A mobile hybrid processing robot based on a three-degree-of-freedom force-controlled parallel module

Abstract

The invention discloses a mobile hybrid processing robot based on a three-degree-of-freedom force-controlled parallel module, comprising: an unmanned transport vehicle, used to ensure a large moving stroke of the robot; a linear guide rail, used for parking the unmanned transport vehicle Control the movement of the hybrid robot; the planar two-degree-of-freedom hybrid manipulator is used to control the two-degree-of-freedom movement in the plane, wherein the two-degree-of-freedom movement in the plane is driven by the motor on the base; and the three-degree-of-freedom force-controlled parallel processing module , used to control one degree of freedom of movement and two degrees of freedom of rotation, and to control the positive force on the end effector. The robot installs the three-degree-of-freedom force-controlled parallel processing module at the end of the planar two-degree-of-freedom hybrid manipulator and cooperates with the linear guide rail and the unmanned vehicle to increase the high-quality working space of the robot and realize the large-scale structural parts in one loading process. The processing operation of all curved surfaces and the quality of processing operation are guaranteed by controlling the force of the end effector.

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

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