An integrated multi-arm collaborative tape laying robot equipment

Abstract

The present invention belongs to the field of aerospace technology, and particularly relates to an integrated multi-arm collaborative tape laying robot equipment, which includes an industrial robot. A multi-joint arm fixing platform is installed at the end of the industrial robot. Adaptive hybrid roller pressing joint arms with the same structure are installed at the left and right ends of the multi-joint arm fixing platform at a fixed inclination angle. A feeding support mechanism is installed at the bottom end of the multi-joint arm fixing platform, and the end of the feeding support mechanism is connected to an adjustable adsorber. The integrated multi-arm collaborative tape laying robot equipment proposed by the present invention takes the industrial robot as the main body, and has the advantages of a large working space and high motion flexibility; the multi-joint arms at the end cooperate with each other to perform tape grabbing and roller pressing operations, and can simultaneously perform roller pressing on both sides of the airfoil component, with high working efficiency. It also has the advantages of relatively low cost, compact structure, low energy consumption, convenient adjustment, simple maintenance and strong practicability.

Description

Technical Field

[0001] The present invention relates to an integrated multi-arm collaborative tape laying robot equipment. Background Art

[0002] During the process of a spacecraft passing through and re-entering the atmosphere, it will be subjected to huge aerodynamic effects. To ensure the flight safety of the spacecraft, the quality of the heat insulation layer on the surface of the spacecraft is crucial. At present, most of the heat insulation layer structures of spacecraft are mainly laid with composite materials manually, supplemented by automatic tape laying equipment. Laying tapes in the way of manual trimming not only has a long cycle, low production efficiency, but also poor accuracy, and cannot meet the technical requirements of tape laying. The tape laying objects of traditional tape laying equipment are single, mainly applicable to large-size and large-curvature components with large space occupation. The head of the spacecraft is gradually evolving towards an airfoil structure in terms of aerodynamic shape design. Since the airfoil component has a relatively large size and complex structure, there are problems such as multiple processes and negative curvature during the laying process. Therefore, the tape laying equipment is required to have characteristics such as a large working space, high movement flexibility, strong load-bearing capacity, and modular integration. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the present invention proposes an integrated multi-arm collaborative tape laying robot equipment, which takes an industrial robot as the main body and has advantages such as a large working space and high movement flexibility; the multi-joint arms at the end cooperate with each other to perform tape laying, grasping and roller pressing operations, and can simultaneously perform roller pressing on both sides of the airfoil component, with high working efficiency, and also has advantages such as relatively low cost, compact structure, low energy consumption, convenient adjustment, simple maintenance, and strong practicability.

[0004] The technical solution of the present invention to solve the above problems is: an integrated multi-arm collaborative tape laying robot equipment, which is characterized in that

[0005] it includes an industrial robot, a multi-joint arm fixing platform is installed at the end of the industrial robot, adaptive hybrid roller pressing joint arms with the same structure are installed at the left and right ends of the multi-joint arm fixing platform at a fixed inclination angle, a feeding support mechanism is installed at the bottom end of the multi-joint arm fixing platform, and the end of the feeding support mechanism is connected to an adjustable adsorber.

[0006] Further, the above-mentioned adaptive hybrid roller pressing joint arm includes a two-translation-degree-of-freedom parallel mechanism, a one-rotation-degree-of-freedom joint, and an adaptive roller. The end of the two-translation-degree-of-freedom parallel mechanism is connected to one end of a one-rotation-degree-of-freedom joint, and the adaptive roller is installed on the other end of a one-rotation-degree-of-freedom joint;

[0007] The two-translation-degree-of-freedom parallel mechanism includes a fixed base, a driving motor assembly, a first branch chain assembly, and a second branch chain assembly. The fixed base includes a first driving motor support distributed vertically and a second driving motor support distributed horizontally. The driving motor assembly includes a first driving motor assembly and a second driving motor assembly;

[0008] The first driving motor assembly and the second driving motor assembly are respectively fixed on the first driving motor support and the second driving motor support, and are respectively connected to one end of the first branch chain assembly and the second branch chain assembly. The other ends of the first branch chain assembly and the second branch chain assembly are both connected to one end of a one-rotation-degree-of-freedom joint, and the other end of the one-rotation-degree-of-freedom joint is connected to an adaptive roller.

