Mobile glass fiber reinforced plastic hole making robot

Abstract

The utility model discloses glass steel processing technical field related, disclose mobile glass steel trepanning robot. The mobile glass steel trepanning robot includes: the robot body of movable, mechanical arm execution device, the base end of mechanical arm execution device is fixed on the robot body, and the tail end of mechanical arm execution device is provided with trepanning device, and trepanning device is used for drilling on the glass steel of processing. Visual positioning device, visual positioning device sets up the tail end of mechanical arm execution device, is used to obtain the drilling position information on the glass steel of processing. Laser radar, laser radar sets up on the robot body, is used for detecting the position information of glass steel of processing.

Description

Technical Field

[0001] This utility model relates to the field of fiberglass processing technology, and in particular to a mobile fiberglass hole-making robot. Background Technology

[0002] Currently, most hole-making operations for large fiberglass products are completed manually using hand-held electric drills or similar tools. This method is only suitable for smaller hole diameters and simple hole-making needs. Furthermore, during drilling, the drill bit must be placed at the marked center point of the hole, and drilling must be performed at an appropriate speed and light pressure, while avoiding excessive pressure.

[0003] Manually drilling holes in fiberglass products requires high labor intensity, has low processing efficiency, and makes it difficult to guarantee the accuracy and consistency of the drilled holes. Furthermore, long-term inhalation of fiberglass dust by drilling operators can harm their health. Summary of the Invention

[0004] The mobile fiberglass drilling robot provided by this utility model aims to solve the shortcomings of existing manual operation for fiberglass drilling.

[0005] Firstly, this utility model provides a mobile fiberglass drilling robot. The robot includes: a movable robot body; a robotic arm actuator, the base of which is fixed to the robot body, and a drilling device at its end for drilling holes in the fiberglass to be processed; a visual positioning device disposed at the end of the robotic arm actuator for acquiring drilling position information on the fiberglass to be processed; and a lidar sensor disposed on the robot body for detecting the position information of the fiberglass to be processed.

[0006] Optionally, the robot body includes: a frame; the frame forms a bearing plane, and the base end of the robotic arm actuator is fixed on the bearing plane; a set of movable wheels disposed at the bottom of the frame; and a drive device fixed inside the frame; the drive device is used to drive the set of movable wheels to move the robot body to a target position.

[0007] Optionally, the bearing plane is rectangular; the lidar is located at the edge of the bearing plane, close to the robotic arm actuator.

[0008] Optionally, the robot further includes a cooling device; the cooling device is fixed to the robot body and is used to reduce the temperature of the fiberglass to be processed when the drilling device is drilling.

[0009] Optionally, the end of the robotic arm actuator is provided with a mounting bracket; the drilling device includes: an electric spindle, which is fixed on the mounting bracket and used to provide rotational power; a spindle tool holder, which is detachably fixed to the tapered connecting part of the electric spindle; and a forming tool, which is mounted on the front end of the spindle tool holder and clamped to the electric spindle by the spindle tool holder, and used to drill holes in the fiberglass to be processed under the drive of the electric spindle.

[0010] Optionally, the robotic arm execution device includes: a base fixed to the robot body; the base is rotatable about a first axis; a first robotic arm, one end of which is connected to the base via a rotary joint and is rotatable about a second axis relative to the base; a second robotic arm, one end of which is connected to the other end of the first robotic arm via a rotary joint and is rotatable about the second axis relative to the first robotic arm; a wrist including multiple rotary joints, the wrist being disposed at the other end of the second arm segment for adjusting the posture of the mounting bracket; and the drilling device and the visual positioning device are fixedly mounted on the mounting bracket.

[0011] The beneficial effects of the mobile fiberglass drilling robot provided in this embodiment of the invention are: by combining the mobile AGV and the robotic arm, the drilling process is fully automated, which greatly improves production efficiency, eliminates the reliance on experience in traditional manual drilling, reduces labor costs, and also reduces the possibility of human error.

