CN204843507U - Aircraft wing bores and mills processing machine people - Google Patents

Abstract

The aircraft wing drilling and milling robot is composed of a servo feed power head 1, a three-degree-of-freedom parallel mechanism 2, an XY motion platform 3, a frame 4 and a connecting flange 5, and is characterized in that the connecting flange 5 is a connecting arm and the universal coupling of the robot; the three-degree-of-freedom parallel mechanism 2 is a parallel mechanism composed of three main parts of the Hooke hinge, the ball hinge, and the electric telescopic rod in a certain way; the XY motion platform 3 is a two-degree-of-freedom mechanism; The frame 4 is composed of three legs with an included angle of 120 degrees. A vacuum suction cup is installed under it, and the lower end of the connecting flange 5 is fixed to the geometric center of the upper mounting plate on the XY motion platform 3 with bolts. The lower mounting plate of the XY motion platform 3 is connected to the three-freedom The 2 mounting plates of the parallel mechanism are bolted together so that the axis of the servo feed power head 1 passes through the geometric center of the XY motion platform. The overall quality of the aircraft wing drilling and milling processing robot of the utility model is small, portable and labor-saving.

Description

Aircraft wing drilling and milling robot

technical field

The invention relates to a robot, in particular to an aircraft wing drilling and milling robot, which belongs to the field of aviation manufacturing.

Background technique

Most of the connections of the aircraft are still mechanical connections. An aircraft will have millions of connections. According to research, in aircraft accidents, the fatigue failure of the connection parts accounts for 70%, and 80% of them occur in the connection holes. , so the hole machining of the aircraft is a very important process in the production of the aircraft. Among them, due to the huge size of the aircraft wing, the processing of the upper hole is a technically difficult task. Nowadays, with the rapid development of China's aircraft manufacturing industry, the development of automatic drilling equipment for aircraft wings has become a hot topic in universities and research institutes.

At this stage, the drilling of aircraft wings is mainly manual and industrial robot-based drilling and milling equipment. Of course, manual drilling has been gradually replaced by automation, but the cost of each start-up of automated drilling is relatively high, so It is uneconomical and unrealistic when performing a small number of drilling operations.

Contents of the invention

Based on the above objectives, the present invention proposes a drilling and milling robot for aircraft wings, which is used for surface processing of aircraft wings, can realize automatic centering of the main shaft and automatic normal alignment on the curved surface, and improve the accuracy of the drilled holes. , reduce processing costs. The adsorption system of the robot is adsorbed on the surface of the aircraft wing, and then the automatic centering and leveling are realized through the five-degree-of-freedom attitude adjustment method, and finally the servo feeding power head 1 completes the precise drilling.

The aircraft wing drilling and milling robot of the present invention is composed of a servo feed power head 1, a three-degree-of-freedom parallel mechanism 2, an XY motion platform 3, a frame 4 and a connecting flange 5. The connecting flange 5 is a mechanism connecting the booster arm and the robot, and is a universal coupling; the three-degree-of-freedom parallel mechanism 2 is composed of three Hooke hinges 2-9, ball hinges 2-2, and electric telescopic rods 2-5. The parallel mechanism composed of the main components in a certain way can complete the movement of three degrees of freedom of X, Y axis rotation and Z axis movement, so as to realize the normal adjustment of the spindle axis; XY motion platform 3 is a two degree of freedom mechanism, which can realize A small range of spindle alignment adjustment; the frame 4 is composed of three legs with an angle of 120 degrees, the three legs can be retracted inwardly, and fixed with the adjustment frame and the adjustment hinge 4-3, and the vacuum suction cup 4 is installed under it -5, Fix the frame 4 on the processing surface by adsorption. The lower end of the connecting flange 5 is fixed on the geometric center of the upper mounting plate 3-11 of the XY motion platform 3 with bolts, and the lower mounting plate 3-6 of the XY motion platform 3 is connected with the mounting plate 2-1 of the three-degree-of-freedom parallel mechanism 2 with bolts , so that the axis of the servo feed power head 1 passes through the geometric center of the XY motion platform 3 . The inner triangular frame on the load-bearing frame body of the frame 4 is connected together with the upper mounting plate 3-11 of the XY motion platform 3 with bolts, and the geometric center of the triangular frame coincides with the upper mounting plate 3-11 geometric center. The whole device is shown in Figure 1.

