Series-parallel hole-making double-robot applied to aviation thin-wall part

Abstract

The utility model discloses a series-parallel hole-making double-robot applied to an aviation thin-wall part. Comprising a pair of robots, each robot is mainly composed of a motion supporting assembly and a working assembly, a thin-wall part is arranged between the working assemblies of the pair of robots, one working assembly is arranged between each motion supporting assembly and the corresponding thin-wall part, and the motion supporting assemblies are fixedly connected with the working assemblies. The pair of robots are oppositely arranged in parallel on the surfaces close to the thin-wall part; the motion supporting assembly comprises a rack, a sliding rail, a motion platform and a branch chain assembly, the branch chain assembly comprises a first branch chain, a second branch chain and a third branch chain, and three-degree-of-freedom parallel connection of one translational motion degree of freedom and two rotational degrees of freedom is achieved; working assemblies of the pair of robots are different, the working assembly of one robot is a drill bit which is responsible for drilling of the main side robot, and the working assembly of the other robot is jacking iron which is responsible for supporting of the auxiliary side robot. The device is compact in structure, large in bearing capacity and high in precision, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a dual robot for hybrid hole making of thin-walled aerospace parts. Background Technology

[0002] Hole fabrication for thin-walled aerospace components is a critical process in aircraft manufacturing, affecting the safety and performance of important structures such as wings and fuselages. Thin-walled components typically have a wall thickness of no more than 1.6 mm, making them highly susceptible to deformation, damage, and hole misalignment during hole fabrication. Therefore, extremely stringent requirements are placed on the precision and quality of the holes. Even minute deviations in hole position can lead to improper component assembly or affect structural stability. The inner surface quality of the holes must also meet high standards to avoid material fatigue caused by stress concentration.

[0003] Existing hole-making robots have significant shortcomings in terms of motion freedom, material selection, structural rigidity, collaborative processing efficiency, and modular design. For example, they are limited in motion capability, heavy and difficult to reduce weight, have insufficient processing rigidity that easily leads to workpiece deformation, have low single-machine operation efficiency, and have defects in modular design, making it difficult to meet diverse industrial needs. Utility Model Content

[0004] To address the challenges encountered by existing hole-making devices, this invention provides a dual-robot solution for hybrid hole-making of thin-walled aerospace parts. Parallel mechanisms with few degrees of freedom are particularly noteworthy in robotics. Among them, three-degree-of-freedom parallel mechanisms with one translational and two rotational degrees of freedom (1T2R) are widely used in the design of five-degree-of-freedom hybrid robots due to their advantages such as simple structure, superior rigidity, high positioning accuracy, and low manufacturing cost. These robots combine a 1T2R parallel mechanism with a two-degree-of-freedom rotating head or an XY-plane motion platform to efficiently accomplish complex machining tasks.

[0005] The above-mentioned technical problems of this utility model are mainly solved by the following technical solutions:

[0006] This utility model includes a pair of robots, each robot mainly composed of a motion support component and a working component. A thin-walled component is arranged between the working components of the pair of robots. A working component is provided between each motion support component and the thin-walled component. The motion support component and the working component are fixedly connected. The pair of robots are arranged relatively parallel to each other with their sides close to the thin-walled component.

[0007] The motion support assembly includes a frame and four slide rails; the four slide rails are divided into two vertical slide rails and two horizontal slide rails, the two horizontal slide rails are arranged vertically at intervals, and the upper and lower ends of the two vertical slide rails are slidably connected between the two horizontal slide rails; the frame is slidably connected vertically between the two vertical slide rails.

[0008] The motion support assembly further includes a motion platform and a branch assembly; the motion platform is installed at one end of the branch assembly near the thin-walled component, and the motion platform is fixedly connected to the working assembly.

[0009] The branch assembly includes a first branch, a second branch, and a third branch; one end of each of the first branch, the second branch, and the third branch is connected to the motion platform.

