A large-stroke force-controlled processing robot based on a planar two-degree-of-freedom hybrid manipulator

Abstract

The invention discloses a large-stroke force control machining robot based on a plane two-freedom-degree parallel serial mechanical arm. The large-stroke force control machining robot comprises an unmanned carrying trolley used for guaranteeing the large movement stroke of the robot, the plane two-freedom-degree parallel serial mechanical arm used for controlling the two-freedom-degree movement inthe plane, and a three-freedom-degree force control parallel machining module for controlling one movement freedom degree and two rotation freedom degrees and controlling the positive pressure on anend effector. According to the robot, the three-freedom-degree force control parallel machining module is arranged at the tail end of the plane two-freedom-degree parallel serial mechanical arm and matched with the unmanned carrying trolley, the high-quality work space range of the robot is enlarged, and machining work of all profiles of large structural components or large wind power blades can be finished on the premise of one-time arranging and clamping; and the three-freedom-degree force control parallel machining module can control the positive pressure on the end effector during machining work while the machining work efficiency is improved, and the machining quality can be effectively guaranteed.

Description

technical field [0001] The invention relates to the technical field of numerical control device manufacturing, in particular to a large-stroke force-controlled processing robot based on a plane two-degree-of-freedom hybrid mechanical arm. Background technique [0002] In the context of the rapid development of the aerospace, gas turbine, and shipbuilding industries, the demand for integrated processing of large structural parts, large turbine blades, and large-size propellers has become increasingly prominent. In order to give full play to the advantages of integrated design, how to complete large structural parts efficiently and with high precision processing is particularly important. At the same time, in the context of the prevailing global low-carbon development model, the demand for clean energy is increasing day by day. As a clean and renewable energy with rich reserves and wide distribution, wind energy is receiving more attention. With the rapid development of wind...

AI Technical Summary

Problems solved by technology

The traditional serial robot is composed of joints and connecting rods. It has the advantages of simple structure, large working space and flexibility, but there are problems such as joint accumulation and poor end rigidity.

The parallel mechanism forms multiple kinematic branch chains between the fixed platform and the moving platform to form a closed-loop structure to ensure the high stiffness of the moving platform at the end and ensure a compact structure. However, its working space is generally small and needs to be solved urgently.

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