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CN-122008159-A - Cantilever type auxiliary assembly robot for aviation finished products and diagnosis control method

CN122008159ACN 122008159 ACN122008159 ACN 122008159ACN-122008159-A

Abstract

The invention belongs to the technical field of intelligent robots, and particularly relates to a cantilever type auxiliary assembly robot for aviation finished products and a diagnosis control method; the method comprises the steps of operating an assembly robot to start moving, diagnosing and avoiding the position of an obstacle, enabling the assembly robot to safely move to a workpiece taking position, completing clamping of a workpiece by a clamp mechanism, operating the assembly robot to move to the assembly position, adjusting a mechanical arm to a proper height and angle, stretching the mechanical arm to adjust a tail end gesture adjusting device to the position above the assembly position, adjusting the position and angle of the clamp mechanism by using a plurality of hand shaking rods, enabling the workpiece to be aligned with an assembly hole position on the assembly position, and completing assembly of the workpiece.

Inventors

  • LIU SHUNTAO
  • CUN WENYUAN
  • QIAO HONGHAI
  • GAO HENGYI
  • ZHAO HONGJUAN
  • Liang Zirui
  • PAN YIWEN
  • ZOU BIN

Assignees

  • 成都飞机工业（集团）有限责任公司

Dates

Publication Date
20260512
Application Date
20260319

Claims (20)