[0010] The first, second, and third branches have the same structure, each including a connecting plate, a rotating joint, a sliding joint, a hinged joint, and a bracket. The sliding joint includes a lead screw, a slide saddle, a linear guide rail, and a servo motor. The linear guide rail is mounted on the connecting plate, and the servo motor is mounted on the linear guide rail. The output shaft of the servo motor is connected to the lead screw via a coupling. The other end of the lead screw passes through the connecting plate and is connected to the hinged joint via a bearing seat. The slide saddle is threaded onto the lead screw and is slidably connected to the linear guide rail. The slide saddle is hinged to the bracket via a rotating joint, and the bracket is fixedly mounted on the frame.

[0011] Specifically, the first branch includes a first connecting plate, a first rotating joint, a first sliding joint, a first Hooke's hinge, and a first bracket; the first sliding joint adopts a lead screw and nut sliding joint, and the first sliding joint includes a first lead screw, a first slide saddle, a first linear guide rail, and a first servo motor; the first linear guide rail is mounted on the first connecting plate, the first servo motor is mounted on the first linear guide rail, the output shaft of the first servo motor is connected to the first lead screw through a coupling, the other end of the first lead screw passes through the first connecting plate through a bearing seat and is connected to the first Hooke's hinge, the first slide saddle is threadedly fitted onto the first lead screw, and the first slide slidably connects to the first linear guide rail, the first slide saddle is hinged to the first bracket through the first rotating joint, and the first bracket is fixedly mounted on the frame.

[0012] Specifically, the second branch includes a second connecting plate, a second rotary joint, a second sliding joint, a second ball joint, and a second bracket; the second sliding joint adopts a lead screw and nut sliding joint, and the second sliding joint includes a second lead screw, a second slide saddle, a second linear guide rail, and a second servo motor; the second linear guide rail is mounted on the second connecting plate, the second servo motor is mounted on the second linear guide rail, the output shaft of the second servo motor is connected to the second lead screw through a coupling, the other end of the second lead screw passes through the second connecting plate through a bearing seat and is connected to the second ball joint, the second slide saddle is threadedly fitted onto the second lead screw, and the second slide slidably connects to the second linear guide rail, the second slide saddle is hinged to the second bracket through the second rotary joint, and the second bracket is fixedly mounted on the frame.

[0013] Specifically, the third branch includes a third connecting plate, a third rotary joint, a third sliding joint, a third ball joint, and a third support; the third sliding joint adopts a lead screw and nut sliding joint, and includes a third lead screw, a third slide saddle, a third linear guide rail, and a third servo motor; the third linear guide rail is mounted on the third connecting plate, the third servo motor is mounted on the third linear guide rail, the output shaft of the third servo motor is connected to the third lead screw through a coupling, the other end of the third lead screw passes through the third connecting plate through a bearing seat and is connected to the third ball joint, the third slide saddle is threadedly fitted onto the third lead screw, and the third slide slidably connects to the third linear guide rail, the third slide saddle is hinged to the third support through the third rotary joint, and the third support is fixedly mounted on the frame.

[0014] In the pair of robots, one robot's working component is a drill bit, and the other robot's working component is a top iron.

[0015] The motion support component is connected to an external drive module, which causes the motion support component to move along the slide rail below the frame, and also causes the frame to move along the vertical slide rails on the left and right sides of the frame, thereby causing the motion platform and the support component to move in the horizontal and vertical directions.

[0016] A clamp is provided between the working components of the pair of robots, the clamp clamping and fixing the thin-walled component so that the thin-walled component is arranged parallel to the side of the motion support component near the thin-walled component.

[0017] The beneficial effects of this utility model are as follows:

[0018] 1. To achieve 1T2R (one translation and two rotations) three-degree-of-freedom motion output of the motion platform relative to the frame, a compact design is adopted. The platform has three motion chains, and the overall rigidity of the mechanism is improved through redundant constraints. This mechanism can be used as an independent motion module to achieve precise 1T2R movements.