[0012] On the one hand, robots using mobile AGVs can flexibly adjust their positions according to the needs of the production line, adapting to different models or specifications of hole-making requirements, and can quickly switch between different workstations, reducing non-productive downtime. On the other hand, automated robots can stably repeat the same processing actions, ensuring the consistency of quality for each batch of products and significantly reducing the scrap rate caused by human error. Attached Figure Description

[0013] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0014] Figure 1 This is a schematic diagram of a mobile fiberglass hole-making robot according to an embodiment of the present invention.

[0015] Figure 2 This is a front view of a mobile fiberglass hole-making robot according to an embodiment of the present invention.

[0016] Figure 3 This is a side view of a mobile fiberglass hole-making robot according to an embodiment of the present invention.

[0017] Figure 4 This is a top view of a mobile fiberglass hole-making robot according to an embodiment of the present invention. Detailed Implementation

[0018] The present invention will now be described in detail with reference to specific embodiments. It should be emphasized that the following description is merely exemplary and is not intended to limit the scope and application of the present invention.

[0019] It should be noted that, unless otherwise expressly specified and limited, the terms "center," "longitudinal," "lateral," "upper," "lower," "vertical," "horizontal," "inner," and "outer," etc., used in this specification to indicate the orientation or positional relationship are based on the orientation or positional relationship 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 on this utility model. The terms "installation," "connection," "joining," and "fixing," etc., 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. Furthermore, the terms "first" and "second" 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" or "second" may explicitly or implicitly include one or more of that feature; "multiple" means two or more; and "and / or" includes any and all combinations of one or more related listed items. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0020] like Figures 1 to 4 As shown, the mobile fiberglass drilling robot includes: a movable robot body 10, a robotic arm execution device 20, a drilling device 30, a vision positioning device 40, and a lidar 50.

[0021] The robot body 10 is an Automated Guided Vehicle (AGV) with navigation and movement capabilities. It can be composed of multiple components such as a frame, steering wheels, obstacle avoidance system, positioning and detection system, and support system. It is used to achieve autonomous movement within a preset path or designated area, and ensures the accuracy and safety of operation through positioning, navigation and obstacle avoidance technology.

[0022] In this embodiment, technicians may choose to use any suitable type of AGV available, as long as it has sufficient loading capacity and movement accuracy, based on actual needs. No specific limitations are imposed here.

[0023] For example, the robot body includes a frame 11, a drive unit, and a set of movable wheels. The frame 11 forms a bearing plane, and the base end of the robotic arm actuator is fixed to the bearing plane. The set of movable wheels is located at the bottom of the frame. The drive unit is fixed inside the frame and is used to drive the set of movable wheels to move the robot body to the target position.

[0024] The base of the robotic arm actuator 20 is fixed to the robot body 10. A hole-making device 30 is provided at the end of the robotic arm actuator 20. The robotic arm actuator 20 is used to adjust the posture of the hole-making device 20 in three-dimensional space.

[0025] Specifically, the robotic arm actuator 20 includes: a base 21, a first robotic arm 22, a second robotic arm 23, a wrist 24, and a mounting bracket 25.

[0026] The base 21 is fixed to the robot body. The base 21 can rotate about a first axis x1. One end of the first robotic arm 22 is connected to the base 21 via a rotary joint and can swing relative to the base about a second axis x2. One end of the second robotic arm 23 is connected to the other end of the first robotic arm 21 via a rotary joint and can swing relative to the first robotic arm about a second axis x2.

[0027] The first axial direction x1 and the second axial direction x2 are two relatively perpendicular directions. The first axial direction x1 can be the height direction, while the second axial direction x2 is the direction parallel to the bearing plane.

[0028] The wrist 24 includes multiple rotary joints (two are shown in the illustration). It is located at the other end of the second robotic arm and is used to adjust the posture of the mounting bracket 25.

