A mobile hybrid robot for in-situ processing of deep holes

Abstract

The invention discloses a mobile hybrid robot for deep hole in-situ processing operations, comprising: a positioning and clamping module, which can realize movement, positioning and clamping in large-sized inner holes; The relative position between the processing reference coordinate system and the global coordinate system established by the positioning and clamping module establishes the transformation relationship between the processing reference coordinate system and the global coordinate system; the six-degree-of-freedom attitude adjustment module is fixedly connected to the positioning and Under the clamping module, after realizing reliable positioning and clamping, the position and attitude of the two-degree-of-freedom processing and detection module mounted on the end can be adjusted; the two-degree-of-freedom processing and detection module is installed under the six-degree-of-freedom attitude adjustment module, with The axial and radial feed capabilities along the inner hole can meet the processing requirements of the processing features. The robot can realize positioning and tool posture adjustment in large-size deep holes, and realize the whole process of positioning, posture adjustment, in-situ processing and inspection.

Description

technical field [0001] The invention relates to the field of advanced manufacturing technology, in particular to a mobile hybrid robot for deep hole in-situ processing operations. Background technique [0002] National defense, energy, aerospace and other fields are the key fields of national economic development, and the development of these fields plays a vital role in enhancing the country's comprehensive strength. With the continuous development of these fields, the equipment in the field is gradually developing in a more complex, sophisticated, and more integrated direction. In order to meet the high-efficiency and high-finish processing requirements of new equipment, processing equipment also needs to be developed and upgraded according to the needs of processing characteristics. The internal features of the deep hole are typical features of the equipment to be processed in the fields of national defense, energy and aerospace, such as the ring support surface in the d...

AI Technical Summary

Problems solved by technology

Due to the limitation of the internal feature position of the deep hole, it is difficult for the existing mobile processing robot to reach the specified position for processing. Therefore, it is very necessary to design a mobile processing robot that can move inside the deep hole and realize its boring processing.

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