Composite assembly collaborative robot

Abstract

The utility model discloses a combined type assembly collaborative robot, which belongs to the technical field of collaborative robots and comprises a moving platform. The at least one cooperative mechanical arm is located on the moving platform and is driven by the moving platform; the assembling assembly is arranged at the tail end of the cooperative mechanical arm, the assembling assembly comprises a fixed flange plate, a power electric screwdriver located on the fixed flange plate and an assembling chuck located at the tail end of the power electric screwdriver, and the fixed flange plate is fixedly installed at the tail end of the cooperative mechanical arm; the power electric screwdriver is connected with the fixed flange plate through a movable guide rod, and the assembly chuck is used for assembling a workpiece. According to the utility model, automatic cruise, arbitrary planning and effective obstacle avoidance of an assembly path can be realized, the assembly requirements of multiple poses, multiple angles and multiple models can be met, and the assembly requirements and precision requirements of different parts, different specifications and different paths can be met.

Description

Technical Field

[0001] The utility model belongs to the technical field of collaborative robots, and in particular relates to a composite assembly collaborative robot. Background Art

[0002] Assembly is a key step in aircraft manufacturing and maintenance, accounting for a significant portion of the entire manufacturing process, approximately 45%-60%. Even with the widespread use of rivets, the number of bolts used in aircraft assembly remains enormous. For example, each A340 passenger aircraft contains 900,000 rivets and 700,000 bolts. Therefore, the installation and removal of screws and cover plates is a significant workload, and requires high precision, accuracy, and quality during both machining and assembly.

[0003] As the development cycle of new aircraft models is gradually shortened, the quality and efficiency of screw and cover plate assembly have become a focus issue in aircraft assembly and maintenance in terms of accelerating delivery progress, reducing maintenance and manufacturing costs, and improving product quality. In the actual assembly process of aircraft, assembly operations are often performed manually. Due to limited operating space, the assembly and maintenance of screws and cover plates also pose certain safety risks to the personnel themselves. Therefore, a composite assembly collaborative robot is needed to assemble screws and cover plates. Utility Model Content

[0004] The utility model overcomes the deficiencies of the prior art and provides a composite assembly collaborative robot to solve the problems existing in the prior art.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is: a composite assembly collaborative robot, comprising

[0006] Mobile platforms;

[0007] at least one collaborative robotic arm, the collaborative robotic arm being located on the mobile platform and driven by the mobile platform;

[0008] An assembly component is arranged at the end of the collaborative robot arm, and the assembly component includes a fixed flange plate, a power electric screwdriver located on the fixed flange plate, and an assembly chuck located at the end of the power electric screwdriver. The fixed flange plate is fixedly installed at the end of the collaborative robot arm, the power electric screwdriver is connected to the fixed flange plate through a movable guide rod, and the assembly chuck assembles the workpiece.

[0009] In a preferred embodiment of the present invention, the mobile platform includes a platform body, a battery located in the platform body, and a driving wheel powered by the battery, wherein the driving wheel is installed at the bottom of the platform body.

[0010] In a preferred embodiment of the present invention, a controller is provided in the platform body for controlling the movement of the mobile platform.

[0011] In a preferred embodiment of the present invention, the platform body is provided with navigation modules, and the navigation modules are in two groups and are respectively located at the front end and the rear end of the platform body.

[0012] In a preferred embodiment of the present invention, a visual component is provided at the end of the collaborative robot arm, and the visual component is arranged adjacent to the assembly component.

[0013] In a preferred embodiment of the present invention, the visual component includes a mounting flange, a light source, a lens, and a camera. The light source, the lens, and the camera are all fixed on the mounting flange and are arranged in sequence from top to bottom.

[0014] In a preferred embodiment of the present invention, the camera is connected to the mounting flange via a bracket.

