A processing device for large structural parts based on force-controlled hybrid robot

Abstract

The invention discloses a large-scale structural part machining device based on a force-controlled series-parallel robot. The large-scale structural part machining device comprises an unmanned carrying vehicle, a linear guide rail, a planar two-degree-of-freedom series-parallel mechanical arm and a three-degree-of-freedom force-controlled parallel machining module; the unmanned carrying vehicle isused for ensuring the large moving stroke of the robot; the linear guide rail is used for controlling the movement of the series-parallel robot when the unmanned carrying vehicle is stopped; the planar two-degree-of-freedom series-parallel mechanical arm is used for controlling two-degree-of-freedom movement in a plane; and the three-degree-of-freedom force-controlled parallel machining module isused for controlling a movement degree of freedom and two rotation degrees of freedom, and controlling the positive pressure on an end effector. According to the large-scale structural part machiningdevice, the three-degree-of-freedom force-controlled parallel machining module is installed at the tail end of a planar two-degree-of-freedom series-parallel mechanical arm and is matched with the unmanned carrying vehicle, so that the range of the high-quality working space of the robot is enlarged, the machining operation on all the molded surfaces can be completed by one-time clamping, then the machining operation efficiency is effectively improved, and meanwhile, the three-degree-of-freedom force-controlled parallel machining module can control the action force of the end effector so as to guarantee the machining quality during the machining operation.

Description

technical field [0001] The invention relates to the technical field of numerical control device manufacturing, in particular to a large-scale structural part processing device based on a force-controlled hybrid robot. Background technique [0002] With the continuous development of aerospace technology and the continuous improvement of structural design, the demand for structural weight reduction has become increasingly prominent, which has also brought new requirements for structural parts processing. In order to make full use of the mechanical properties of materials, the proportion of large overall structural parts has increased, but this has also brought new challenges to the processing industry. The integrated processing of large structural parts is still a technical problem that needs to be solved urgently. At the same time, the depletion of fossil energy and environmental pollution are becoming more and more serious. Many countries have begun to pay attention to the d...

AI Technical Summary

Problems solved by technology

At the same time, most of the curved surfaces to be processed are free-form surfaces, and the curvature changes are complicated. It is required that the processing device can realize five-axis linkage processing

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.

Images