[0029] Mounting bracket 25 provides a suitable mounting position and mounting holes, enabling the drilling device 30 and the vision positioning device 40 to be fixedly mounted on the mounting bracket 25 and move with the robotic arm actuator 20.

[0030] The rotation angle and operation of the rotary joints in the robotic arm actuator 20 are powered by motors. The specific operation of the motors is driven and controlled by the robotic arm control system 80. Based on the received position information, the robotic arm control system 80 adjusts its posture and position in three-dimensional space, thereby enabling the drilling device 30 and the vision positioning device 40 to move to the target position.

[0031] It should be noted that the robotic arm control system 80 can specifically be selected from any existing suitable type of control system according to actual needs. Technicians can make corresponding adjustments or changes to the control methods of the specific control system based on different application scenarios to meet the usage requirements.

[0032] The drilling device 30 is a device used to drill holes in fiberglass to be processed. Specifically, the drilling device 30 includes: an electric spindle 31, a spindle tool holder 32, and a forming tool 33.

[0033] The electric spindle 31, fixed to the mounting bracket 25, converts electrical energy into rotational kinetic energy to provide rotational power for the forming tool 33. The spindle holder 32 is detachably connected to the tapered connecting part of the electric spindle. The forming tool 33 is mounted on the front end of the spindle holder and clamped to the electric spindle by the spindle holder 32. Thus, driven by the electric spindle 31, the forming tool 33 rotates at high speed and drills holes in the fiberglass to be processed. The detachable connection of the spindle holder 32 facilitates the replacement of different forming tools 33, thereby meeting the needs of different hole sizes.

[0034] The visual positioning device 40 is located at the end of the robotic arm's execution device. It is a positioning device based on the principle of structured light measurement, which captures the surface feature points, contours, or marking information of the fiberglass to be processed to identify the target drilling position and locate its spatial coordinates.

[0035] It can be composed of a vision camera, a camera structure light source, a housing, and other components, and is used to acquire drilling position information on the fiberglass to be processed. In this embodiment, technicians can choose to use any suitable type of existing vision positioning device according to actual needs, as long as it can acquire drilling position information of the fiberglass to be processed; no specific limitation is made here.

[0036] For example, the visual positioning device 40 can be a positioning device based on the principle of structured light three-dimensional measurement. It acquires three-dimensional point cloud data of the fiberglass surface to be processed by projecting a structured light pattern onto the fiberglass surface and capturing the reflected image, thereby identifying the geometric features and spatial coordinates of the drilling location. The visual positioning device 40 first identifies pre-marked areas on the fiberglass surface (such as circular stickers, laser markings, edge contours, etc.) to quickly locate the center point of the target drilling hole, and then transmits this three-dimensional coordinate information to the main control system of the equipment via industrial Ethernet or other means.

[0037] A lidar 50 is mounted on the robot body to detect the position information of the fiberglass to be processed. Specifically, the bearing plane is roughly rectangular, and the lidar 50 is positioned at the edge of the bearing plane, close to the robotic arm actuator 20.

[0038] In other embodiments, the mobile fiberglass drilling robot further includes a cooling device 60. The cooling device 60 is fixed to the robot body and is used to reduce the temperature of the fiberglass being processed during drilling, thereby increasing the tool life.

[0039] Specifically, the cooling device 60 can be selected from any suitable type of existing refrigeration equipment according to actual needs. It can be composed of components such as a cooling water circulation pump, heat sink, and water temperature and pressure controller, providing the function of reducing temperature.

[0040] In other embodiments, the mobile fiberglass drilling robot further includes a main control system 70. This main control system can consist of devices such as a PLC, touchscreen, industrial computer, and motor controller, and is used for centralized management and coordinated control of the operation of the mobile fiberglass drilling robot.

[0041] It should be noted that the main control system of this equipment can adopt an existing suitable type of control system, and the specific implementation methods of the various devices that make up the control system are well known to those skilled in the art. Technical personnel can configure and select the appropriate devices according to the actual needs.