[0015] The present invention solves the defects in the background technology and has the following beneficial effects:

[0016] (1) The present invention can realize automatic navigation, arbitrary planning and effective obstacle avoidance of assembly paths through the mobile platform, and can adapt to the assembly requirements of multiple postures, multiple angles and multiple models through the collaborative robot arm, and its assembly precision requirements and efficiency are effectively improved. The assembly requirements and precision requirements of different parts, different specifications and different paths can be met through the visual components, and the assembly and maintenance requirements of different processes, different specifications and different materials can be met through the assembly components;

[0017] (2) Compared with manual operation, the present invention greatly improves the assembly and processing efficiency and avoids the safety risks of manual operation. In addition, the present invention can achieve the effect of synchronous operation of the same process and synchronous operation of different processes by carrying a combination of dual collaborative robotic arms, which can further improve the assembly and maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention is further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the utility model;

[0020] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0021] Figure 3 This is a schematic structural diagram of a mobile platform in a preferred embodiment of the present utility model;

[0022] Figure 4This is a schematic diagram of the structure of the assembly components of the preferred embodiment of the utility model;

[0023] In the figure: 10. Mobile platform; 11. Platform body; 12. Battery; 13. Driving wheel; 20. Collaborative robot arm; 30. Assembly component; 31. Fixed flange plate; 32. Power screwdriver; 33. Assembly chuck; 40. Mobile guide rod; 50. Controller; 60. Navigation module; 70. Vision component; 71. Mounting flange; 72. Light source; 73. Lens; 74. Camera; 80. Bracket. DETAILED DESCRIPTION

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0025] This embodiment provides a composite assembly collaborative robot, which greatly improves assembly processing efficiency and avoids the safety risks of manual operation compared to manual operation.

[0026] like Figure 1 As shown, the robot of this embodiment includes a mobile platform 10 , at least one collaborative robot arm 20 and an assembly component 30 . The collaborative robot arm 20 is located on the mobile platform 10 and is driven by the mobile platform 10 .

[0027] Combine Figure 2 and Figure 4 As shown, the assembly component 30 of this embodiment is arranged at the end of the collaborative robot arm 20, and the assembly component 30 includes a fixed flange plate 31, a power electric screwdriver 32 located on the fixed flange plate 31, and an assembly chuck 33 located at the end of the power electric screwdriver 32. The fixed flange plate 31 is fixedly installed at the end of the collaborative robot arm 20, and the power electric screwdriver 32 is connected to the fixed flange plate 31 through a movable guide rod 40. The assembly chuck 33 assembles the workpiece. Under the cooperation of the mobile platform 10 and the collaborative robot arm 20, when the assembly component 30 moves to the position to be assembled, the power electric screwdriver 32 drives the assembly chuck 33 to perform assembly operations on the workpiece.

[0028] like Figure 2 As shown, in this embodiment, a visual component 70 is provided at the end of the collaborative robot arm 20, and the visual component 70 is arranged adjacent to the assembly component 30. The visual component 70 includes a mounting flange 71, a light source 72, a lens 73 and a camera 74. The light source 72, the lens 73 and the camera 74 are all fixed on the mounting flange 71 and are arranged in sequence from top to bottom. Before assembling the workpiece, with the cooperation of the mobile platform 10 and the collaborative robot arm 20, the visual component 70 moves to the position to be assembled, detects and identifies the installation station and the workpiece to be installed, so as to ensure the accuracy of subsequent installation.

[0029] Specifically, the camera 74 is connected to the mounting flange 71 via the bracket 80 , so that the camera 74 is stably mounted on the mounting flange 71 .

[0030] like Figure 3 As shown, the mobile platform 10 of this embodiment includes a platform body 11, a battery 12 located in the platform body 11, and a driving wheel 13 powered by the battery 12. The driving wheel 13 is installed at the bottom of the platform body 11. The driving wheel 13 is set at the bottom center position of the platform body 11 and is powered by the battery 12. Under the power of the battery 12, the driving wheel 13 will drive the platform body 11 to move.

[0031] In this embodiment, a controller 50 is provided in the platform body 11 for controlling the movement of the mobile platform 10, thereby realizing the free movement of the robot, and a navigation module 60 is provided on the platform body 11. There are two groups of navigation modules 60, which are respectively located at the front end and the rear end of the platform body 11. The existence of the navigation module 60 is used for guiding the planning of the travel path and realizing the obstacle avoidance function.