The three-degree-of-freedom parallel mechanism 2 consists of a mounting plate 2-1, a ball hinge 2-2, a nut 2-3, a fixing bolt 2-4, an electric telescopic rod 2-5, a lower platform 2-6, a ball hinge bolt 2-7, Power head clamp 2-8, Hooke hinge 2-9, bolt and nut combination 2-10 are formed. Among them, there are two sets of spherical hinge 2-2, three sets of Hooke hinge 2-9 and electric telescopic rod 2-5, and the connection between ball hinge 2-2, electric telescopic rod 2-5, and Hooke hinge 2-9 The way is the same, all adopt screw connection. The Hooke hinge 2-9 is fixed on the lower platform 2-6 with a nut 2-3, and three electric telescopic rods 2-5 are threadedly connected to the Hooke hinge 2-9, and one of the electric telescopic rods 2-5 is arranged vertically, The space angle between the other two electric telescopic rods 2-5 and the plane where the lower platform 2-6 is located is 120 degrees; Rod 2-5 is connected with ball hinge 2-2, and another vertical electric telescopic rod 2-5 is fixed on mounting plate 2-1 with fixing bolt 2-4, and two ball hinges 2-2 are fixed on it with bolt connection. Mounting plate 2-1. The power head fixture 2-8 is fixed on the lower platform 2-6 by bolts, and the servo feed power head 1 is pressed and fixed on the power head fixture 2-8 by the bolt combination 2-10. The structure of the three-degree-of-freedom parallel mechanism 2 is shown in Figure 2 and Figure 3 .

The XY motion platform 3 is mainly composed of an X-direction control motor 3-1, an X-direction coupling 3-2, an X-direction ball screw 3-3, an X-direction linear rolling guide 3-4, an X-direction rail slider 3-5, Lower mounting plate 3-6, base plate 3-8, Y-direction linear rolling guide 3-9, upper mounting plate 3-11, Y-direction screw nut 3-12, Y-direction ball screw 3-13, Y-direction shaft coupling Device 3-14, Y to control motor 3-15 to form. The leading screw and the motor shaft are connected with a shaft coupling, and the leading screw nut is fixed on each mounting plate and the base plate 3-8, and the transformation from rotation to linear motion is realized through the leading screw nut pair. The structure of the XY motion platform 3 is shown in Fig. 4 and Fig. 5 .

The frame 4 is composed of a frame load-bearing frame 4-1, a frame leg 4-2, an adjustment hinge 4-3, a suction cup mounting hinge seat 4-4, a vacuum suction cup 4-5, a vacuum generator 4-6, and a frame adjustment Boxes 4-7 are composed. Frame supporting leg 4-2, adjusting hinge 4-3, suction cup installation hinge seat 4-4, vacuum suction cup 4-5, vacuum generator 4-6 are three sets of identical parts or parts, and connection mode is also identical. The frame support legs 4-2 are fixed on the frame load-bearing frame 4-1 by means of hinges, and the support legs have a degree of freedom of rotation relative to the frame body. Suction cup installs hinge seat 4-4 to be connected on the frame leg by hinge mode equally, vacuum suction cup 4-5 is fixed with screw connection under it. Adjustment hinges 4-3 are installed on the three corners of the frame adjustment frame 4-7, and the three adjustment hinges 4-3 are connected with holes at the same position on the three frame legs by bolts, so that the frame legs are fixed at a certain angle Now, the area of the suction area formed by the vacuum suction cups 4-5 is smaller than the triangular area of the adjustment frame. The structure of the frame 4 is shown in FIG. 6 .

Using three vacuum suction cups as the adsorption device, the adsorption is reliable and fast; the legs of the frame body can be retracted to adjust the suction cup adsorption area, so as to adapt to the interval processing of different areas; the common pneumatic assisted mechanical arm in the workshop is used for lifting, and the cost is low. Inexpensive; the overall mass of the robot is small, portable and labor-saving.