[0019] 2. The main body of the robot frame and support chains are made of composite materials, which are lightweight, modular, easy to transfer and deploy quickly, and improve the flexibility of the production line and manufacturing. The motion joints are made of metal materials to ensure the stability of the joint movement. The metal materials have high hardness and wear resistance and can withstand the working requirements of the motion joints under high-intensity movement and friction. The robot also has the characteristics of compact structure, large load-bearing capacity, high precision and high degree of modularity, which effectively makes up for the many shortcomings of existing equipment.

[0020] 3. The dual robots are arranged symmetrically to achieve a dual-station distribution. The main robot is responsible for performing the hole-making task, while the slave robot supports the workpiece with top irons to ensure rigidity during processing. This dual-robot collaboration not only improves overall processing efficiency but also avoids workpiece deformation caused by uneven force during hole-making, ensuring processing quality. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model.

[0022] Figure 2 This is a schematic diagram of the structure of the first branch in an embodiment of this utility model.

[0023] Figure 3 This is a schematic diagram of the construction of the second branch in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the third branch in an embodiment of the present invention.

[0025] In the diagram: 1. First branch, 101. First lead screw, 102. First support, 103. First slide saddle, 104. First linear guide, 105. First servo motor, 2. Second branch, 201. Second lead screw, 202. Second support, 203. Second slide saddle, 204. Second linear guide, 205. Second servo motor, 3. Third branch, 301. Third lead screw, 302. Third support, 303. Third slide saddle, 304. Third linear guide, 305. Third servo motor, 4. Frame, 5. Slide rail, 6. Motion platform, 7. Drill bit, 8. Thin-walled component, 9. Fixture, 10. Top iron, R1. First revolute joint, R2. Second revolute joint, R3. Third revolute joint, P1. First prismatic joint, P2. Second prismatic joint, P3. Third prismatic joint, U1. First Hooke hinge, S2. Second ball joint, S3. Third ball joint. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] The structural schematic diagram of this utility model is shown below. Figure 1 As shown, the invention includes a pair of robots, each of which is mainly composed of a motion support component and a working component. A thin-walled component 8 is arranged between the working components of the pair of robots. A working component is provided between each motion support component and the thin-walled component 8. The motion support component and the working component are fixedly connected. The pair of robots are arranged face to face and parallel to each other with their sides close to the thin-walled component 8.

[0028] The motion support assembly includes a frame 4 and four slide rails 5; the four slide rails 5 are divided into two vertical slide rails 5 and two horizontal slide rails 5, the two horizontal slide rails 5 are arranged vertically at intervals, and the upper and lower ends of the two vertical slide rails 5 are slidably connected between the two horizontal slide rails 5; the frame 4 is slidably connected vertically between the two vertical slide rails 5.

[0029] The frame 4 is a square frame. The left and right ends of the frame 4 can move up and down along two vertical slide rails 5. The motion support assembly also includes a motion platform 6 and a support assembly. The frame 4 is placed vertically. A support assembly is installed between the upper and lower end faces of the frame 4. The support assembly is fixedly connected to the upper end face, left end face and right end face of the frame 4. A motion platform 6 is installed at the end of the support assembly near the thin-walled part 8. The motion platform 6 is fixedly connected to the working assembly.

[0030] In practice, the robot frame 4 and the main branch are made of composite materials, while the motion joints are made of metal to ensure the stability of the motion.

[0031] The branch assembly includes a first branch 1, a second branch 2, and a third branch 3, forming an RPU&2RPS topology. The first branch 1 is an RPU-type motion branch, while the second branch 2 and the third branch 3 have the same structure and are both RPS-type motion branches. The branch assembly enables the parallel connection of three degrees of freedom: one translational degree of freedom and two rotational degrees of freedom (1T2R).