  1. 1. The cantilever type auxiliary assembly robot for the aviation finished product is characterized by comprising an omnidirectional carrying device, a lifting device, a mechanical arm and a tail end gesture adjusting device, wherein the lifting device, the mechanical arm and the tail end gesture adjusting device are connected with a control system; The lifting device is arranged on an omnidirectional carrying device with a laser radar (41), the lifting device and the mechanical arm are provided with ultrasonic sensors (44), the lifting device comprises a rotating mechanism (10), a stand column assembly (18) and a lifting mechanism (12), the rotating mechanism (10) is arranged at the bottom of the stand column assembly (18), the lifting mechanism (12) is arranged on the stand column assembly (18) and drives the mechanical arm to move on the stand column assembly (18); The tail end gesture adjusting device comprises a gesture adjusting mechanism (37), a floating platform mechanism (38) and a clamp mechanism (39), wherein the floating platform mechanism (38) comprises an upper floating platform (55), a lower floating platform (56), a floating platform connecting plate (54) and a plurality of hand rocking rods for adjusting the position and the angle of the clamp mechanism (39), the hand rocking rods are arranged on the side face of the upper floating platform (55) and the side face of the floating platform connecting plate (54), the upper floating platform (55) is connected with the clamp structure, the upper floating platform (55) is connected with the lower floating platform (56) through a plurality of springs (50), the periphery of the lower floating platform (56) is provided with a floating platform connecting plate (54), the lower floating platform (56) is connected with the floating platform connecting plate (54) through a plurality of springs (50), a small spherical hinge (57) for fixing the upper floating platform (55) is further connected between the upper floating platform (55) and the lower floating platform (56), and the gesture adjusting mechanism (37) is further connected with a large spherical hinge (47) for fixing the lower floating platform (56).
  2. 2. The cantilever-assisted assembly robot for aeronautical products according to claim 1, wherein the clamping mechanism (39) comprises a plurality of clamping jaws (59), each clamping jaw (59) being connected to the upper floating platform (55) by a quick-change nut (58).
  3. 3. The cantilever type auxiliary assembly robot for the aviation finished product, which is disclosed in claim 1, is characterized in that the gesture adjusting mechanism (37) comprises an electric cylinder (70) and a clamp body (48), the electric cylinder (70) is arranged on the side surface of the clamp body (48), the clamp body (48) is connected with a lower floating platform (56) through a large spherical hinge (47), a plurality of clamping claws (76) are uniformly arranged on the side surface of the clamp body (48), a supporting seat (49) is arranged at one end of the clamp body (48), and the supporting seat (49) is connected with a mechanical arm.
  4. 4. The cantilever type auxiliary assembly robot for aviation finished products according to claim 3 is characterized in that the large spherical hinge (47) comprises a ball head (65) and a flange support, the ball head (65) is arranged in a clamp body (48) and is connected with a flange seat at the top of the ball head (65), the flange seat is connected with a lower floating platform (56), three movable clamping claws (76) are uniformly arranged around the ball head (65), one ends of the three clamping claws (76) are in contact with the ball head (65), the other ends of the three clamping claws (76) are respectively in contact with one ends of the three jacking rods (66), tracks which are convenient for the sliding of the jacking rods (66) are arranged on two sides of the three jacking rods (66), the other ends of the three jacking rods (66) are in contact with a rolling ball (68), the rolling ball (68) is placed on an arc surface of an arc surface push rod (64), and the arc surface push rod (64) is connected with an electric cylinder (70).
  5. 5. The cantilever type auxiliary assembly robot for the aviation finished product, which is disclosed by claim 2, is characterized in that a sensor for monitoring adjustment data is arranged on a plurality of hand rocking bars, the plurality of hand rocking bars comprise a plurality of U-shaped rocking bars (52), a plurality of straight rocking bars (53) and a plurality of L-shaped rocking bars (51), the plurality of U-shaped rocking bars (52) and the plurality of straight rocking bars (53) are arranged on the side face of an upper floating platform (55), and the plurality of L-shaped rocking bars (51) are uniformly arranged on the side face of a floating platform connecting plate (54).
  6. 6. The cantilever type auxiliary assembly robot for the aviation finished product according to claim 3 is characterized in that the mechanical arm comprises a big arm (31) and a small arm (33), big arm joints (30) are arranged at two ends of the big arm (31), small arm joints (32) are arranged at one end of the small arm (33), a tail end rotary joint (34) is arranged at the other end of the small arm (33), one end of the tail end rotary joint (34) is connected with a supporting seat (49) through a flange plate (36), the big arm joints (30) at one end of the big arm (31) are connected with the small arm joints (32) at one end of the small arm (33), a base (29) is arranged on the big arm joints (30) at the other end of the big arm (31), and the big arm joints are connected with a lifting device through the base (29).
  7. 7. The cantilever type auxiliary assembly robot facing to the aviation finished product, which is characterized in that the big arm joint (30), the small arm joint (32) and the tail end rotary joint (34) are unpowered joints, the unpowered joints comprise a brake shaft (61), an electromagnetic brake (60) and a bearing (62), the brake shaft (61) penetrates through the bearing (62) and the electromagnetic brake (60), the bearing (62) is connected with the brake shaft (61) through keys, and a brake disc of the electromagnetic brake (60) is connected with the brake shaft (61).
  8. 8. The cantilever-type auxiliary assembly robot for aviation products according to claim 7, wherein the other end of the terminal rotary joint (34) is further provided with a grip (35) for adjusting the mechanical arm.
  9. 9. The cantilever type auxiliary assembly robot for the aviation finished product according to claim 8, wherein safety contact edges (43) are arranged on the outer sides of the large arm (31), the small arm (33), the large arm joint (30), the small arm joint (32) and the tail end rotary joint (34), and ultrasonic sensors (44) are arranged on the side surfaces of the large arm (31) and the small arm (33).
  10. 10. The cantilever type auxiliary assembly robot for aviation finished products according to claim 8, wherein the rotating mechanism (10) comprises a slewing bearing (14), the slewing bearing (14) is arranged on a base flange plate (13), the base flange plate (13) is arranged on a chassis frame (1) of an omnidirectional carrying device, a speed reducer (16) and a driving motor (15) are arranged on the slewing bearing (14), the driving motor (15) is connected with the speed reducer (16), the speed reducer (16) is meshed with the slewing bearing (14), the upright post assembly (18) is arranged on the top of the slewing bearing (14), an emergency stop switch (40) is arranged on the side face of the upright post assembly (18), a warning lamp (20) and an ultrasonic sensor (44) are arranged on the top of the upright post assembly (18), and a safety touch edge (43) is arranged on the outer side of the top of the upright post assembly (18).
