Scribing robot

Abstract

The utility model relates to the technical field of marking machines, and discloses a marking robot which comprises a vehicle body, a driving module, an ink jet module, an obstacle avoidance module, a positioning module, a tracking module, a power supply module, a control module and an ink supply module, the ink jet module comprises an ink jet head, and the ink jet head is connected with the ink supply module; ink is conveyed from the ink supply module to an ink jet head of the ink jet module to be jetted out, the vehicle body is driven to move through the driving module, and therefore the marking function is achieved. In the process, the positioning module can feed back the pose, the orientation angle and the speed of the scribing robot in real time, and the scribing precision is ensured; the tracking module can track the position of the scribing robot in real time through a high-precision positioning system, and the accuracy of a scribing path is ensured; the obstacle avoidance module can effectively avoid collision and improve the operation safety; therefore, the scribing work of the outer skin of the airplane is efficiently and accurately completed, and the working efficiency and quality are improved.

Description

Technical Field

[0001] This utility model relates to the field of line marking machine technology, specifically to a line marking robot. Background Technology

[0002] Marking on the outer skin of an aircraft is a critical process in aircraft manufacturing and maintenance. Its purpose is to precisely mark the positions and contours of subsequent machining operations (such as cutting, drilling, riveting, etc.) on the skin material (such as aluminum alloy, titanium alloy, or composite materials). This process requires extremely high precision and reliability to ensure the safety, aerodynamic performance, and assembly efficiency of the aircraft structure.

[0003] Traditional manual scribing is only suitable for small-batch production scenarios. This includes using physical templates (hard molds / soft molds) made of metal or composite materials to fit the skin surface and manually drawing the outline; or using tools such as tape measures, scribing needles, and height gauges, combined with reference holes or edges for positioning, relying on the experience of technicians to control the accuracy.

[0004] However, traditional manual marking methods are not only inefficient but also prone to errors, affecting aircraft quality and safety. Therefore, there is an urgent need for automated equipment that can efficiently and accurately complete the marking of aircraft outer skin. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a marking robot that can efficiently and accurately complete the marking work on the outer skin of aircraft, thereby improving work efficiency and quality.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a line-marking robot, comprising a vehicle body and a drive module for driving the vehicle body to move, wherein an inkjet module is provided inside the vehicle body, and an obstacle avoidance module for judging the position and distance of obstacles is provided on the periphery of the vehicle body; the inkjet module includes an inkjet bracket connected to the vehicle body, an inkjet head is mounted on the inkjet bracket, and the lower ends of the inkjet head and the inkjet bracket extend through the bottom surface of the vehicle body to its lower part; the vehicle body also includes a positioning module, a tracking module, a power supply module, a control module, and an ink supply module, and the ink supply module is connected to the inkjet head.

[0007] Optionally, the tracking module includes a gimbal bracket located outside the inkjet module, a gimbal motor mounted on the top of the gimbal bracket, a target mount mounted on the output end of the gimbal motor, a target ball mounted on the target mount, and the output end of the gimbal motor extending through the top surface of the vehicle body to its top.

[0008] Optionally, the obstacle avoidance module includes an ultrasonic sensor, which is mounted on the periphery of the vehicle body.

[0009] Optionally, the ink supply module includes an ink supply bracket, which has multiple ink supply boxes installed inside. The ink supply boxes are connected to the inkjet head, and the ink supply bracket is located on one side of the inkjet bracket.

[0010] Optionally, the power supply module includes a mounting bracket on which a battery for power supply is mounted. The output terminal of the battery is connected to a voltage regulator module, and both the mounting bracket and the voltage regulator module are connected to the vehicle body.

[0011] Optionally, the control module includes an industrial control bracket, an industrial control computer is mounted on the top of the industrial control bracket, a host computer connected to the industrial control computer is provided on one side of the voltage stabilizing module, the battery is located inside the industrial control bracket, and the industrial control bracket is connected to the vehicle body.

[0012] Optionally, the drive module includes two driving wheels arranged opposite each other, the driving wheels being located on the outer side of the vehicle body, a drive motor being installed on the inner side of the vehicle body, the output end of the drive motor passing through the side of the vehicle body and connected to the driving wheels, and a driven wheel being installed at the bottom of the vehicle body, the driven wheel being distributed in a triangular structure with the two driving wheels.

[0013] Optionally, a cleaning module is installed at the front end of the vehicle body, and the cleaning module is located on the front side of the inkjet head.