[0009] Further, the above-mentioned first driving motor assembly includes a first driving motor, a first coupling, and a first end face flange; the second driving motor assembly includes a second driving motor, a second coupling, and a second end face flange.

[0010] The first driving motor is installed on the first driving motor support in the fixed base by bolt connection, and the first end face flange is connected to the first driving motor through the first coupling; the second driving motor is installed on the second driving motor support in the fixed base by bolt connection, and the second end face flange is connected to the second driving motor through the second coupling.

[0011] Further, the above-mentioned first branch chain assembly includes a first connecting rod, a first connecting shaft, a second connecting rod, a second connecting shaft, and a connecting seat.

[0012] One end of the first connecting rod is connected to the first end face flange, and the other end is connected to one end of the second connecting rod through the first connecting shaft to form a Hooke joint. The second connecting shaft is installed on the other end of the second connecting rod and is connected to the connecting seat to form a Hooke joint; the connecting seat is connected to a one-rotation-degree-of-freedom joint; the first end face flange drives the first connecting rod to rotate in a vertical plane.

[0013] Further, the above-mentioned second branch chain assembly includes a third connecting rod, a third connecting shaft, a fourth connecting rod, and a fourth connecting shaft.

[0014] One end of the third connecting rod is connected to the second end face flange, and the other end is connected to one end of the fourth connecting rod through the third connecting shaft to form a revolute pair. The other end of the fourth connecting rod is connected to a one-rotation-degree-of-freedom joint through the fourth connecting shaft. The second end face flange drives the third connecting rod to rotate in a horizontal plane.

[0015] Further, the above-mentioned one-rotation-degree-of-freedom joint includes a third driving motor and a U-shaped connecting rod; the U-shaped connecting rod includes an upper wing, an intermediate connecting part, and a lower wing;

[0016] One end of the third driving motor is fixed to the bottom end of the connecting seat, and the other end is fixed to the upper wing of the U-shaped connecting rod. The lower wing of the U-shaped connecting rod is connected to the fourth connecting rod through a fourth connecting shaft to form a rotating pair.

[0017] Further, the above-mentioned adaptive roller includes an attitude maintaining frame, a sliding rod, a spring connecting seat, a first spring, a second spring, a third spring, a fifth connecting shaft, a roller cover plate, a first plain bearing, a roller and a second plain bearing;

[0018] The attitude maintaining frame is connected to the middle connecting part of the U-shaped connecting rod. The sliding rod passes through the attitude maintaining frame and the middle connecting part of the U-shaped connecting rod, and is coaxially matched with the first spring. The end of the sliding rod is connected to the spring connecting seat. One end of the first spring is matched with the attitude maintaining frame, and the other end is matched with the spring connecting seat. The front end of the spring connecting seat has upper, middle and lower ears.

[0019] The roller cover plate includes a U-shaped structure. The back of the U-shaped structure has upper, middle and lower ears. The middle ear of the spring connecting seat is connected to the middle ear of the roller cover plate through the fifth connecting shaft to form a rotating pair. One end of the second spring is connected to the upper ear of the spring connecting seat, and the other end is connected to the upper ear of the roller cover plate. One end of the third spring is connected to the lower ear of the spring connecting seat, and the other end is connected to the lower ear of the roller cover plate. The two wings of the roller cover plate are respectively connected to the roller through bearings.