  11. 11. The cantilever type auxiliary assembly robot for the aviation finished product according to claim 9, wherein the lifting mechanism (12) comprises a lifting motor (23), a ball screw (24) and a guide rail assembly, the lifting motor (23) is arranged on the top of the upright post assembly (18) and the output end of the lifting motor (23) is connected with the ball screw (24), a cable wire (28) is fixedly connected to the upright post assembly (18) and the cable wire (28) is connected with an upright post connecting plate (27), the guide rail assembly comprises an upright post lifting guide rail (25) and an upright post lifting sliding block (67), the upright post lifting guide rail (25) is symmetrically arranged on the front side of the upright post assembly (18), a limit switch (26) for limiting lifting travel is arranged at the lower part of the upright post lifting guide rail (25), the upright post lifting sliding block (67) is arranged on the upright post lifting guide rail (25) through the upright post lifting sliding block (67), and the upright post lifting sliding block (67) is symmetrically arranged on the upright post lifting guide rail (25) and is connected with the upright post connecting plate (27).
  12. 12. The cantilever-type auxiliary assembly robot for aviation products according to claim 11, wherein the upright assembly (18) comprises an upright body (11), a base mounting plate and a base flange plate (13), the base mounting plate is arranged at the bottom of the upright body (11), and the base mounting plate is arranged on the base flange plate (13).
  13. 13. The cantilever type auxiliary assembly robot facing to aviation finished products according to claim 12, wherein the omnidirectional carrying device comprises wheels, a supporting leg assembly (4), a chassis frame (1) and an integrated machine assembly (5), a box door is arranged on the side face of the chassis frame (1) of the omnidirectional carrying device, a battery for powering the assembly robot is arranged inside the chassis frame (1), the wheels comprise steering wheels (2) and universal wheels (3), the steering wheels (2) and the universal wheels (3) are arranged at the bottom of the chassis frame (1), an encoder and an angle sensor are arranged on the steering wheels (2), the integrated machine assembly (5) for supplying electric energy and carrying instructions is further arranged on the chassis frame (1), a laser radar (41) and an emergency stop switch (40) are further arranged on the side face of the chassis frame (1), a safety contact edge (43) is arranged on the bottom of the side face of the chassis frame (1), the supporting leg assembly (4) comprises a plurality of supporting legs and is uniformly arranged on the side face of the chassis frame (1).
  14. 14. The cantilever-type auxiliary assembly robot for aviation products according to claim 13, wherein the control system comprises a PLC controller, and the PLC controller is arranged inside the integrated machine assembly (5).
  15. 15. The cantilever type auxiliary assembly robot for aviation products according to claim 14, wherein the integrated machine assembly (5) comprises a machine body, an HMI human-machine interface (6), a function button (7), a handheld wire controller (8) and a wire winder (9), wherein the HMI human-machine interface (6) is arranged on the machine body, the function button (7) comprises a starting button (17), a pause button (69), an emergency stop button (45) and a power button (46), the starting button (17), the pause button (69), the emergency stop button (45) and the power button (46) are symmetrically arranged on two sides of the HMI human-machine interface (6), the handheld wire controller (8) is hung on the machine body, and the wire winder (9) is fixedly arranged at the rear of the machine body and stores a cable for powering on the omnidirectional carrier device.
  16. 16. The diagnosis control method for the cantilever type auxiliary assembly robot facing the aviation finished product is characterized by being realized by adopting the cantilever type auxiliary assembly robot facing the aviation finished product as claimed in any one of claims 1 to 15, and comprises the following method steps: S1, operating an omnidirectional carrying device to drive an assembly robot to start moving, diagnosing and avoiding the position with an obstacle through an ultrasonic sensor (44) and a laser radar (41), and enabling the assembly robot to safely move to a workpiece taking position, so that a clamp mechanism (39) of a terminal gesture adjusting tool is completed to clamp a workpiece; s2, operating the omnidirectional carrying device to move the assembly robot to an assembly position, and adjusting the tail end gesture adjusting device to the position above the assembly position by the stretching mechanical arm; And S3, adjusting the upper floating platform (55) and the lower floating platform (56) by using a plurality of hand rocking bars, so that the position and the angle of the clamp mechanism (39) are adjusted, and the workpiece is aligned with the assembly hole position on the assembly position, thereby completing the assembly of the workpiece.
  17. 17. The diagnosis control method for the cantilever type auxiliary assembly robot for aviation finished products according to claim 16, wherein the diagnosis control method is characterized in that the position of the obstacle is diagnosed and avoided through an ultrasonic sensor (44) and a laser radar (41) in S1, and the specific method for safely moving the assembly robot to the taking position is that a PLC (programmable logic controller) of a control system processes signals transmitted by the laser radar (41) and the ultrasonic sensor (44) through reading, and then signals needing angle compensation of a steering wheel (2) are sent to the steering wheel (2), and at the moment, a steering motor of the steering wheel (2) corrects the angle, so that the obstacle is avoided.
  18. 18. The diagnostic control method of the cantilever type auxiliary assembly robot for aviation products according to claim 16, wherein the S3 is characterized in that the L-shaped rocker (51) is used for adjusting the lower floating platform (56) so as to drive the position of the clamp mechanism (39) to adjust and fix the large spherical hinge (47), and the straight rocker (53) and the U-shaped rocker (52) are used for adjusting the upper floating platform (55) so as to drive the position and the angle of the clamp mechanism (39) to adjust and fix the small spherical hinge (57).
  19. 19. The diagnosis control method for the cantilever type auxiliary assembly robot for aviation finished products, which is characterized in that a large spherical hinge (47) is fixedly connected with an arc-surface push rod (64), when a workpiece needs to be fixedly supported, a ball head (65) needs to be clamped, the electric push cylinder pushes the arc-surface push rod (64) to move forwards, a ball (68) moves upwards along an arc surface to push three ejector rods (66), three clamping claws (76) rotate inwards, so that the ball head (65) is clamped, the electric push cylinder stops pushing at the moment, the clamping state is kept, when the workpiece needs to be rotated, the ball head (65) needs to be released, the electric push cylinder pulls the arc-surface push rod (64), the ball (68) moves downwards along the arc surface, and the ejector rods (66) release pressure to enable the three clamping claws (76) to rotate outwards, so that the ball head (65) is released.
  20. 20. The method for controlling diagnosis of the cantilever-type auxiliary assembly robot for aviation products according to claim 19, wherein the mechanical arm is stretched by a grip (35) of the mechanical arm in the step S2.