[0014] Optionally, the vehicle body includes a shell with openings at both the top and bottom. A top cover and a base are respectively installed on the top and bottom sides of the shell. The drive module, inkjet module, power supply module, control module, and ink supply module are all installed on the base, and the obstacle avoidance module is installed on the outside of the shell.

[0015] Optionally, the base has a bottom hole for the inkjet head and the inkjet bracket to pass through, the periphery of the housing has an obstacle avoidance mounting hole for mounting the obstacle avoidance module, and the top cover has a through hole for the upper part of the tracking module to pass through.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] (1) In this utility model, ink is supplied from the ink supply module to the inkjet head of the inkjet module and sprayed out. The drive module drives the vehicle to move, thereby realizing the function of marking lines. During this process, the positioning module can provide real-time feedback on the position, orientation angle and speed of the marking robot to ensure the marking accuracy. The tracking module can track the position of the marking robot in real time through a high-precision positioning system to ensure the accuracy of the marking path. The obstacle avoidance module can effectively avoid collisions and improve the safety of operation. Thus, the marking work on the outer skin of the aircraft is completed efficiently and accurately, improving work efficiency and quality.

[0018] (2) In this utility model, the two driving wheels of the drive module can achieve flexible motion control through differential control, and together with the driven wheels, they can support the vehicle body and ensure that it can move stably;

[0019] (3) In this utility model, the combined design of the ink supply module and the inkjet module can adjust the inkjet mode and ink flow according to the needs, and adapt to different line drawing tasks.

[0020] (4) In this utility model, the cleaning module can sweep away obstacles in front of the vehicle body, ensuring that the inkjet head of the line marking robot can operate smoothly;

[0021] (5) In this utility model, the stable operation of the equipment is ensured by the voltage stabilization design of the power supply module. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the line-marking robot in an embodiment of this utility model;

[0023] Figure 2 This is an isometric structural diagram of the line-marking robot in this embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of the line-marking robot in an embodiment of this utility model;

[0025] Figure 4 This is a top view of the line-marking robot in this embodiment of the utility model;

[0026] Figure 5 yes Figure 4 Schematic sectional view of section A in the middle;

[0027] Figure 6 yes Figure 4 Schematic sectional view of section C in the middle;

[0028] Figure 7 This is a schematic diagram of the internal structure of the vehicle body in an embodiment of this utility model;

[0029] Figure 8 This is an exploded structural diagram of the vehicle body in an embodiment of this utility model;

[0030] The components are as follows: 1. Vehicle body; 101. Base; 102. Housing; 103. Top cover; 2. Inkjet head; 3. Inkjet bracket; 4. Ink supply cartridge; 5. Drive motor; 6. Drive wheel; 7. Driven wheel; 8. Expansion interface; 9. Obstacle avoidance mounting hole; 10. Gimbal bracket; 11. Gimbal motor; 12. Target base; 13. Target ball; 14. Fixing bracket; 15. Battery; 16. Voltage regulator module; 17. Industrial control bracket; 18. Industrial control computer; 19. Host computer; 20. Fixing bracket; 21. Through hole; 22. Switch mounting hole; 23. Bottom hole. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention. Example 1

[0032] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a line-marking robot includes a vehicle body 1, a cleaning module, a positioning module, a drive module, an ink supply module, an inkjet module, a tracking module, a power supply module, a control module, an obstacle avoidance module, and an interaction module. The positioning module, ink supply module, inkjet module, tracking module, power supply module, and control module are all installed inside the vehicle body 1. The cleaning module is installed at the front of the vehicle body 1 on its outer side. The obstacle avoidance module is installed around the perimeter of the vehicle body 1. The interaction module is installed on the top of the vehicle body 1. The drive module is installed on the vehicle body 1 and is used to drive the vehicle body 1 to move.

[0033] Ink is supplied from the ink supply module to the inkjet module and ejected, driving the vehicle body 1 to move, thus realizing the robot's line-drawing function. During this process, the positioning module can provide real-time feedback on the robot's pose, orientation angle, and speed to ensure line drawing accuracy. The tracking module, through a high-precision positioning system, can track the robot's position in real time to ensure the accuracy of the line drawing path. The obstacle avoidance module can effectively avoid collisions and improve operational safety. The cleaning module can clear obstacles in front of the vehicle body 1 to ensure the robot can operate smoothly. The control module realizes data acquisition and real-time control, improving the system's automation level. The interaction module is designed to be simple and easy for users to operate.