[0020] Further, the above-mentioned feeding support mechanism includes a feeding drive assembly and a telescopic chain assembly; the feeding drive assembly includes a guide sleeve, a push rod and an intermediate connecting seat. One end of the guide sleeve is installed at the bottom end of the multi-joint arm fixed platform through bolt connection, and the other end is coaxially matched with the push rod. The top end of the intermediate connecting seat has a front ear and a rear ear, and one ear each on the left, right and bottom. The end of the push rod is connected to the rear ear at the top end of the intermediate connecting seat. The number of the telescopic chain assemblies is two, and the two telescopic chain assemblies are symmetrically arranged on both sides of the feeding drive assembly.

[0021] The telescopic chain assembly includes a base, a first telescopic connecting rod and a second telescopic connecting rod. A first support seat vertically distributed and a second support seat horizontally distributed are arranged in the base. The first support seat in the base is connected to the bottom end of the multi-joint arm fixed platform. The second support seat in the base is connected to one end of the first telescopic connecting rod. The other end of the first telescopic connecting rod is connected to one end of the second telescopic connecting rod to form a rotating pair, and the other end of the second telescopic connecting rod is connected to the right ear of the intermediate connecting seat to form a rotating pair.

[0022] The telescopic chain components of the same structure are installed at the left and right ends of the intermediate connecting seat in the feeding drive assembly. The connecting rods with different dimensions are all connected by rotating pairs, and their axes are parallel to each other. The feeding drive assembly and the telescopic chain assembly achieve feeding by controlling the movement of the push rod and rely on a closed-chain mechanism for support.

[0023] Further, the above-mentioned adjustable adsorber includes a synchronous opening and closing drive assembly, a synchronous opening and closing mechanism, and an adsorber drive assembly.

[0024] Specifically, the synchronous opening and closing drive assembly includes a fourth driving motor, a worm, a first worm gear, and a second worm gear. The end faces of the first worm gear and the second worm gear are both provided with holes.

[0025] The fourth driving motor is installed in the intermediate connecting seat. The fourth driving motor drives the worm to rotate, and the worm drives the first worm gear and the second worm gear to rotate.

[0026] The synchronous opening and closing mechanism includes an upper cover plate, a front cover plate, and a lower cover plate. Opening and closing chains are symmetrically arranged on both sides of the front cover plate. The opening and closing chains include a first intermediate connecting rod, a second intermediate connecting rod, a third intermediate connecting rod, and an end connecting rod.

[0027] The rear end of the upper cover plate is connected to the front ear at the top of the intermediate connecting seat. The rear end of the lower cover plate is connected to the bottom ear of the intermediate connecting seat. There is an ear at the top, bottom, left, and right ends of the front cover plate. The top ear of the front cover plate is connected to the front end of the upper cover plate. The bottom ear of the front cover plate is connected to the front end of the lower cover plate. One end of each of the two first intermediate connecting rods is respectively connected to the end face holes of the first worm gear and the second worm gear. The other end of the first intermediate connecting rod is connected to one end of the second intermediate connecting rod. The other end of the second intermediate connecting rod is connected to the middle end of the third intermediate connecting rod. One end of the third intermediate connecting rod is connected to the right ear of the front cover plate. The other end of the third intermediate connecting rod is connected to one end of the end connecting rod.

[0028] Further, the adsorber drive assembly includes a fifth driving motor, a fourth coupling, an extension rod, a first suction cup, and a second suction cup.

[0029] The fifth driving motor is connected and installed at the other end of the end connecting rod in the synchronous opening and closing mechanism through screws. The extension rod is connected to the fifth driving motor through the fourth coupling. The first suction cup and the second suction cup are respectively connected and installed on the extension rod through bolts.

[0030] The same - structured synchronous opening and closing mechanisms are installed at the left and right ends of the synchronous opening and closing drive assembly. The connecting rods with different dimensions are all connected through revolute pairs, and their axes are parallel to each other. The synchronous opening and closing drive assembly and the synchronous opening and closing link assembly achieve synchronous opening and closing through the meshing drive of a driving motor controlling a worm and worm gear. The same - structured adsorber drive assembly is installed on the same - structured synchronous opening and closing mechanism through screw connections, and the extension rod and the suction cup are driven by a driving motor to achieve flipping.