[0032] The number of collaborative robotic arms 20 in this embodiment is one. In actual use, the number of collaborative robotic arms 20 can be installed according to actual use requirements. By combining two collaborative robotic arms 20, the effects of synchronous operation of the same process and synchronous operation of different processes can be achieved, which can further improve the efficiency of assembly and maintenance.

[0033] In actual use of the robot of this embodiment, first, under the control of the controller 50, the mobile platform 10 reaches the designated assembly starting position under the guidance of the navigation module 60, and then the controller 50 controls the collaborative robot arm 20 to move, so that the visual component 70 moves to the position to be assembled, patrols the workpiece that needs to be assembled or inspected, and determines the working starting point and working path of the assembly component 30. Then, after the assembly component 30 receives the instruction from the controller 50, it is driven by the collaborative robot arm 20 and starts to assemble and disassemble the workpiece according to the previous patrol path of the visual component 70. After the assembly and disassembly work is completed, the controller 50 controls the mobile platform 10 to move to the next workstation according to the planned path under the guidance of the navigation module 60 to start work. When all assembly and processing operations are completed, the controller 50 controls the mobile platform 10 to move back to the designated initial position.

[0034] This embodiment can realize automatic cruising, arbitrary planning and effective obstacle avoidance of the assembly path through the mobile platform 10, and can adapt to the assembly requirements of multiple postures, multiple angles and multiple models through the collaborative robot arm 20, and its assembly precision requirements and efficiency are effectively improved. The visual component 70 can meet the assembly requirements and precision requirements of different parts, different specifications and different paths, and the assembly component 30 can meet the assembly and maintenance requirements of different processes, different specifications and different materials. Compared with manual operation, the assembly processing efficiency is greatly improved and the safety risks of manual operation are avoided. In other embodiments, the combination of dual collaborative robot arms 20 can be used to achieve the effects of synchronous operation of the same process and synchronous operation of different processes, which can further improve the assembly and maintenance efficiency.

[0035] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A composite assembly collaborative robot, characterized in that: including a mobile platform (10); at least one collaborative robot arm (20), the collaborative robot arm (20) being located on the mobile platform (10) and driven by the mobile platform (10); An assembly component (30), the assembly component (30) is arranged at the end of the collaborative robot arm (20), the assembly component (30) includes a fixed flange plate (31), a power electric screwdriver (32) located on the fixed flange plate (31), and an assembly chuck (33) located at the end of the power electric screwdriver (32), the fixed flange plate (31) is fixedly installed at the end of the collaborative robot arm (20), the power electric screwdriver (32) is connected to the fixed flange plate (31) through a movable guide rod (40), and the assembly chuck (33) assembles the workpiece; The mobile platform (10) includes a platform body (11), a battery (12) located in the platform body (11), and a driving wheel (13) driven by the battery (12), wherein the driving wheel (13) is installed at the bottom of the platform body (11).

2. A composite assembly collaborative robot according to claim 1, characterized in that: A controller (50) is provided in the platform body (11) for controlling the movement of the mobile platform (10).

3. The composite assembly collaborative robot according to claim 1, characterized in that: The platform body (11) is provided with a navigation module (60), and the navigation modules (60) are in two groups and are respectively located at the front end and the rear end of the platform body (11).

4. A composite assembly collaborative robot according to claim 1, characterized in that: The end of the collaborative robot arm (20) is provided with a visual component (70), and the visual component (70) and the assembly component (30) are arranged adjacent to each other.

5. A composite assembly collaborative robot according to claim 4, characterized in that: The visual component (70) includes a mounting flange (71), a light source (72), a lens (73) and a camera (74), wherein the light source (72), the lens (73) and the camera (74) are all fixed on the mounting flange (71) and arranged in sequence from top to bottom.

6. The composite assembly collaborative robot according to claim 5, characterized in that: The camera (74) is connected to the mounting flange (71) via a bracket (80).

Images