platform body can be determined by adjusting the relative positions of the calibration positioning module and the detection positioning module. With the central positioning module featuring a V-groove, the horizontal positioner can move inside the V-groove to determine the position of the bottom of the V-groove. Since the bottom of the V-groove is located in the center, it facilitates the central positioning module to perform central positioning, ensuring the correct processing position. With the central positioning module featuring a conical groove, the horizontal positioner can move inside the conical groove to determine the bottom position of the groove. Since the bottom of the conical groove is located in the center, the central positioning module can perform central positioning, ensuring the correct machining position. Attached Figure Description

[0022] Figure 1 This is an isometric schematic diagram of the main overall structure in the embodiments of this application; Figure 2 This is a schematic diagram of the calibration and positioning module structure with V-groove, which is the main embodiment of this application. Figure 3 This is a schematic diagram illustrating the initial state during the positioning process, which is the main feature of this application embodiment; Figure 4 This is a schematic diagram illustrating the intermediate states during the positioning process, which is the main feature of this application's embodiments; Figure 5 This is a schematic diagram illustrating the end state during the positioning process, which is the main feature of this application embodiment; Figure 6 This is a schematic diagram of the calibration and positioning module structure with a conical groove, which is the main feature of this application embodiment.

[0023] Reference numerals: 1. Platform body; 2. Robotic arm; 3. Moving wheel set; 4. Calibration and positioning module; 41. Horizontal positioning module; 42. Central positioning module; 5. Detection and positioning module; 51. Horizontal positioner; 52. Deflection positioner; 6. Pre-positioning module; 7. Support leg. Detailed Implementation

[0024] The following is in conjunction with the appendix Figure 1 - Appendix Figure 6 This application will be described in further detail.

[0025] This application discloses a positioning structure and positioning method for a robotic arm mobile platform.

[0026] Example 1 like Figure 1 As shown, a positioning structure for a robotic arm mobile platform includes a platform body 1, a robotic arm 2, a set of moving wheels 3, and a calibration and positioning module 4. The robotic arm 2 is mounted above the platform body 1, and the set of moving wheels 3 is mounted below the platform body 1. The set of moving wheels 3 is driven by a motor and has four moving wheels. Each of the four moving wheels is driven by a motor, which is electrically connected to an external power source. The motor that controls the start and stop of the set of moving wheels 3 is also electrically connected to an external PLC device. In use, the operator can send a signal to the external PLC device through a remote control device. The external PLC device receives and processes the signal and can control the rotation and direction adjustment of one or more moving wheels, thereby realizing multi-directional movement of the platform body 1 on the ground.

[0027] like Figure 1 As shown, a pre-positioning module 6 is installed on the platform body 1. The pre-positioning module 6 is a crosshair laser installed on the platform body 1. The crosshair laser can emit a crosshair laser beam towards the ground. In this embodiment, there are two crosshair lasers, which are located on both sides of the platform body 1 respectively.

[0028] like Figure 1As shown, in actual use, the staff needs to mark the ground at the preset position first. The preferred marking pattern is a cross-shaped target. When pre-positioning is required, the staff can refer to the ground marking position to move the cross-shaped lasers emitted by the two cross-shaped lasers into the inside of the cross-shaped target, and try to make the cross-shaped lasers emitted by the two cross-shaped lasers aligned with the cross of the cross-shaped target. This completes the initial positioning of the moving platform, which can greatly reduce the offset of the platform body 1 and facilitate subsequent fine adjustment.

[0029] like Figure 1 As shown, a detection and positioning module 5 is installed on the platform body 1. The detection and positioning module 5 includes a horizontal locator 51 and a deflection locator 52. There are two horizontal locators 51 on the platform body 1 and one deflection locator 52 on the platform body 1. Both the horizontal locators 51 and the deflection locator 52 are located on the same side of the platform body 1, and the deflection locator 52 is located in the center of the two horizontal locators 51. In this embodiment, both the horizontal locator 51 and the deflection locator 52 are laser rangefinders, and the laser rangefinders are electrically connected to an external PLC device, which can provide real-time feedback of detection signals.

[0030] like Figure 1 and Figure 2 As shown, the calibration positioning module 4 is located outside the platform body 1. In actual use, the calibration positioning module 4 is mounted under the platform of the part to be processed. The calibration positioning module 4 includes a horizontal positioning module 41 and a central positioning module 42. Two horizontal positioning modules 41 are provided on the platform of the part to be processed, and one central positioning module 42 is provided on the platform of the part to be processed. The layout of the horizontal positioning module 41 and the central positioning module 42 on the platform of the part to be processed corresponds to the layout of the horizontal positioner 51 and the deflection positioner 52. The horizontal positioning module 41 is a cuboid with a flat surface, and the central positioning module 42 is a cuboid with a V-groove. In this application, the two horizontal positioning modules 41 and one central positioning module 42 are integrally formed.