[0031] Advantages of the present invention:

[0032] 1. The integrated multi - arm collaborative tape - laying robot equipment provided by the present invention provides a new type of integrated multi - arm collaborative robot equipment with a large working space, high motion flexibility, strong load - bearing capacity, and modular integration for the tape - laying equipment of the complex curved surfaces of the two wings of airfoil components in the aerospace field.

[0033] 2. The integrated multi - arm collaborative tape - laying robot equipment provided by the present invention is aimed at the automatic tape - laying equipment for the complex curved surfaces of the two wings of airfoil components, making it have the characteristics of a large working space, high motion flexibility, and strong load - bearing capacity. It further solves the tape - laying problem of the complex curved surfaces of the two wings of airfoil components, meets the actual needs of tape - laying for the complex curved surfaces of the two wings of airfoil components, and provides a better solution for tape - laying of the complex curved surfaces of the two wings of airfoil components in the aerospace field.

[0034] 3. In the integrated multi - arm collaborative tape - laying robot equipment provided by the present invention, the double - drive RRR - RUU single - closed - loop parallel mechanism in the adaptive hybrid - series roller - press articulated arm has high motion flexibility, can achieve two - dimensional planar movement, and is an overall closed - chain structure with strong load - bearing capacity, which can meet the stiffness requirements in different postures. Its end connecting seat is in series with a single - drive rotating joint and an adaptive roller, which can achieve the movement degree of freedom in the two - dimensional plane and the rotation degree of freedom perpendicular to the plane, and will continuously change the structural inclination angle with the end contact surface to provide a supporting effect.

[0035] 4. In the integrated multi - arm collaborative tape - laying robot equipment provided by the present invention, the feeding support mechanism is a single - drive multi - closed - chain mechanism, which can achieve feeding in a single direction. The same - structured telescopic link assemblies are installed at the left and right ends of the middle connecting seat to form a closed - loop to provide a supporting effect. The synchronous opening and closing drive assembly and the synchronous opening and closing link assembly achieve synchronous opening and closing through the meshing drive of a driving motor controlling a worm and worm gear.

[0036] 5. The integrated multi-arm collaborative tape laying robot equipment provided by the present invention uses an industrial robot as the main body, and a multi-joint arm is mounted at the end to collaboratively perform tape laying on the complex curved surfaces of both wings of an airfoil component. The industrial robot has a large working space and high motion flexibility, can achieve overall alignment and attitude adjustment. The multi-joint arms at the end cooperate with each other to perform tape grasping and roller pressing operations, and can simultaneously perform roller pressing on both sides of the airfoil component, with high working efficiency. It also has the advantages of relatively low cost, compact structure, low energy consumption, convenient adjustment, simple maintenance, and strong practicability. Brief Description of the Drawings

[0037] Figure 1 is a schematic structural diagram of the integrated multi-arm collaborative tape laying robot equipment of the present invention;

[0038] Figure 2 is a schematic structural diagram of the multi-joint arm fixed platform of the present invention;

[0039] Figure 3 is a schematic structural diagram of the adaptive hybrid roller pressing joint arm of the present invention;

[0040] Figure 4 is a schematic structural diagram of the feeding support mechanism of the present invention;

[0041] Figure 5 is a schematic structural diagram of the adjustable adsorber of the present invention;

[0042] Figure 6 is a schematic structural diagram of the synchronous opening and closing drive assembly of the present invention;

[0043] Figure 7 is a schematic structural diagram of the adsorber drive assembly of the present invention;

[0044] Figure 8 is a schematic structural diagram of the fixed base and the drive motor assembly of the present invention;

[0045] Figure 9 is a schematic structural diagram of the first link assembly of the present invention;

[0046] Figure 10 is a schematic structural diagram of the second link assembly of the present invention;

[0047] Figure 11 is a schematic structural diagram of a one-degree-of-rotation joint of the present invention;

[0048] Figure 12 is a schematic structural diagram of the adaptive roller of the present invention.

