Moving type series-parallel machining robot based on three-freedom-degree force-controlled parallel module

Abstract

The invention discloses a moving type series-parallel machining robot based on a three-freedom-degree force-controlled parallel module. The robot comprises an automatic guided vehicle used for ensuring the large moving stroke of the robot, a linear guide rail used for controlling moving of the series-parallel robot when the automatic guided vehicle is parked, a plane two-freedom-degree series-parallel mechanical arm used for controlling the two-freedom-degree motion in the plane and a three-freedom-degree force-controlled parallel machining module; the two-freedom-degree motion in the plane isdriven by a motor on a base, and the three-freedom-degree force-controlled parallel machining module is used for controlling one moving freedom degree and two rotating freedom degrees and controllingthe positive pressure on a tail end executor. According to the robot, the three-freedom-degree force-controlled parallel machining module is arranged on the tail end of the plane two-freedom-degree series-parallel mechanical arm to be matched with the linear guide rail and the automatic guided vehicle, the high-quality work space range of the robot is widened, in the one-time clamping process, machining work of full curve faces of a large structural part is achieved, and through control over the acting force of the tail end executor, the machining work quality is ensured.

Description

technical field [0001] The invention relates to the technical field of numerical control device manufacturing, in particular to a mobile hybrid processing robot based on a three-degree-of-freedom force-controlled parallel module. Background technique [0002] In the fields of aerospace, energy power, and heavy equipment, in order to give full play to the mechanical properties of materials, the proportion of integral large-scale structural parts in the entire structure is getting higher and higher. There are still many problems in the processing of parts. At the same time, as one of the important sources of renewable and clean energy, wind energy is being paid more and more attention to its reasonable development and utilization. As an important component of wind turbines, wind power blades are easily damaged due to their harsh working environment and surface quality. Greatly affected the normal operation of the fan. Secondary grinding of the blades to restore the surface q...

AI Technical Summary

Problems solved by technology

[0003] Due to the huge size of large structural parts and large fan blades, processing in the form of traditional machine tools will inevitably lead to further increase in the size of the machine tool, which will lead to a huge workload for subsequent maintenance of the equipment. Therefore, it is of great significance to develop an applicable large-stroke mobile robot

Images