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CN-122007944-A - Self-adaptive presser foot device for robot end effector and end effector

CN122007944ACN 122007944 ACN122007944 ACN 122007944ACN-122007944-A

Abstract

The application discloses a self-adaptive presser foot device for a robot end effector and the end effector. The end effector includes a base unit, and the device includes a receiver, a presser foot unit, a resilient return assembly, and a non-contact ranging assembly. The distance measuring component detects the distance between the base and the workpiece, and the distance measuring component feeds back and guides the robot to adjust the gesture so as to realize normal alignment. The end effector is also provided with a switching unit, and the drilling unit, the hole depth measuring unit and the hole detecting unit are integrated and sequentially share a second channel to operate by moving. The application solves the problems of difficult normal alignment and rigid collision of complex curved surfaces, realizes full-flow automation and closed-loop control of normal alignment, hole making, dust collection and detection, and remarkably improves the processing precision and efficiency.

Inventors

  • HE PENG
  • ZHANG PENG
  • ZHUANG LIJUN

Assignees

  • 宝尔捷自动化设备(上海)有限公司

Dates

Publication Date
20260512
Application Date
20260414

Claims (10)

  1. 1. An adaptive presser foot device for a robotic end effector, the end effector comprising a base unit (200), characterized in that the presser foot device comprises: A receiver (100) mounted in the base unit (200), wherein a first channel (101) for a drilling unit (400) to pass through is formed in the center of the receiver (100), and the receiver (100) is configured to be rigidly connected with the base unit (200) and move along with the base unit; A second channel (111) aligned and communicated with the first channel (101) is arranged in the center of the presser foot unit (110), the rear end face of the presser foot unit (110) is movably connected with the front end face of the receiver (100), so that the presser foot unit (110) can perform universal deflection relative to the axis of the receiver (100) while keeping the second channel (111) communicated, and the front end face of the presser foot unit (110) is configured to be in direct contact with the surface of a workpiece; An elastic return assembly (120), one end of which is connected with the receiver (100) and the other end of which acts on the presser foot unit (110) for applying an axial pre-tightening force to the presser foot unit (110) so that the presser foot unit (110) always keeps a tendency to lean back against the receiver (100), and The non-contact ranging assembly (130) comprises at least three ranging sensors mounted on the base unit (200), wherein the detection directions of the ranging sensors are arranged towards the surface of a workpiece, and the non-contact ranging assembly is used for detecting the actual distance between each measuring point on the base unit (200) and the surface of the workpiece under the condition that the presser foot unit (110) is pressed and deflected relative to the base unit (200) so as to serve as a feedback basis for adjusting the posture of the base unit (200) by a robot.
  2. 2. The adaptive presser foot device according to claim 1, characterized in that the presser foot unit (110) and the receiver (100) are internally provided with a negative pressure cavity (140), the side wall of the receiver (100) is provided with a dust suction interface (102) communicating with the negative pressure cavity (140), the dust suction interface (102) is used for connecting an external negative pressure source so as to suck chips, dust and tool lubricating fluid through the second channel (111) and the first channel (101) during the hole making process.
  3. 3. The adaptive presser foot device according to claim 2, wherein an observation port (112) is provided on one side of the presser foot unit (110), a processing state monitoring module (150) is mounted on the base unit (200), and a detection direction of the processing state monitoring module (150) is set toward the observation port (112) for monitoring processing positions of the drilling unit (400) and the workpiece.
  4. 4. The adaptive presser foot device according to claim 1, characterized in that at least two environmental condition monitoring modules (160) are mounted on the base unit (200), and the detection direction of the environmental condition monitoring modules (160) is set towards the front end face of the presser foot unit (110) for monitoring the position information of the presser foot unit (110) and the workpiece.
  5. 5. The adaptive presser foot device according to claim 1, characterized in that the distance measuring sensor is a laser displacement sensor, the laser displacement sensor is four and the four laser displacement sensors are distributed in a central symmetry around the central axis of the first channel (101), and the distance measuring assembly is configured to output four independent distance signals for calculating the angular deviation between the axis of the receiver (100) and the normal vector of the workpiece surface.
  6. 6. The self-adaptive presser foot device according to claim 1, wherein a pressure detection air passage (103) is arranged between the rear end face of the presser foot unit (110) and the front end face of the receiver (100), the pressure detection air passage (103) is externally connected with a pressure detection system, the pressure detection system is in communication connection with a robot number control system, when the deflection angle between the presser foot unit (110) and the receiver (100) exceeds a preset angle, the pressure detection air passage (103) is communicated with the first channel (101), and when the air pressure in the pressure detection air passage (103) is reduced to a threshold pressure, the robot is stopped.
  7. 7. An end effector, comprising: a base unit (200) for mounting at an output of the industrial robot; The adaptive presser foot device as set forth in any one of claims 1 to 6, mounted at the front end of said base unit (200), and The control unit is in communication connection with the industrial robot and the non-contact distance measuring assembly (130), and is configured to execute a normal alignment program, wherein the control unit is used for controlling the industrial robot to drive the base unit (200) to press a workpiece, enabling the presser foot unit (110) to adaptively deflect, and then adjusting the posture of the base unit (200) by taking the contact point of the presser foot unit (110) and the receiver (100) as a rotation center according to the distance difference fed back by the non-contact distance measuring assembly (130) until the reading difference of all distance measuring sensors is within a preset range.
  8. 8. The end effector according to claim 7, wherein a switching unit (300) is movably provided on the base unit (200), and a drilling unit (400), an aperture pit depth measuring unit (500) and a hole detecting hole unit (600) are mounted on the switching unit (300), the drilling unit (400) is used for advancing or retreating in a direction perpendicular to the surface of the workpiece, the aperture pit depth measuring unit (500) is used for non-contact measuring the aperture and the countersink depth of the drilled hole, and the Kong Tance hole unit (600) is used for contact measuring the aperture of the drilled hole; the switching unit (300) can move to enable the drilling unit (400), the hole depth measuring unit (500) and the hole detecting hole unit (600) to independently move to the working positions where the through holes of the first channel (101) are aligned so as to process or detect a workpiece.
  9. 9. The end effector as claimed in claim 8, wherein a spot facing depth control measurement system (410) is provided beside the drilling unit (400), the spot facing depth control measurement system (410) being in communication with the drilling unit (400), the spot facing depth control measurement system (410) being adapted to detect the feed depth of the drilling unit (400) relative to the presser foot unit (110) in real time after the non-contact ranging assembly (130) has determined the reference distance of the base unit (200) relative to the workpiece surface.
  10. 10. The end effector as claimed in claim 8, wherein a calibration unit (700) is provided on the switching unit (300), and the calibration unit (700) is configured to calibrate the probe end of the Kong Tance aperture unit (600) before the Kong Tance aperture unit (600) detects.