[0049] In the figure: 1. Industrial robot, 2. Multi-joint arm fixed platform,

[0050] 3. Adaptive hybrid roller press articulated arm, 31. Two-translation-degree-of-freedom parallel mechanism, 32. One-rotation-degree-of-freedom joint, 33. Adaptive roller, 11. Fixed base, 111. First drive motor support, 112. Second drive motor support, 121. First drive motor, 122. First coupling, 123. First end flange, 124. Second drive motor, 125. Second coupling, 126. Second end flange, 13. First chain assembly, 131. First connecting rod, 132. First connecting shaft, 133. Second connecting rod, 134. Second connecting shaft, 135. Connecting seat, 14. Second chain assembly, 141. Third connecting rod, 142. Third connecting shaft, 143. Fourth connecting rod, 144. Fourth connecting shaft, 21. Third drive motor, 22. U-shaped connecting rod, 301. Posture holder, 302. Slide bar, 303. Spring connecting seat, 34. First spring, 35. Second spring, 36. Third spring, 37. Fifth connecting shaft, 38. Roller cover plate, 39. First plain bearing, 310. Roller, 311. Second plain bearing,

[0051] 4. Feeding support mechanism, 41. Feeding drive assembly, 411. Guide sleeve, 412. Push rod, 413. Intermediate connecting seat, 42. Telescopic chain assembly, 421. Base, 4211. First support, 4212. Second support, 422. First telescopic connecting rod, 423. Second telescopic connecting rod,

[0052] 5. Adjustable adsorber, 51. Synchronous opening and closing drive assembly, 511. Fourth drive motor, 512. Third coupling, 513. Worm, 514. First bolt bearing, 515. Second bolt bearing, 516. First worm connecting shaft, 517. First worm, 518. Third bolt bearing, 519. Fourth bolt bearing, 5110. Second worm connecting shaft, 5111. Second worm, 5112. Fifth bolt bearing, 52. Synchronous opening and closing mechanism, 521. Upper cover plate, 522. Front cover plate, 523. Lower cover plate, 524. First intermediate connecting rod, 525. Second intermediate connecting rod, 526. Third intermediate connecting rod, 527. End connecting rod, 53. Adsorber drive assembly, 531. Fifth drive motor, 532. Fourth coupling, 533. Extension rod, 534. First suction cup, 535. Second suction cup. Detailed implementation manners

[0053] In the following, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. According to these detailed descriptions, those skilled in the art can clearly understand the present invention and can implement the present invention. Without departing from the principle of the present invention, the features in different embodiments can be combined to obtain new implementation manners, or some features in certain embodiments can be replaced to obtain other preferred implementation manners.

[0054] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "vertical", "front", "rear", "top", "bottom", "inner", "upper", "middle", "lower", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0055] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0057] See Figure 1 , an integrated multi-arm collaborative tape laying robot equipment, including an industrial robot 1, a multi-joint arm fixed platform 2 is installed at the end of the industrial robot 1, the left and right ends of the multi-joint arm fixed platform 2 are installed with adaptive hybrid roller pressing joint arms 3 of the same structure at a fixed inclination angle, a feeding support mechanism 4 is installed at the bottom end of the multi-joint arm fixed platform 2, and the end of the feeding support mechanism 4 is connected to an adjustable adsorber 5. As Figure 1 shown, the industrial robot 1 is fixedly connected to the foundation of the workplace through a fixed floor base, and the multi-joint arm fixed platform 2 is installed at the end of the industrial robot 1 through screw connection.

[0058] See Figure 1 and Figure 2 , the adaptive hybrid roller pressing joint arm 3 includes a two-translation-degree-of-freedom parallel mechanism 31, a one-rotation-degree-of-freedom joint 32, and an adaptive roller 33. The end of the two-translation-degree-of-freedom parallel mechanism 31 is connected to one end of a one-rotation-degree-of-freedom joint 32, and the adaptive roller 33 is installed on the other end of the one-rotation-degree-of-freedom joint 32. Two adaptive hybrid roller pressing joint arms 3 of the same structure are respectively installed at the left and right ends of the multi-joint arm fixed platform 2 at a fixed inclination angle through bolt connection.