[0031] like Figure 1 , Figure 3 and Figure 4As shown, in actual use, after the initial positioning is completed, the two laser rangefinders of the horizontal positioner 51 start to measure the distance, detect the distance between the horizontal positioner 51 and the horizontal positioning module 41, and feed it back to the external PLC device. The PLC device receives and processes the signal. When the distance between the two horizontal positioners 51 and the horizontal positioning module 41 is not equal, the PLC device sends a signal to control the moving wheel group 3 to start unilateral distance adjustment until the distance between the two horizontal positioners 51 and the horizontal positioning module 41 is equal. At this time, the difference between this value and the preset value is compared again. When the detected data is different from the preset value, the PLC device sends a signal to control the moving wheel group 3 to start bilateral distance adjustment until the detected data is equal to the preset value. At this time, the horizontal distance adjustment of the platform body 1 at the position to be processed is completed.

[0032] like Figure 1 , Figure 4 , Figure 5 As shown, the V-groove on the central positioning module 42 is set perpendicular to the ground. After the horizontal distance adjustment is completed, the laser rangefinder of the deflection locator 52 starts to measure the distance, detects the distance between the deflection locator 52 and the central positioning module 42 and feeds it back to the external PLC device. At this time, the PLC device will control the moving wheel group 3 to start swinging in the horizontal direction until the detection data shows a fluctuating pattern of first increasing and then decreasing. At this time, the PLC device will send a signal to control the moving wheel group 3 to move so that the deflection locator 52 is located at the position of the maximum value of the detection data. Finally, the difference between the maximum value of the distance between the deflection locator 52 and the central positioning module 42 and the distance between the horizontal locator 51 and the corresponding horizontal positioning module 41 is calculated and compared with the preset parameters. If it meets the preset parameters, the horizontal positioning of the platform body 1 is completed.

[0033] like Figure 1 As shown, the platform body 1 is also equipped with a support leg 7 for supporting the platform body 1. The support leg 7 is located below the platform body 1. The support leg 7 is telescopic via an electric cylinder and is electrically connected to an external PLC device. It can extend out from the lower side of the platform body 1 and abut against the ground to provide auxiliary support. When the platform body 1 is positioned, the support leg 7 will extend from below the platform body 1 and abut against the ground to support the platform body 1, thereby improving the stability of the platform body 1.

[0034] A method for positioning a robotic arm mobile platform includes the following steps: S1: The staff draws a pre-positioning mark on the ground. The staff then uses an external control device to move the moving wheel group 3 on the platform body 1 until the pre-positioning module 6 moves to the pre-positioning mark. S2: The two horizontal positioners 51 send signals to detect and compare the distance to the corresponding horizontal positioning module 41. The platform body 1 deflects and moves until the distance between the two horizontal positioners 51 and the corresponding horizontal positioning module 41 is the same and the same as the preset parameters. S3: The deflector 52 sends a signal to detect and compare the distance to the central positioning module 42. At this time, the platform body 1 moves in a parallel direction, causing the deflector 52 to detect fluctuations in the distance between itself and the central positioning module 42. Then, the platform body 1 is moved to the position where the deflector 52 detects the maximum distance between itself and the central positioning module 42. S4: Calculate the difference between the maximum distance between the deflection locator 52 and the central positioning module 42 and the distance between the horizontal locator 51 and the corresponding horizontal positioning module 41, and compare it with the preset parameters. If it matches the preset parameters, the device has moved to the standard position. If it does not match the preset parameters, step S3 needs to be repeated until the difference matches the preset parameters.

[0035] The implementation principle of this embodiment is as follows: When the platform body 1 needs to be positioned for processing, the operator can manipulate the platform body 1 to move to the predetermined position, and determine whether the predetermined position has been reached by observing the laser beam emitted by the crosshair laser. Then, the horizontal position is calibrated by the distance measurement of the horizontal positioner 51, and the deflection amount is calibrated by the distance measurement of the deflection positioner 52, so as to complete the positioning of the platform body 1.

[0036] Example 2 like Figure 1 and Figure 6 As shown, the difference between this embodiment and Embodiment 1 is that the central positioning module 42 is a cuboid with a conical groove. At this time, the steps of pre-positioning adjustment and horizontal distance adjustment remain unchanged. After horizontal positioning is completed, the support leg 7 extends to raise the platform body 1 and performs a small up-and-down reciprocating motion. The distance between the deflection locator 52 and the central positioning module 42 is detected and fed back to the external PLC device until the detection data shows a fluctuating pattern of first increasing and then decreasing. At this time, the PLC device will send a signal to control the support leg 7 to extend and retract so that the platform body 1 is located at the position of the maximum value of the detection data, thereby completing the vertical positioning adjustment.

[0037] It should be understood that, since this solution requires the distance between the deflection locator 52 and the central positioning module 42 to be detected after the platform is supported by the support leg 7, the preset center position of the cuboid with the conical groove will be slightly higher than the position of the deflection positioning module when it is detected on the ground, so as to adapt to different ground conditions.