Description

Self-adaptive presser foot device for robot end effector and end effector Technical Field The application relates to the field of aerospace component machining, in particular to an adaptive presser foot device for a robot end effector and the end effector. Background In the manufacturing process of modern aircraft and spacecraft, the fuselage skin and the skeleton usually adopt a laminated structure, and the surfaces of the fuselage skin and the skeleton are mainly hyperboloid or variable-curvature. In order to ensure the connection quality, a great deal of hole making operation is required on the surface of the skin. Currently, the mainstream processing mode is to adopt six industrial robots to mount end effectors for automatic hole making. The end effector typically includes a presser foot device for pressing against the surface of the workpiece and a drilling unit for performing cutting. However, most of the existing robot terminal presser feet are rigidly connected or have a simple unidirectional buffer function. When the rigid presser foot contacts the curved surface, a gap is generated between the presser foot and the surface, resulting in uneven stress. If the workpiece is pressed forcefully, the surface of the workpiece is easy to be damaged, and if the workpiece is not pressed forcefully, effective support cannot be formed at the hole making position, so that the subsequent hole making process is influenced. Disclosure of Invention In order to solve the problem of normal alignment of the surface of a large-curvature workpiece, the application provides a self-adaptive presser foot device for a robot end effector and the end effector. In a first aspect, the present application provides an adaptive presser foot device for a robotic end effector, which adopts the following technical scheme: An adaptive presser foot device for a robotic end effector, the end effector comprising a base unit, the presser foot device comprising: the receiver is arranged in the base unit, a first channel for the drilling unit to stretch through is arranged in the center of the receiver in a penetrating mode, and the receiver is configured to be rigidly connected with the base unit and move along with the base unit; A second channel aligned and communicated with the first channel is penetrated through the center of the presser foot unit, the rear end face of the presser foot unit is movably connected with the front end face of the receiver, so that the presser foot unit can perform universal deflection relative to the axis of the receiver while keeping the second channel communicated, and the front end face of the presser foot unit is configured to be in direct contact with the surface of a workpiece; An elastic reset component, one end of which is connected with the receiver, and the other end of which acts on the presser foot unit and is used for applying axial pretightening force to the presser foot unit so that the presser foot unit always keeps the trend of leaning backwards against the receiver, and The non-contact ranging assembly comprises at least three ranging sensors arranged on the base unit, wherein the detection directions of the ranging sensors are arranged towards the surface of a workpiece, and the non-contact ranging assembly is used for detecting the actual distance between each measuring point on the base unit and the surface of the workpiece under the condition that the presser foot unit is pressed and deflects relative to the base unit so as to serve as a feedback basis for adjusting the posture of the base unit by a robot. By adopting the technical scheme, the functional decoupling of the physical fitting of the presser foot and the normal measurement of the base is realized. The distance measuring sensor is arranged on the rigid base unit instead of the follow-up presser foot, so that the inclination degree of the base relative to the surface of the workpiece can be accurately measured when the presser foot is stably attached to the workpiece but the base is not vertical, and the base unit is adjusted based on the inclination degree so as to realize subsequent vertical machining. The framework of flexible contact and rigidity measurement effectively solves the problems that the positioning is inaccurate only by relying on theoretical digital-analog in curved surface processing and the workpiece is easy to separate from the workpiece only by relying on rigidity ranging, and greatly improves the accuracy and efficiency of normal alignment. Optionally, the presser foot unit and the receiver are internally provided with a negative pressure cavity, the side wall of the receiver is provided with a dust collection interface communicated with the negative pressure cavity, and the dust collection interface is used for being connected with an external negative pressure source so as to suck cuttings, dust and cutter lubricating liquid through the second channel and the first channel in the hole making process. B