[0034] like Figure 1 , Figure 3 , Figure 7 and Figure 8As shown, the vehicle body 1 includes a housing 102 with openings at both the top and bottom. A top cover 103 and a base 101 are respectively installed on the top and bottom sides of the housing 102. The drive module, inkjet module, power supply module, control module and ink supply module are all installed on the base 101, and the obstacle avoidance module is installed on the outside of the housing 102.

[0035] The base 101 has a bottom hole 23, the periphery of the housing 102 has obstacle avoidance mounting holes 9, and the top cover 103 has a through hole 21. The output end of the inkjet module extends through the bottom hole 23 to the bottom of the base 101. The obstacle avoidance mounting holes 9 are distributed around the front, back, left and right sides of the housing 102 for mounting the obstacle avoidance module. The upper part of the tracking module extends through the through hole 21 to the top of the top cover 103.

[0036] As described above, the top cover 103 has outwardly folded edges that fold downwards around its perimeter, covering the top of the housing 102. The lower opening of the housing 102 has inwardly folded edges that fold inwards to support the base 101. The housing 102 is fixedly connected to the top cover 103 and the base 101 by screws, which facilitates disassembly, assembly, and subsequent maintenance.

[0037] The obstacle avoidance module, used to determine the position and distance of obstacles, includes ultrasonic sensors. Four ultrasonic sensors are installed around the sides of the line-marking robot body 1. By emitting ultrasonic waves and receiving ultrasonic echoes, the position and distance of obstacles are determined.

[0038] Specifically, four ultrasonic sensors are installed at the obstacle avoidance mounting holes 9 around the housing 102 to detect obstacles around the front, rear, left, and right sides of the vehicle body 1.

[0039] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the drive module includes a driven wheel 7, two driving wheels 6 and two drive motors 5. The driven wheel 7 is located at the center of the rear end of the bottom surface of the base 101. The two drive motors 5 are mounted opposite each other on the base 101 near the front end. The two driving wheels 6 are arranged opposite each other on the left and right sides of the housing 102 and are connected to the corresponding drive motors 5 through the reserved mounting holes on the housing 102.

[0040] The drive motor 5 is a brushless motor, the driven wheel 7 is a universal wheel, the driven wheel 7 and the two driving wheels 6 are arranged in a triangular structure, and the output end of the drive motor 5 passes through the side of the vehicle body 1 and is connected to the driving wheels 6. The driven wheel 7 is moved by differential speed, thereby controlling the movement of the line drawing robot.

[0041] like Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, the inkjet module includes an inkjet bracket 3 connected to the vehicle body 1. An inkjet head 2 is mounted on the inkjet bracket 3. The lower ends of the inkjet head 2 and the inkjet bracket 3 extend through the bottom surface of the vehicle body 1 to its lower part, and the inkjet head 2 is connected to the ink supply module.

[0042] The inkjet carriage 3 is fixedly connected to the bottom of the vehicle body 1, and the inkjet head 2 is fixedly connected to the inkjet carriage 3. The lower ends of both extend through the bottom hole 23 to the bottom of the base 101. The lower part of the inkjet carriage 3 has an L-shaped structure. The output end of the inkjet head 2 is located above the bottom surface of the inkjet carriage 3. The bottom surface of the inkjet carriage 3 has a notch for the ink ejected from the inkjet head 2 to pass through.

[0043] The inkjet head 2 is located at the center of the connection between the two drive motors 5. There is a circuit module on the side of the inkjet head 2, which can be modified by a computer through a protocol to change the inkjet mode (such as direct inkjet or intermittent inkjet) and the thickness of the inkjet lines.

[0044] like Figure 3 As shown, the positioning module consists of an inertial navigation system and is located at the center of the front end of the upper surface of the base 101 inside the line drawing robot. It can provide real-time feedback on the pose, orientation angle, and speed of the line drawing robot.

[0045] like Figure 4 As shown, the ink supply module includes an ink supply bracket, and multiple ink supply boxes 4 are installed inside the ink supply bracket. The ink supply boxes 4 are connected to the inkjet head 2, and the ink supply bracket is located on one side of the inkjet bracket 3.