Description of drawings

Fig. 1 is the general structural diagram of the drilling and milling processing robot of aircraft wing of the present invention;

Fig. 2 is the front view of the three-degree-of-freedom parallel mechanism 2 of the present invention;

Fig. 3 is the left view of the three-degree-of-freedom parallel mechanism 2 of the present invention;

Fig. 4 is the front view of the XY motion platform 3 of the present invention;

Fig. 5 is a left view of the XY motion platform 3 of the present invention;

FIG. 6 is a structural diagram of the rack 4 of the present invention.

Detailed ways

The aircraft wing drilling and milling robot of the present invention is composed of a servo feed power head 1, a three-degree-of-freedom parallel mechanism 2, an XY motion platform 3, a frame 4 and a connecting flange 5. The connecting flange 5 is a mechanism connecting the booster arm and the robot, and is a universal coupling; the three-degree-of-freedom parallel mechanism 2 is composed of three Hooke hinges 2-9, ball hinges 2-2, and electric telescopic rods 2-5. The parallel mechanism composed of the main components in a certain way can complete the movement of three degrees of freedom of X, Y axis rotation and Z axis movement, so as to realize the normal adjustment of the spindle axis; XY motion platform 3 is a two degree of freedom mechanism, which can realize A small range of spindle alignment adjustment; the frame 4 is composed of three legs with an angle of 120 degrees, the three legs can be retracted inwardly, and fixed with the adjustment frame and the adjustment hinge 4-3, and the vacuum suction cup 4 is installed under it -5, Fix the frame 4 on the processing surface by adsorption. The lower end of the connecting flange 5 is fixed on the geometric center of the upper mounting plate 3-11 of the XY motion platform 3 with bolts, and the lower mounting plate 3-6 of the XY motion platform 3 is connected with the mounting plate 2 of the three-degree-of-freedom parallel mechanism with bolts to make the servo drive Give the power head 1 axis to pass through the geometric center of the XY motion platform 3. The inner triangular frame on the load-bearing frame body of the frame 4 is connected together with the upper mounting plate 3-11 of the XY motion platform 3 with bolts, and the geometric center of the triangular frame coincides with the upper mounting plate 3-11 geometric center. The whole device is shown in Figure 1.

The three-degree-of-freedom parallel mechanism 2 consists of a mounting plate 2-1, a ball hinge 2-2, a nut 2-3, a fixing bolt 2-4, an electric telescopic rod 2-5, a lower platform 2-6, a ball hinge bolt 2-7, Power head clamp 2-8, Hooke hinge 2-9, bolt and nut combination 2-10 are formed. Among them, there are two sets of spherical hinge 2-2, three sets of Hooke hinge 2-9 and electric telescopic rod 2-5, and the connection between ball hinge 2-2, electric telescopic rod 2-5, and Hooke hinge 2-9 The way is the same, all adopt screw connection. The Hooke hinge 2-9 is fixed on the lower platform 2-6 with a nut 2-3, and three electric telescopic rods 2-5 are threadedly connected to the Hooke hinge 2-9, and one of the electric telescopic rods 2-5 is arranged vertically, The space angle between the other two electric telescopic rods 2-5 and the plane where the lower platform 2-6 is located is 120 degrees; The electric telescopic rod 2-5 of the electric telescopic rod 2-5 is connected with the spherical hinge 2-2, and another vertical telescopic rod 2-5 is fixed on the mounting plate 2-1 with the fixing bolt 2-4, and the two spherical hinges 2-2 are connected with bolts to connect them. Fixed on the mounting plate 2-1. The power head fixture 2-8 is fixed on the lower platform 2-6 by bolts, and the servo feed power head 1 is pressed and fixed on the power head fixture 2-8 by the bolt combination 2-10. The structure of the three-degree-of-freedom parallel mechanism 2 is shown in Figure 2 and Figure 3 . The three electric telescopic rods 2-5 are transformed by the screw and nut pairs. By inputting motion commands to the control motors of the telescopic rods 2-5, the electric telescopic rods 2-5 will produce telescopic movements. Through the electric telescopic rods 2-5 The coordinated telescopic movement of 5, the three-degree-of-freedom parallel mechanism 2 realizes the normal attitude adjustment of the spindle axis of the servo feed power head 1 under 3 spatial degrees of freedom.