[0059] Specifically, the two-translation-degree-of-freedom parallel mechanism 31 includes a fixed base 11, a driving motor assembly, a first branch chain assembly 13, and a second branch chain assembly 14. The fixed base 11 includes a first driving motor support 111 distributed vertically and a second driving motor support 112 distributed horizontally. The driving motor assembly includes a first driving motor assembly and a second driving motor assembly. The first driving motor assembly and the second driving motor assembly are respectively fixed on the first driving motor support 111 and the second driving motor support 112, and are respectively connected to one end of the first branch chain assembly 13 and the second branch chain assembly 14. The other ends of the first branch chain assembly 13 and the second branch chain assembly 14 are both connected to one end of a rotational-degree-of-freedom joint 32, and the other end of the rotational-degree-of-freedom joint 32 is connected to an adaptive roller 33.

[0060] The double-drive RRR-RUU single-closed-loop parallel mechanism in the adaptive hybrid roller pressing articulated arm 3 has high motion flexibility, can achieve two-dimensional planar movement, and is in an overall closed chain with strong load-bearing capacity, which can meet the stiffness requirements of different postures. Its end is serially connected with a single-drive rotational joint and an adaptive roller, and can achieve the translational degree of freedom in the two-dimensional plane and the rotational degree of freedom perpendicular to the plane. When controlling the movement of the driving motor, the adaptive roller 33 can perform complex movements in the two-dimensional plane and continuously change the structural inclination angle with the end contact surface to provide a supporting effect.

[0061] As a preferred embodiment of the present invention, refer to Figure 8 , the first driving motor assembly includes a first driving motor 121, a first coupling 122, and a first end face flange 123; the second driving motor assembly includes a second driving motor 124, a second coupling 125, and a second end face flange 126.

[0062] The first driving motor 121 is installed on the first driving motor support 111 in the fixed base 11 by bolt connection, and the first end face flange 123 is connected to the first driving motor 121 through the first coupling 122; the second driving motor 124 is installed on the second driving motor support 112 in the fixed base 11 by bolt connection, and the second end face flange 126 is connected to the second driving motor 124 through the second coupling 125.

[0063] As a preferred embodiment of the present invention, refer to Figure 3 and Figure 9 , the first branch chain assembly 13 includes a first connecting rod 131, a first connecting shaft 132, a second connecting rod 133, a second connecting shaft 134, and a connecting seat 135.

[0064] Specifically, the first connecting rod 131 has an L-shaped structure. One end of the first connecting rod 131 is connected to the first end face flange 123, and the other end is connected to one end of the second connecting rod 133 through the first connecting shaft 132 to form a Hooke joint. The second connecting shaft 134 is installed at the other end of the second connecting rod 133 and is connected to the connecting seat 135 to form a Hooke joint; the connecting seat 135 is connected to a rotational degree-of-freedom joint 32; the first end face flange 123 drives the first connecting rod 131 to rotate in a vertical plane.

[0065] As a preferred embodiment of the present invention, refer to Figure 3 and Figure 10 , the second branch chain assembly 14 includes a third connecting rod 141, a third connecting shaft 142, a fourth connecting rod 143, and a fourth connecting shaft 144.

[0066] Specifically, one end of the third connecting rod 141 is connected to the second end face flange 126, and the other end is connected to one end of the fourth connecting rod 143 through the third connecting shaft 142 to form a revolute pair. The other end of the fourth connecting rod 143 is connected to a rotational degree-of-freedom joint 32 through the fourth connecting shaft 144. The second end face flange 126 drives the third connecting rod 141 to rotate in a horizontal plane.