[0038] A method for positioning a robotic arm mobile platform includes the following steps: S1: The staff draws a pre-positioning mark on the ground. The staff then uses an external control device to move the moving wheel group 3 on the platform body 1 until the pre-positioning module 6 moves to the pre-positioning mark. S2: The two horizontal positioners 51 send signals to detect and compare the distance to the corresponding horizontal positioning module 41. The platform body 1 deflects and moves until the distance between the two horizontal positioners 51 and the corresponding horizontal positioning module 41 is the same and the same as the preset parameters. S3: The deflector 52 sends a signal to detect and compare the distance to the central positioning module 42. At this time, the platform body 1 moves in a parallel direction, causing the deflector 52 to detect fluctuations in the distance between itself and the central positioning module 42. Then, the platform body 1 is moved to the position where the deflector 52 detects the maximum distance between itself and the central positioning module 42. S4: The support leg 7 extends and lifts the platform body 1, causing the platform body 1 to move vertically. This causes the deflection positioner 52 to detect fluctuations in the distance between itself and the central positioning module 42. The platform body 1 then moves to the position where the deflection positioner 52 detects the maximum distance between itself and the central positioning module 42. S5: Calculate the difference between the maximum distance between the deflection locator 52 and the central positioning module 42 and the distance between the horizontal locator 51 and the corresponding horizontal positioning module 41, and compare it with the preset parameters. If it matches the preset parameters, the device has moved to the standard position. If it does not match the preset parameters, step S4 needs to be repeated until the difference matches the preset parameters.

[0039] The implementation principle of Embodiment 2 of this application is as follows: When the platform body 1 needs to be positioned for processing, the operator can manipulate the platform body 1 to move to the predetermined position, and determine whether the predetermined position has been reached by observing the laser beam emitted by the crosshair laser. Then, the horizontal position is calibrated by the distance measurement of the horizontal positioner 51, the deflection amount is calibrated by the distance measurement of the deflection positioner 52, and finally the height deviation is calibrated by the distance measurement of the deflection positioner 52, thus completing the positioning of the platform body 1.

[0040] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for positioning a robotic arm mobile platform, implemented using a robotic arm mobile platform positioning structure, characterized in that: The positioning structure of the robotic arm mobile platform includes a platform body (1), a robotic arm (2), a moving wheel set (3), and a calibration positioning module (4). The robotic arm (2) and the moving wheel set (3) are both installed on the platform body (1). The calibration positioning module (4) is located on the outside of the platform body (1), and when in use, the calibration positioning module (4) is loaded under the platform of the part to be processed. The platform body (1) is provided with a detection positioning module (5), which is used to cooperate with the calibration positioning module (4) to position the platform body (1). The platform body (1) is also provided with a pre-positioning module (6). The detection and positioning module (5) includes a horizontal locator (51) installed on the platform body (1) and a deflection locator (52) installed on the platform body (1), and there are two horizontal locators (51); The calibration positioning module (4) includes a horizontal positioning module (41) and a central positioning module (42). There are two horizontal positioning modules (41), and the two horizontal positioning modules (41) are arranged opposite to the two horizontal positioners (51). The central positioning module (42) is arranged opposite to the deflection positioner (52). The central positioning module (42) is provided with a V-shaped groove; The positioning method includes the following steps: S1: The staff draws a pre-positioning mark on the ground and manipulates the moving wheel group (3) on the platform body (1) to move until the pre-positioning module (6) moves to the pre-positioning mark; S2: The two horizontal positioners (51) send signals to detect and compare the distance of the corresponding horizontal positioning module (41). The platform body (1) moves until the distance between the two horizontal positioners (51) and the corresponding horizontal positioning module (41) is the same and the same as the preset parameters. S3: The deflector (52) sends a signal to detect and compare the distance to the central positioning module (42). At this time, the platform body (1) moves in multiple directions, causing the deflector (52) to detect fluctuations in the distance between itself and the central positioning module (42). Then, the platform body (1) is moved to the position where the deflector (52) detects the maximum distance between itself and the central positioning module (42). S4: The maximum value of the distance between the deflection locator (52) and the central positioning module (42) is detected, and the difference between the distance between the horizontal locator (51) and the corresponding horizontal positioning module (41) is calculated. The difference is then compared with the preset parameters. If the difference matches the preset parameters, the device has moved to the standard position. If the difference does not match the preset parameters, step S3 needs to be repeated until the difference matches the preset parameters.

2. The positioning method for a robotic arm mobile platform according to claim 1, characterized in that: The central positioning module (42) has a conical groove.

3. The positioning method for a robotic arm mobile platform according to claim 1, characterized in that: The pre-positioning module (6) is a crosshair laser installed on the platform body (1).

4. The positioning method for a robotic arm mobile platform according to claim 1, characterized in that: The platform body (1) is provided with support legs (7) for supporting the platform body (1).

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