Curved surface movable adsorption processing robot and adsorption working method thereof

A technology of robots and processing tools, which is applied in the direction of manipulators, motor vehicles, manufacturing tools, etc., can solve the problems of limited robot poses and inaccessible processing positions, and achieve the effect of wide range of applicable curved surfaces, simple structure, stable and reliable adsorption

CN110203296AActive Publication Date: 2019-09-06HUAZHONG UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-09-06

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Abstract

The invention discloses a curved surface movable adsorption processing robot and an adsorption working method thereof, and belongs to the technical field of industrial robots. The robot comprises an omni-directional moving module, a position adjusting module, a flexible adsorption module, a chassis rack and a processing actuator, the flexible adsorption module comprises three smooth adsorption cavities, and is connected to the chassis rack through the position adjusting module so that the positions of the flexible adsorption cavities and the adsorbed surfaces can be adjusted, and the adsorption capacity is provided for the robot; and the omni-directional moving module and the processing actuator are fixedly connected to the chassis rack, and omni-directional moving capability and the processing capability are provided for the robot. According to the curved surface movable adsorption processing robot and the adsorption working method thereof, the robot can be adsorbed on the surface ofa free-form curved surface of a large-scale complex component, so that the active adsorption, autonomous motion and machining operation of the robot are realized, the size is small, the load is large,the curved surface application range is wide, the structure is simple, and manufacturing is easy.
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Description

technical field

[0001] The invention belongs to the technical field of industrial robots, and more specifically relates to a curved surface mobile adsorption processing robot and an adsorption working method thereof. Background technique

[0002] Due to the large size and irregular curvature distribution of large and complex components, there are certain difficulties in automatic processing. Robots have the advantages of high motion flexibility, large working space, environmental adaptability, and strong parallel coordination ability. It has gradually become a new research hotspot to use them in the processing of large and complex structural parts. Existing robot processing solutions for large and complex components often integrate industrial robots into certain mobile platforms, such as guide rails or AGV vehicles. Although this solution greatly expands the working space of the robot and makes it possible for the robot to process large and complex components, it is limited...

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Embodiment Construction

[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0039] The invention provides a robot capable of adsorbing, climbing, and processing curved surfaces. The robot uses a flexible adsorption cavity with passive compliance and a three-wheel chassis to absorb and move on the surface of the component, aiming at the surface characteristics of the free curved surface of a large complex component, and Complete the corresponding processing tasks through...