[0032] Among them, the parallel three degrees of freedom of the branch assembly, namely one translational degree of freedom and two rotational degrees of freedom 1T2R, means that with the vertical direction as the X-axis, the horizontal direction as the Y-axis, and the direction perpendicular to the plane where the thin-walled part 8 is located as the Z-axis, the branch assembly can move along the Z-axis, that is, translate in the plane perpendicular to the thin-walled part 8; it can also rotate around the X-axis, that is, swing left and right in the vertical direction; and it can also rotate around the Y-axis, that is, swing up and down in the horizontal direction.

[0033] From frame 4 to motion platform 6, the first branch 1 has a rotating joint connected to frame 4, a sliding joint connected to the rotating joint, and a Hooke joint connected to motion platform; the second branch 2 and the third branch 3 have a rotating joint connected to frame 4, a sliding joint connected to the rotating joint, and a ball joint connected to motion platform.

[0034] The first branch 1 is installed on the upper surface of the frame 4, the second branch 2 and the third branch 3 are installed on the left and right end surfaces of the frame 4 respectively, and one end of the first branch 1, the second branch 2 and the third branch 3 are all connected to the motion platform 6.

[0035] The first branch 1, the second branch 2, and the third branch 3 have the same structure, each including a connecting plate, a rotating joint, a sliding joint, a hinged joint, and a bracket. The sliding joint includes a lead screw, a slide saddle, a linear guide rail, and a servo motor. The linear guide rail is mounted on the connecting plate, and the servo motor is mounted on the linear guide rail. The output shaft of the servo motor is connected to the lead screw through a coupling. The other end of the lead screw passes through the connecting plate and is connected to the hinged joint through a bearing seat. The slide saddle is threaded onto the lead screw and is slidably connected to the linear guide rail. The slide saddle is hinged to the bracket through a rotating joint, and the bracket is fixedly mounted on the frame 4.

[0036] The structural diagram of the first branch is shown below. Figure 2 As shown, the first branch 1 includes a first connecting plate, a first rotary joint R1, a first prismatic joint P1, a first Hooke hinge U1, and a first bracket 102; the first prismatic joint P1 adopts a screw-nut sliding joint, and includes a first screw 101, a first sliding saddle 103, a first linear guide rail 104, and a first servo motor 105; specifically, the first linear guide rail 104 is mounted on the first connecting plate, the first servo motor 105 is mounted on the first linear guide rail 104, the output shaft of the first servo motor 105 is connected to the first screw 101 through a coupling, and the other end of the first screw 101 is connected to the first screw 101 through a shaft. The bearing seat passes through the first connecting plate and is connected to the first Hooke hinge U1. The first sliding saddle 103 is threadedly fitted onto the first lead screw 101. At the same time, the first sliding saddle 103 is slidably connected to the first linear guide rail 104. The first sliding saddle 103 is hinged to the first bracket 102 through the first revolute joint R1. The first bracket 102 is fixedly installed on the frame 4. The first revolute joint R1 serves as the active motion joint of the first branch chain 1. The first bracket 102 serves as the bearing of the first revolute joint R1. The first linear guide rail 104 serves as the bearing and guide of the first prismatic joint P1. The first sliding saddle 103 serves as the moving part of the first prismatic joint P1.

[0037] The structural diagram of the second branch is shown below. Figure 3 As shown, the second branch 2 includes a second connecting plate, a second rotary joint R2, a second prismatic joint P2, a second ball joint S2, and a second bracket 202. The second prismatic joint P2 adopts a screw-nut sliding joint and includes a second screw 201, a second sliding saddle 203, a second linear guide 204, and a second servo motor 205. Specifically, the second linear guide 204 is mounted on the second connecting plate, and the second servo motor 205 is mounted on the second linear guide 204. The output shaft of the second servo motor 205 is connected to the second screw 201 through a coupling, and the other end of the second screw 201 is connected to the shaft. The bearing seat passes through the second connecting plate and connects to the second ball joint S2. The second slide saddle 203 is threadedly fitted onto the second lead screw 201. The second slide saddle 203 is slidably connected to the second linear guide 204. At the same time, the second slide saddle 203 is hinged to the second bracket 202 through the second rotary joint R2. The second bracket 202 is fixedly installed on the frame 4. The second rotary joint R2 serves as the active motion joint of the second branch 2. The second bracket 202 serves as the load-bearing component of the second rotary joint R2. The second linear guide 204 serves as the bearing and guide component of the second sliding joint P2. The second slide saddle 203 serves as the moving component of the second sliding joint P2.