[0046] There are three ink supply cartridges 4. The three ink supply cartridges 4 are fixed above the inertial navigation system by the ink supply bracket. Each ink supply cartridge 4 has a built-in liquid level sensor, which is connected to a buzzer to realize real-time monitoring of the ink level. In addition, the ink outlet of the ink supply cartridge 4 is equipped with a valve to control the flow rate of ink.

[0047] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the tracking module includes a gimbal bracket 10, a gimbal motor 11, a target mount 12, and a target ball 13. The gimbal bracket 10 has a gantry structure, with its lower end fixedly connected to the base 101. The inkjet module is located on the lower inner side of the gimbal bracket 10. The gimbal motor 11 is installed on the top of the gimbal bracket 10. The target mount 12 is installed on the output end of the gimbal motor 11. The target ball 13 is installed on the target mount 12. The output end of the gimbal motor 11 extends through the top surface of the vehicle body 1 and above it.

[0048] Specifically, the target ball 13 is magnetically attached to the target base 12 located directly above the gimbal motor 11. The upper part of the gimbal motor 11, the target base 12, and the target ball 13 pass through the through hole 21 and are exposed above the top cover 103 to receive the laser signal from the laser tracker and track the position of the line drawing robot in real time.

[0049] like Figure 1 and Figure 3 As shown, a cleaning module is installed at the front of the vehicle body 1. The cleaning module is located in front of the inkjet head 2 and includes an expansion interface 8 and a cleaning brush. The expansion interface 8 is fixedly installed at the center of the front end of the lower surface of the base 101. The cleaning brush can be connected through the expansion interface 8 to sweep away obstacles in front of the line drawing robot and ensure the quality of the line drawing.

[0050] like Figure 3 , Figure 6 and Figure 7 As shown, the power supply module includes a mounting bracket 14, a battery 15, and a voltage regulator module 16. The battery 15 is fixedly mounted on the mounting bracket 14, which fixes the battery 15 to the middle position on the upper surface of the base 101. The voltage regulator module 16 is mounted on the right rear position on the upper surface of the base 101 by screws. The voltage regulator module 16 is electrically connected to the output terminal of the battery 15, and the voltage regulator module 16 can stabilize the unstable voltage provided by the battery 15 at 24V.

[0051] like Figure 3 , Figure 4 and Figure 6 As shown, the control module includes an industrial control bracket 17, an industrial control computer 18, and a host computer 19. The industrial control bracket 17 adopts a gantry structure, and its lower end is fixedly connected to the base 101. The battery 15 is located inside the industrial control bracket 17. The industrial control computer 18 is installed on the top of the industrial control bracket 17, that is, the industrial control computer 18 is fixed to the position directly above the battery 15 through the industrial control bracket 17. The host computer 19 is fixed to the left rear position on the upper surface of the base 101 through the fixing bracket 20, located on one side of the voltage regulator module 16.

[0052] The industrial control computer 18 is connected to the host computer 19, and the industrial control computer 18 is also connected to sensors, actuators and equipment interfaces. It performs precise real-time control of the equipment according to preset control logic or algorithms. The host computer 19 receives the data collected by the industrial control computer 18 to realize human-machine interaction. By modifying parameters and issuing commands to the industrial control computer 18, it realizes the control of the line marking robot.

[0053] like Figure 2 , Figure 3 and Figure 8 As shown, the interaction module consists of two normally open push-button switches, which control the power-on and power-off of the marking robot respectively. The switches are installed at the switch mounting hole 22 located at the rear of the top cover 103. Example 2

[0054] Based on Embodiment 1, this utility model also discloses the specific products used in each module, including but not limited to the following models:

[0055] Inkjet head 2 can be HP45-51645A;

[0056] Drive motor 5 can be an SM60S-0 servo motor;

[0057] The voltage regulator module 16 can be an EV60-K2412;

[0058] The industrial control computer 18 can be a TW-T506S;

[0059] The host computer 19 can use TIANBOT CORE;

[0060] The ultrasonic sensor can be DYP-A02YY-V2.0;

[0061] Inertial navigation can be achieved using the JY901S;

[0062] The tracking module can be the AT901-B.

