Six degrees of freedom parallel attitude adjustment platform suitable for low space

Abstract

The invention relates to a six-degree-of-freedom parallel attitude-adjusting platform suitable for low spaces, which includes a vehicle body and three identical six-degree-of-freedom attitude-adjusting branch chain legs; cover body. The lithium battery and the control cabinet are arranged in the frame, the inclinometer is located in the center of the bottom of the vehicle, and the laser range finder is located on four sides. Each posture-adjusting branch chain leg includes steering, lifting and walking parts. The steering wheel is driven by a motor to drive the gear and drive the turntable bearing to rotate; the lifting motor completes the lifting action through the synchronous belt drive and the screw nut; Drive, and force sensors are installed on these three parts. Closed through ground, forming 3‑R z P z R y S + Six degrees of freedom parallel mechanism. The invention realizes the six-free attitude adjustment of the platform and has the function of omnidirectional movement. It adopts a horizontal structure and adapts to the low operating space, which greatly shortens the working cycle of manual attitude adjustment in the past. Improve and be more flexible.

Description

technical field [0001] The invention belongs to the technical field of intelligent operation equipment, and relates to a six-degree-of-freedom parallel attitude adjustment platform suitable for low space. Background technique [0002] With the development of assembly technology and the improvement of processing requirements, the professional division of labor for robots used for product processing has become more and more detailed and targeted. In the past, the products to be processed have relatively simple operation requirements for the robotic arms, and the ability to precisely control the objects to be manipulated is weak. Generally, the serial robotic arms on the assembly line can only complete relatively simple steps due to the fixed position. The six-degree-of-freedom parallel attitude adjustment platform not only has the function of lifting and moving the mechanical arm like general operation, loading and unloading equipment, but also has the ability to precisely adj...

AI Technical Summary

Problems solved by technology

However, in the aviation industry, the processing of some large parts of the representative large aircraft is still done manually. This working method has a long manufacturing cycle, many assembly links, complex technology, and poor variability and reconfigurability. Can no longer meet the efficiency requirements of modern aircraft assembly

In the assembly and testing process of various other large-scale equipment such as missiles, rockets, satellites, etc., due to the large number of parts of large-scale equipment, the shape structure is relatively complicated, and there are also requirements for coordination accuracy between components and accurate shape parts during processing. Therefore, the processing labor intensity is high, the processing accuracy is high, and the processing technology is difficult. The important thing is that due to the small output and large parts of these processing industries, it is impossible to form multiple fixed positions in the current general factory assembly line. The assembly line of the robotic arm processing, so it is obvious that a six-degree-of-freedom parallel attitude adjustment platform is required to complete the movement and attitude adjustment of the general processing robotic arm

[0003] And in the prior art, the transport vehicle and the attitude adjustment platform are two sets of systems, and the problem exists in that the device is complex or the transport vehicle is the main one and only has a simple attitude adjustment device, and the assembly accuracy is low

The patent document with the application number 201721567896.7 discloses an industrial automatic transport trolley. This equipment can complete the rollover action, but it can only realize the unloading function of the trolley.

The patent document with the application number 201710180215.X discloses an intelligent installation method for aircraft doors based on an AGV intelligent parallel robot. Although this equipment has a transportation function and can adjust multi-axis attitude, the attitude adjustment system consists of six telescopic rods. , the structure is very complex, occupying a large load and the attitude control is more complicated

The patent document with the application number of 201220133929.8 discloses a three-wheel-legged serial-parallel hybrid robot, in which the kinematic branch chain completes the six-degree-of-freedom motion by six rotating joints, and each joint has a separate motor and encoder, but its The structure is complex, it is difficult to complete the specific attitude control, and the branch chains are all connected by rotating pairs, the bearing capacity is poor, and the control accuracy is low

[0004] To sum up, the attitude adjustment platform has a transportation function, and part of it can only complete the flip in the horizontal direction, which has certain limitations in the operation and use of unmanned warehouses.

However, for a platform that can complete six-degree-of-freedom attitude adjustment and has transportation functions, the attitude adjustment platform is separated from the transportation system, and the device is complicated; or each branch chain needs to control more degrees of freedom and has a complex structure

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