[0067] As a preferred embodiment of the present invention, refer to Figure 11 , the rotational degree-of-freedom joint 32 includes a third driving motor 21 and a U-shaped connecting rod 22; the U-shaped connecting rod 22 includes an upper wing, an intermediate connecting portion, and a lower wing; one end of the third driving motor 21 is fixed to the bottom end of the connecting seat 135, and the other end is fixed to the upper wing of the U-shaped connecting rod 22. The lower wing of the U-shaped connecting rod 22 is connected to the fourth connecting rod 143 through the fourth connecting shaft 144 to form a revolute pair.

[0068] As a preferred embodiment of the present invention, refer to Figure 12 , the adaptive roller 33 includes an attitude maintaining frame 301, a slide rod 302, a spring connecting seat 303, a first spring 34, a second spring 35, a third spring 36, a fifth connecting shaft 37, a roller cover plate 38, a first plain bearing 39, a roller 310, and a second plain bearing 311.

[0069] Specifically, the attitude maintaining frame 301 is connected to the intermediate connecting portion of the U-shaped connecting rod 22. The slide rod 302 passes through the attitude maintaining frame 301 and the intermediate connecting portion of the U-shaped connecting rod 22 and is coaxially fitted with the first spring 34. The end of the slide rod 302 is connected to the spring connecting seat 303 by a screw. One end of the first spring 34 cooperates with the attitude maintaining frame 301, and the other end cooperates with the spring connecting seat 303. The front end of the spring connecting seat 303 has upper, middle, and lower ears.

[0070] The roller cover plate 38 includes a U-shaped structure. There are upper, middle, and lower ears on the back of the U-shaped structure. The middle ear of the spring connection seat 303 is connected to the middle ear of the roller cover plate 38 through the fifth connecting shaft 37 to form a rotating pair. One end of the second spring 35 is connected to the upper ear of the spring connection seat 303, and the other end is connected to the upper ear of the roller cover plate 38. One end of the third spring 36 is connected to the lower ear of the spring connection seat 303, and the other end is connected to the lower ear of the roller cover plate 38. The two wings of the roller cover plate 38 are respectively connected to the roller 310 through the first plain bearing 39 and the second plain bearing 311.

[0071] As a preferred embodiment of the present invention, refer to Figure 1 and Figure 4 , the feeding support mechanism 4 includes a feeding drive assembly 41 and a telescopic chain assembly 42.

[0072] Specifically, the feeding drive assembly 41 includes a guide sleeve 411, a push rod 412, and an intermediate connection seat 413. The connection method between the parts of the feeding drive assembly 41 is as follows: One end of the guide sleeve 411 is connected and installed at the bottom end of the multi-joint arm fixed platform 2 through bolts, and the other end is coaxially matched with the push rod 412. The top end of the intermediate connection seat 413 has a front ear and a rear ear, and there is an ear on each of the left, right, and bottom ends. The end of the push rod 412 is connected to the rear ear at the top end of the intermediate connection seat 413.

[0073] The telescopic chain assembly 42 includes a base 421, a first telescopic connecting rod 422, and a second telescopic connecting rod 423. Among them, a first support 4211 and a second support 4212 are vertically distributed in the base 421. The connection method between the parts of the telescopic chain assembly 42 is as follows: The first support 4211 in the base 421 is connected to the bottom end of the multi-joint arm fixed platform 2. The second support 4212 in the base 421 is connected to one end of the first telescopic connecting rod 422. The other end of the first telescopic connecting rod 422 is connected to one end of the second telescopic connecting rod 423 to form a rotating pair. The right ear of the intermediate connection seat 413 in the feeding drive assembly 41 is connected to the other end of the second telescopic connecting rod 423 to form a rotating pair.

[0074] The same-structured telescopic chain assemblies 42 are installed at the left and right ends of the intermediate connection seat 413. The connecting rods with different sizes are all connected through rotating pairs, and their axes are parallel to each other. The feeding drive assembly 41 and the telescopic chain assembly 42 achieve feeding by controlling the movement of the push rod and achieve support by relying on a closed-chain mechanism.

