A large-stroke hybrid machining robot device for complex curved surfaces

Abstract

The invention discloses a large-stroke compound machining robot device orientated to a complex curved surface. The large-stroke compound machining robot device orientated to the complex curved surfacecomprises a whole-stroke linear guide rail, a planar two-degrees-of-freedom compound mechanical arm and a three-degrees-of-freedom force-control parallel machining module, wherein the whole-stroke linear guide rail is used for realizing large-stroke movement of the machining robot device; the planar two-degrees-of-freedom compound mechanical arm is used for controlling two-degrees-of-freedom movement in a plane, and the two-degrees-of-freedom movement in the plane is driven by a motor on a base; and the three-degrees-of-freedom force-control parallel machining module is used for controlling one movement degree of freedom and two rotation degrees of freedom, and controlling an action force on an end executer. According to the device, the three-degrees-of-freedom force-control parallel machining module is installed at the end of the planar two-degrees-of-freedom compound mechanical arm and cooperated with the whole-stroke linear guide rail, a high-quality working space range of the robot can be expanded, and machining working for the complex curved surface with large dimensions can be realized in a one-time clamping process; and meanwhile, the robot device has five-axis linkage machining capacity, and is capable of controlling a positive pressure acting on the end executer to ensure the final machining quality.

Description

Technical field [0001] The invention relates to the technical field of numerical control device manufacturing, in particular to a large-stroke hybrid processing robot device for complex curved surfaces. Background technique [0002] With the increasing requirements for structural lightweight design, large-scale structural parts with complex curved surfaces in the aerospace, energy, and automotive industries are becoming more and more common. However, how to integrate large-scale complex structural parts to ensure their mechanical properties and shape Surface accuracy is still an important research direction. At the same time, the environmental pollution caused by the large-scale application of fossil fuels has prompted countries all over the world to promote the development of renewable energy. As one of the important sources of renewable clean energy, wind energy has the most mature technology, the largest scale of development and the best commercial development prospects, and ...

AI Technical Summary

Problems solved by technology

[0003] The size of large complex structural parts and fan blades is huge, and the use of traditional machine tools to complete the processing operations will inevitably lead to a further increase in the size of the machine tool, so it is not realistic, so it is of great significance to develop an applicable large-stroke mobile processing robot

Traditional industrial robots usually use an open-chain series robot consisting of several joints and connecting rods. This type of robot has the advantages of large working space, simple structure and high flexibility, but it also has the disadvantages of easy accumulation of joint errors.

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