A curved surface mobile adsorption processing robot and its adsorption working method

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.

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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Problems solved by technology

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a curved surface mobile adsorption processing robot and its adsorption working method, the purpose of which is to realize the passive compliance of the processing robot to the change of the free curved surface through the compliant adsorption module and the position adjustment module And active compliance, so that the robot can be stably and reliably adsorbed on the surface of the workpiece, thereby solving the technical problems that the existing robot needs to be integrated into the mobile platform, and when processing large and complex components, the robot's pose is limited or the processing position is not accessible

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