[0038] The structural diagram of the third branch is shown below. Figure 4As shown, the third branch 3 includes a third connecting plate, a third rotary joint R3, a third prismatic joint P3, a third ball joint S3, and a third bracket 302; the third prismatic joint P3 adopts a screw-nut sliding joint, and includes a third screw 301, a third sliding saddle 303, a third linear guide 304, and a third servo motor 305; specifically, the third linear guide 304 is mounted on the third connecting plate, the third servo motor 305 is mounted on the third linear guide 304, the output shaft of the third servo motor 305 is connected to the third screw 301 through a coupling, and the other end of the third screw 301 is connected to the shaft. The bearing seat passes through the third connecting plate and connects to the third ball joint S3. The third slide saddle 303 is threadedly fitted onto the third lead screw 301. The third slide saddle 303 is slidably connected to the third linear guide 304. At the same time, the third slide saddle 303 is hinged to the third bracket 302 through the third rotary joint R3. The third bracket 302 is fixedly installed on the frame 4. The third rotary joint R3 serves as the active motion joint of the third branch chain 3. The third bracket 302 serves as the load-bearing component of the third rotary joint R3. The third linear guide 304 serves as the bearing and guide component of the third sliding joint P3. The third slide saddle 303 serves as the moving component of the third sliding joint P3.

[0039] In practice, the combined action of the first prismatic joint P1, the second prismatic joint P2, and the third prismatic joint P3 uniquely determines the position of the motion platform, thereby realizing the motion platform's one translational and two rotational movements relative to the frame 4.

[0040] More specifically, for example, the output shaft of the first servo motor 105 is transmitted to the first lead screw 101 through a coupling, causing the first lead screw 101 to rotate, causing the first slide saddle 103 to slide upward along the first linear guide rail 104, thereby causing the first rotary joint R1 to rotate upward, and at the same time the first Hooke hinge U1 will also be driven to rotate upward, that is, the first branch 1 swings upward.

[0041] More specifically, for example, the output shaft of the second servo motor 205 is transmitted to the second lead screw 201 through a coupling, causing the second lead screw 201 to rotate, causing the second slide saddle 203 to slide outward along the second linear guide rail 204, thereby causing the second rotary joint R2 to rotate to the left. At the same time, the second ball joint S2 will also be driven to rotate to the left, that is, the second branch 2 swings to the left.

[0042] More specifically, for example, the output shaft of the third servo motor 305 is transmitted to the third lead screw 301 through a coupling, causing the third lead screw 301 to rotate, causing the third slide saddle 303 to slide outward along the third linear guide rail 304, thereby causing the third rotary joint R3 to rotate to the right. At the same time, the third ball joint S3 will also be driven to rotate to the right, that is, the third branch 3 swings to the right.

[0043] The motion support components of a pair of robots have the same structure, but their working components are different. In the pair of robots, the working component of one robot is the drill bit 7, which acts as the main robot and is responsible for the hole-making task. The working component of the other robot is the top iron 10, which acts as the slave robot and is responsible for supporting the workpiece to ensure rigidity during the processing. The two robots work together to achieve a dual-station distribution, which not only improves the overall processing efficiency, but also avoids the deformation of the workpiece caused by uneven force while making holes, thereby ensuring the processing quality.

[0044] The motion support assembly is driven by an external drive module, which causes the motion support assembly to move left and right along the slide rail 5 below the frame 4, and also causes the frame 4 to move up and down along the vertical slide rails 5 on the left and right sides of the frame 4, thereby causing the motion platform 6 and the support assembly to move in the horizontal and vertical directions.