The XY motion platform 3 is mainly composed of an X-direction control motor 3-1, an X-direction coupling 3-2, an X-direction ball screw 3-3, an X-direction linear rolling guide 3-4, an X-direction rail slider 3-5, Lower mounting plate 3-6, base plate 3-8, Y-direction linear rolling guide 3-9, upper mounting plate 3-11, Y-direction screw nut 3-12, Y-direction ball screw 3-13, Y-direction shaft coupling Device 3-14, Y to control motor 3-15 to form. The leading screw and the motor shaft are connected with a shaft coupling, and the leading screw nut is fixed on each mounting plate and the base plate 3-8, and the transformation from rotation to linear motion is realized through the leading screw nut pair. The structure of the XY motion platform 3 is shown in Fig. 4 and Fig. 5 . The XY motion platform 3 is guided by a linear rolling guide rail and a guide rail slider, and the motion is transmitted by a ball screw and a nut. The X-direction control motor 3-1 rotates to drive the X-direction coupling 3-2 and the X-direction ball screw 3-3 to transfer the motion from the X-direction screw nut 3-7 to the lower mounting plate 3-6 relative to the base plate 3 -8 movement, the lower mounting plate 3-6 is connected to the mounting plate 2-1 of the three-degree-of-freedom parallel mechanism 2, so that the entire three-degree-of-freedom parallel mechanism 2 moves along an axial direction; the Y direction controls the rotation of the motor 3-15, and the Y To the coupling 3-14, drive the Y-direction ball screw 3-13, and the Y-direction screw nut 3-12 turns the motion into the Y-direction rail slide block 3-10 and the following parts relative to the upper mounting plate 3-11 The relative movement of the upper mounting plate 3-11 is installed on the frame 4, so that the three-degree-of-freedom parallel mechanism 2 can move relative to the frame 4 in another axial direction. The above is the realization of the small-scale centering effect of the XY motion platform 3 .

The frame 4 is composed of a frame load-bearing frame 4-1, a frame leg 4-2, an adjustment hinge 4-3, a suction cup mounting hinge seat 4-4, a vacuum suction cup 4-5, a vacuum generator 4-6, and a frame adjustment Boxes 4-7 are composed. Frame supporting leg 4-2, adjusting hinge 4-3, suction cup installation hinge seat 4-4, vacuum suction cup 4-5, vacuum generator 4-6 are three sets of identical parts or parts, and connection mode is also identical. The frame support legs 4-2 are fixed on the frame load-bearing frame 4-1 by means of hinges, and the support legs have a degree of freedom of rotation relative to the frame body. Suction cup installs hinge seat 4-4 to be connected on the frame leg by hinge mode equally, vacuum suction cup 4-5 is fixed with screw connection under it. Adjustment hinges 4-3 are installed on the three corners of the frame adjustment frame 4-7, and the three adjustment hinges 4-3 are connected with holes at the same position on the three frame legs by bolts, so that the frame legs are fixed at a certain angle At this time, the area of the suction area formed by the vacuum suction cup is smaller than the triangle area of the adjustment frame. The structure of the frame 4 is shown in FIG. 6 . By loosening the adjusting hinge 4-3 bolts, moving the adjusting frame 4-7, the frame legs 4-2 shrink inwardly through the hinges, and after reaching another position; tighten the three adjusting hinge 4-3 bolts, and the frame The legs are fixed; the vacuum suction cup 4-5 is installed on the vacuum suction cup hinge seat 4-4, so that the vacuum suction cup 4-5 is kept vertical; to the machined surface.

The working process of the aircraft wing drilling and milling robot of the present invention is as follows: first determine the target point to be processed by the robot by the laser tracker, and then use the power-assisted mechanical arm to place the vacuum chuck 4-5 of the robot within the area where the target point is located; Compressed air is supplied through the air compressor, and the vacuum suction cup 4-5 is adsorbed on the surface of the wing through the vacuum generator 4-6; the laser tracker measures the actual pose of the robot; the pose data is processed by the computer and transferred to the robot, and the robot passes through The coordinated movement of the XY motion platform 3 and the three-degree-of-freedom parallel mechanism 2 automatically performs small-scale centering adjustments and leveling in the normal direction; after the pose is adjusted, the servo feed power head 1 starts to automatically feed and drill holes, thereby obtaining high quality holes; finally, the compressed air is fed to the vacuum generator 4-6 to stop the adsorption, the pneumatic mechanical arm lifts the robot, and the entire processing process ends.