Description

Cantilever type auxiliary assembly robot for aviation finished products and diagnosis control method Technical Field The invention belongs to the technical field of intelligent robots, and particularly relates to a cantilever type auxiliary assembly robot for aviation finished products and a diagnosis control method. Background The method has the advantages that the operation object has the characteristics of large size, load and the like, the operation object is complex in structure and special in material, the assembly precision requirement is high, the object has the characteristics of multiple varieties and small batches, and the traditional aircraft manufacturing and assembling technology does not meet the modern aircraft manufacturing requirement due to the fact that an assembly robot in the traditional aircraft manufacturing and assembling has the problems of long workpiece assembly period, low positioning precision, labor-consuming lifting and the like in a complex and narrow space. In the traditional aircraft manufacturing assembly technology, the multi-degree-of-freedom assembly platform can accurately move in multiple directions and is widely applied to automatic production, however, the motion control of the traditional platform faces various challenges including control complexity and real-time feedback requirement caused by the increase of the motion freedom, in addition, the traditional communication mode is difficult to meet the high-efficiency and low-delay data transmission requirement, the control precision and stability of the platform are affected, the fault diagnosis is difficult due to the complex structure and the motion mode of the multi-degree-of-freedom platform, and the traditional manual diagnosis method is low in efficiency and cannot monitor faults in real time and process the faults in time. Therefore, there is an urgent need for an assembly robot and a method thereof that can improve the assembly accuracy of the assembly robot and the real-time performance of fault diagnosis in the aircraft manufacturing assembly while achieving efficient assembly. For example, a Chinese patent with publication number CN120207604A and publication date 2025, 6 and 27 is entitled "an invention patent applicable to aircraft cabin door rapid auxiliary assembly cooperative robot", which specifically comprises a main structure, an adsorption unit, a power system and a control system, wherein the main structure is provided with the adsorption unit, the power system and the control system, and is matched with the power system and the control system to realize multi-pose follow-up control, the adsorption unit provides pneumatic power for adsorbing cabin door products by the power system, the power system provides negative pressure for the operation of the adsorption unit and provides power for main structure follow-up control, and the control system controls adsorption, release and multi-degree-of-freedom free pose adjustment. The above-mentioned patent can accurately operate in narrow assembly space to have flexible structure, easy and simple to handle, remove rapid characteristics, but above-mentioned assembly robot's assembly accuracy is lower, can't carry out fine adjustment at the terminal. Disclosure of Invention In order to solve the problems in the prior art, the invention provides the cantilever type auxiliary assembly robot facing the aviation finished product, which can adjust the pose of the tail end of the robot with high degree of freedom and carry out accurate clamping to realize assembly, and the diagnosis control method. In order to achieve the technical effects, the technical scheme of the application is as follows: The cantilever type auxiliary assembly robot for the aviation finished products comprises an omnidirectional carrying device, a lifting device, a mechanical arm and a tail end gesture adjusting device, wherein the lifting device, the mechanical arm and the tail end gesture adjusting device are connected with a control system, the lifting device is connected with the mechanical arm and connected with the tail end gesture adjusting device, the lifting device is arranged on the omnidirectional carrying device with a laser radar, ultrasonic sensors are arranged on the lifting device and the mechanical arm, the lifting device comprises a rotating mechanism, a stand column assembly and a lifting mechanism, the rotating mechanism is arranged at the bottom of the stand column assembly, the lifting mechanism is arranged on the stand column assembly and drives the mechanical arm to move on the stand column assembly, the tail end gesture adjusting device comprises a gesture adjusting mechanism, a floating platform mechanism and a clamp mechanism, the floating platform mechanism comprises an upper floating platform, a lower floating platform, a floating platform connecting plate and a plurality of rocking rods for adjusting the position and the angle of the clamp mechanism, the rock