[0045] A clamp 9 is provided between the working components of a pair of robots. The thin-walled component 8 is clamped and fixed by the clamp 9, so that the thin-walled component 8 is arranged parallel to the side of the motion support component that is close to the thin-walled component 8.

[0046] The above description of the embodiments is intended to detail the technical concept and key features of this utility model, and is aimed at helping those skilled in the art to understand the content of the utility model and implement it accordingly, but is not intended to limit the scope of protection of this utility model. Any equivalent substitutions, changes or modifications made based on the core spirit and technical essence of this utility model should be considered as being covered within the scope of protection of this utility model, so as to ensure the applicability and innovativeness of its technical solution in various situations.

Claims

1. A dual-robot system for hybrid hole-making of thin-walled aerospace parts, characterized in that: The system includes a pair of robots, each of which is mainly composed of a motion support component and a working component. A thin-walled component (8) is arranged between the working components of the pair of robots. A working component is provided between each motion support component and the thin-walled component (8). The motion support component and the working component are fixedly connected. The pair of robots are arranged relatively parallel to each other with their sides close to the thin-walled component (8).

2. The dual-robot system for hybrid hole forming of thin-walled aerospace parts according to claim 1, characterized in that: The motion support assembly includes a frame (4) and four slide rails (5); the four slide rails (5) are divided into two vertical slide rails (5) and two horizontal slide rails (5), the two horizontal slide rails (5) are arranged vertically at intervals, and the upper and lower ends of the two vertical slide rails (5) are slidably connected between the two horizontal slide rails (5); the frame (4) is slidably connected vertically between the two vertical slide rails (5).

3. The dual-robot system for hybrid hole forming of thin-walled aerospace parts according to claim 2, characterized in that: The motion support assembly also includes a motion platform (6) and a branch assembly; the motion platform (6) is installed at one end of the branch assembly near the thin-walled member (8), and the motion platform (6) is fixedly connected to the working assembly.

4. The dual-robot system for hybrid hole forming of thin-walled aerospace parts according to claim 3, characterized in that: The branch assembly includes a first branch (1), a second branch (2), and a third branch (3); one end of each of the first branch (1), the second branch (2), and the third branch (3) is connected to the motion platform (6).

5. A dual-robot system for hybrid hole forming of thin-walled aerospace parts according to claim 4, characterized in that: The first branch (1), the second branch (2), and the third branch (3) have the same structure, each including a connecting plate, a rotating joint, a sliding joint, a hinged joint, and a bracket; the sliding joint includes a lead screw, a slide saddle, a linear guide rail, and a servo motor; the connecting plate is equipped with a linear guide rail, the servo motor is mounted on the linear guide rail, the output shaft of the servo motor is connected to the lead screw through a coupling, the other end of the lead screw passes through the connecting plate through a bearing seat and is connected to the hinged joint, the slide saddle is threaded onto the lead screw, and the slide saddle is slidably connected to the linear guide rail, the slide saddle is hinged to the bracket through a rotating joint, and the bracket is fixedly mounted on the frame (4).

6. The dual-robot system for hybrid hole forming of thin-walled aerospace parts according to claim 1, characterized in that: In the pair of robots, the working component of one robot is a drill bit (7), and the working component of the other robot is a top iron (10).

7. The dual-robot system for hybrid hole forming of thin-walled aerospace parts according to claim 1, characterized in that: The motion support component is connected to an external drive module, which causes the motion support component to move along the slide rail (5) below the frame (4), and also causes the frame (4) to move along the vertical slide rails (5) on the left and right sides of the frame (4), thereby causing the motion platform (6) and the support component to move in the horizontal and vertical directions.

8. A dual-robot system for hybrid hole forming of thin-walled aerospace parts according to claim 1, characterized in that: A clamp (9) is provided between the working components of the pair of robots, the clamp (9) clamps and fixes the thin-walled member (8) so that the thin-walled member (8) is arranged parallel to the side of the motion support assembly near the thin-walled member (8).

Images