Claims (3)

1. an aircraft wing bores Milling Machining robot, be made up of servo feed unit head (1), 3-freedom parallel mechanism (2), XY motion platform (3), frame (4) and adpting flange (5), it is characterized in that: adpting flange (5) is the mechanism connecting power assistant arm and robot, is a Hooks coupling universal coupling, the parallel institution that 3-freedom parallel mechanism (2) is made up of by certain way Hooke's hinge, ball pivot, electric expansion bar three critical pieces, can complete X, Y-axis rotates, Z axis moves the motion of three degree of freedom, thus realizes the normal direction adjustment of main-shaft axis, XY motion platform (3) is a two-freedom serial mechanism, can realize main shaft centering adjustment among a small circle, the leg that frame (4) is 120 degree by three angles forms, three supporting legs can inwardly shrink, and fix with adjustment frame and adjustment hinge, under it, vacuum cup is installed, by absorption, frame is fixed on finished surface, adpting flange (5) lower end is fixed by bolts to XY motion platform (3) upper mounting plate geometric center, XY motion platform (3) lower installation board and 3-freedom parallel mechanism (2) installing plate are bolted together, make servo feed unit head (1) axis by XY motion platform geometric center, Triangle ID frame bolt on the weight-supporting frame of frame (4) and XY motion platform upper mounting plate link together, and allow the geometric center of triangle frame overlap with upper mounting plate geometric center.

2. aircraft wing according to claim 1 bores Milling Machining robot, it is characterized in that: 3-freedom parallel mechanism (2) is by installing plate (2-1), ball pivot (2-2), nut (2-3), set bolt (2-4), electric expansion bar (2-5), lower platform (2-6), ball pivot bolt (2-7), unit head fixture (2-8), Hooke's hinge (2-9), unit bolt nut (2-10) forms, wherein ball pivot (2-2) has two covers, Hooke's hinge (2-9) and electric expansion bar (2-5) respectively have three covers and ball pivot (2-2), electric expansion bar (2-5), connected mode between Hooke's hinge (2-9) is identical, all adopt and be threaded, Hooke's hinge (2-9) nut (2-3) is fixed on lower platform (2-6), 3 electric expansion bars (2-5) are with being threaded onto on Hooke's hinge (2-9), wherein an electric expansion bar (2-5) is arranged vertically, two other electric expansion bar (2-5) is 120 degree with the space angle of lower platform (2-6) place plane, electric expansion bar (2-5) other end is connected with ball pivot bolt (2-7), the electric expansion bar (2-5) of two non-perpendicular placements connects ball pivot (2-2), another vertical electric expansion bar (2-5) set bolt (2-4) is fixed on installing plate (2-1), two ball pivots (2-2) connect with bolt and are fixed on installing plate (2-1), unit head fixture (2-8) is bolted on lower platform (2-6), and servo feed unit head (1) is pressed abd fixed on unit head fixture (2-8) by bolt combination (2-10).

3. aircraft wing according to claim 1 bores Milling Machining robot, it is characterized in that: frame (4) is by frame load-bearing frame (4-1), frame supporting leg (4-2), adjustment hinge (4-3), hinge seat (4-4) installed by sucker, vacuum cup (4-5), vacuum generator (4-6), frame adjustment frame (4-7) composition, frame supporting leg (4-2), adjustment hinge (4-3), hinge seat (4-4) installed by sucker, vacuum cup (4-5), vacuum generator (4-6) is the part or parts that three covers are identical, connected mode is also identical, frame supporting leg (4-2) is fixed on frame load-bearing frame (4-1) by the mode of hinge, and supporting leg has a free degree of rotating relative to framework, sucker is installed hinge seat (4-4) and is connected on frame leg by hinging manner equally, with being threaded, vacuum cup (4-5) is fixing under it, mounting and adjusting hinge (4-3) on three angles of frame adjustment frame (4-7), three adjustment hinge (4-3) are connected with the hole of same position on three frame legs by bolt, frame leg is fixed at an angle, the binding domain area that now vacuum cup (4-5) is formed is less than adjustment frame triangle area.