[0063] In summary, the line-marking robot proposed in this invention can efficiently and accurately complete the line-marking work on the outer skin of aircraft, improving work efficiency and quality. The base 101, shell 102, and top cover 103 constitute the robot's body 1. The cleaning module clears obstacles in front of the robot; the positioning module provides real-time feedback on pose, orientation angle, and speed via inertial navigation; the drive module controls the robot's movement via a brushless motor and differential speed control of the main and driven wheels; the ink supply module incorporates a liquid level sensor, buzzer, and valve to monitor ink level and control flow rate; the inkjet module can modify the protocol via computer to change the inkjet mode and line thickness of the inkjet head 2; the tracking module receives laser signals to track the robot's position in real time; the power supply module stabilizes the power supply voltage at 24V; the control module performs data acquisition, parameter adjustment, and command issuance to control the robot; the obstacle avoidance module uses ultrasonic sensors to determine the position and distance of obstacles; and the interaction module controls power on and off via a button switch.

[0064] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0065] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0066] Based on the preferred embodiments of this utility model described above, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A line-marking robot, characterized in that: It includes a vehicle body (1) and a drive module for driving the vehicle body (1) to move. The interior of the vehicle body (1) is equipped with an inkjet module, and the periphery of the vehicle body (1) is equipped with an obstacle avoidance module for determining the position and distance of obstacles. The inkjet module includes an inkjet bracket (3) connected to the vehicle body (1), an inkjet head (2) is mounted on the inkjet bracket (3), and the lower ends of the inkjet head (2) and the inkjet bracket (3) extend through the bottom surface of the vehicle body (1) to its lower part. The vehicle body (1) is also equipped with a positioning module, a tracking module, a power supply module, a control module and an ink supply module, and the ink supply module is connected to the inkjet head (2).

2. The line-marking robot according to claim 1, characterized in that: The tracking module includes a gimbal bracket (10) located outside the inkjet module. A gimbal motor (11) is mounted on the top of the gimbal bracket (10). A target mount (12) is mounted on the output end of the gimbal motor (11). A target ball (13) is mounted on the target mount (12). The output end of the gimbal motor (11) extends through the top surface of the vehicle body (1) to its top.

3. The line-marking robot according to claim 1, characterized in that: The obstacle avoidance module includes an ultrasonic sensor, which is installed on the periphery of the vehicle body (1).

4. The line-marking robot according to claim 1, characterized in that: The ink supply module includes an ink supply bracket, and multiple ink supply boxes (4) are installed inside the ink supply bracket. The ink supply boxes (4) are connected to the inkjet head (2), and the ink supply bracket is located on one side of the inkjet bracket (3).

5. The line-marking robot according to claim 1, characterized in that: The power supply module includes a mounting bracket (14), on which a battery (15) for power supply is mounted. The output end of the battery (15) is connected to a voltage regulator module (16), and both the mounting bracket (14) and the voltage regulator module (16) are connected to the vehicle body (1).

6. The line-marking robot according to claim 5, characterized in that: The control module includes an industrial control bracket (17), an industrial control computer (18) is mounted on the top of the industrial control bracket (17), a host computer (19) connected to the industrial control computer (18) is provided on one side of the voltage stabilizing module (16), the battery (15) is located inside the industrial control bracket (17), and the industrial control bracket (17) is connected to the vehicle body (1).

7. The line-marking robot according to claim 1, characterized in that: The drive module includes two opposing drive wheels (6), the drive wheels (6) are located on the outside of the vehicle body (1), a drive motor (5) is installed on the inside of the vehicle body (1), the output end of the drive motor (5) passes through the side of the vehicle body (1) and is connected to the drive wheels (6), and a driven wheel (7) is installed at the bottom of the vehicle body (1), and the driven wheel (7) and the two drive wheels (6) are distributed in a triangular structure.

8. The line-marking robot according to claim 1, characterized in that: A cleaning module is installed at the front end of the vehicle body (1), and the cleaning module is located on the front side of the inkjet head (2).

9. The line-marking robot according to any one of claims 1-8, characterized in that: The vehicle body (1) includes a shell (102) with openings at both the top and bottom. A top cover (103) and a base (101) are respectively installed on the top and bottom sides of the shell (102). The drive module, inkjet module, power supply module, control module and ink supply module are all installed on the base (101). The obstacle avoidance module is installed on the outside of the shell (102).

10. The line-marking robot according to claim 9, characterized in that: The base (101) has a bottom hole (23) for the inkjet head (2) and the inkjet bracket (3) to pass through. The periphery of the housing (102) has an obstacle avoidance mounting hole (9) for installing the obstacle avoidance module. The top cover (103) has a through hole (21) for the upper part of the tracking module to pass through.

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