[0042] For example, a PLC uses a pre-programmed control program to automatically control the drilling process. An industrial computer runs the host computer software interface, displaying real-time equipment status, drilling data, and operation logs. The industrial computer communicates with the PLC to set equipment parameters, schedule tasks, and store and analyze data. Operators can use a touchscreen to set parameters, start / stop operations, view alarm information, and switch between automatic and manual modes. The interface is simple and intuitive, improving operational convenience and safety. The motor controller controls the start / stop, speed, torque, and position parameters of each motor in the robot (e.g., controlling the rotational speed and feed rate of the drilling motor).

[0043] In actual use, the robot body 10 of the AGV automatically navigates to the vicinity of the fiberglass workpiece to be processed. Subsequently, the fiberglass workpiece is scanned by the LiDAR 50, and the current position and attitude information of the robot body 10 is sent to the main control system 70 of the equipment.

[0044] After processing and calculation, the main control system 70 issues corresponding instructions to the robotic arm actuator 20, causing the mounting bracket at the end of the robotic arm actuator 20 to move above the fiberglass workpiece.

[0045] Subsequently, the vision positioning device 40 is activated to acquire the hole position information of the fiberglass workpiece (i.e., the position information of the drilling location in three-dimensional space). After the robotic arm execution device 20 adjusts the position of the drilling device 30, it starts the drilling device 30 to complete the drilling operation on the fiberglass workpiece.

[0046] The above description, in conjunction with specific / preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A mobile fiberglass hole-making robot, characterized in that, include: A mobile robot body; A robotic arm execution device, wherein the base end of the robotic arm execution device is fixed to the robot body, and the end end of the robotic arm execution device is provided with a hole-making device, which is used to drill holes in the fiberglass to be processed; A visual positioning device is disposed at the end of the robotic arm execution device and is used to acquire drilling position information on the fiberglass to be processed; A lidar, mounted on the robot body, is used to detect the position information of the fiberglass to be processed.

2. The mobile fiberglass drilling robot according to claim 1, characterized in that, The robot body includes: A frame; the frame forms a load-bearing plane, and the base end of the robotic arm actuator is fixed on the load-bearing plane; The movable wheel set is located at the bottom of the frame; A drive unit fixed inside the frame; the drive unit is used to drive the moving wheel set so that the robot body moves to the target position.

3. The mobile fiberglass drilling robot according to claim 2, characterized in that, The bearing plane is rectangular; the lidar is located at the edge of the bearing plane, close to the robotic arm actuator.

4. The mobile fiberglass drilling robot according to claim 1, characterized in that, It also includes: a cooling device; the cooling device is fixed on the robot body and is used to reduce the temperature of the fiberglass to be processed when the drilling device is drilling.

5. The mobile fiberglass drilling robot according to claim 1, characterized in that, The robotic arm actuator is provided with a mounting bracket at its end; the hole-making device includes: An electric spindle, fixed on the mounting bracket, is used to provide rotational power; A spindle tool holder, wherein the spindle tool holder is detachably fixedly connected to the tapered connecting part of the electric spindle; A forming tool is mounted on the front end of the spindle shank and clamped to the electric spindle by the spindle shank. It is used to drill holes in the fiberglass to be processed under the drive of the electric spindle.

6. The mobile fiberglass drilling robot according to claim 1, characterized in that, The robotic arm actuator includes: A base, which is fixed to the robot body; the base is rotatable about a first axis. A first robotic arm, one end of which is connected to the base via a rotary joint, is able to swing relative to the base around a second axis; The second robotic arm has one end connected to the other end of the first robotic arm via a rotary joint, and can swing relative to the first robotic arm around the second axis. A wrist comprising multiple rotational joints is disposed at the other end of the second robotic arm for adjusting the posture of the mounting bracket; The hole-making device and the visual positioning device are fixedly mounted on the mounting bracket.

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