[0075] As a preferred embodiment of the present invention, refer to Figure 1 , Figure 5 and Figure 7 , the adjustable adsorber 5 includes a synchronous opening and closing drive assembly 51, a synchronous opening and closing mechanism 52, and an adsorber drive assembly 53.

[0076] Specifically, the synchronous opening and closing drive assembly 51 includes a fourth drive motor 511, a third coupling 512, a worm 513, a first bolt bearing 514, a second bolt bearing 515, a first worm connecting shaft 516, a first worm 517, a third bolt bearing 518, a fourth bolt bearing 519, a second worm connecting shaft 5110, a second worm 5111, and a fifth bolt bearing 5112. The end faces of both the first worm 517 and the second worm 5111 are provided with holes. The connection manner between the parts of the synchronous opening and closing drive assembly 51 is as follows: The fourth drive motor 511 is installed in the intermediate connection seat 413 in the feeding drive assembly 41 by screw connection. One end of the worm 513 is connected to the fourth drive motor 511 through the third coupling 512, and the other end is connected to the first bolt bearing 514 by thread. The first worm connecting shaft 516 is connected to the first worm 517 by key fit. The two ends of the first worm connecting shaft 516 are respectively connected to the second bolt bearing 515 and the third bolt bearing 518 by thread. The second worm connecting shaft 5110 is connected to the second worm 5111 by key fit. The two ends of the second worm connecting shaft 5110 are respectively connected to the fourth bolt bearing 519 and the fifth bolt bearing 5112 by thread.

[0077] The synchronous opening and closing mechanism 52 includes an upper cover plate 521, a front cover plate 522, a lower cover plate 523, a first intermediate connecting rod 524, a second intermediate connecting rod 525, a third intermediate connecting rod 526, and an end connecting rod 527. The connection manner between the parts of the synchronous opening and closing mechanism 52 is as follows: The rear end of the upper cover plate 521 is connected to the front ear at the top of the intermediate connection seat 413 in the feeding drive assembly 41. The bottom end of the upper cover plate 521 is coaxially fitted with the second bolt bearing 515 and the fourth bolt bearing 519 in the synchronous opening and closing drive assembly 51. The rear end of the lower cover plate 523 is connected to the bottom ear of the intermediate connection seat 413 in the feeding drive assembly 41. The top end of the lower cover plate 523 is coaxially fitted with the third bolt bearing 518 and the fifth bolt bearing 5112 in the synchronous opening and closing drive assembly 51. The top, bottom, left, and right ends of the front cover plate 522 each have an ear. The top ear of the front cover plate 522 is connected to the front end of the upper cover plate 521. The bottom ear of the front cover plate 522 is connected to the front end of the lower cover plate 523. One end of the first intermediate connecting rod 524 is connected to the end face hole of the first worm 517 in the synchronous opening and closing drive assembly 51. The other end of the first intermediate connecting rod 524 is connected to one end of the second intermediate connecting rod 525. The other end of the second intermediate connecting rod 525 is connected to the middle end of the third intermediate connecting rod 526. One end of the third intermediate connecting rod 526 is connected to the right ear of the front cover plate 522. The other end of the third intermediate connecting rod 526 is connected to one end of the end connecting rod 527.

[0078] The adsorber driving assembly 53 includes a fifth driving motor 531, a fourth coupling 532, an extension rod 533, a first suction cup 534 and a second suction cup 535. The connection mode between the parts of the adsorber driving assembly 53 is as follows: the fifth driving motor 531 is installed at the other end of the end link 527 in the synchronous opening and closing mechanism 52 by screw connection, the extension rod 533 is connected to the fifth driving motor 531 through the fourth coupling 532, and the first suction cup 534 and the second suction cup 535 are respectively installed on the extension rod 533 by bolt connection.

[0079] Synchronous opening and closing driving assemblies 51 of the same structure are installed at the left and right ends, connecting rods of different sizes are all connected by rotating pairs, and the axes are parallel to each other. The synchronous opening and closing driving assembly 51 and the synchronous opening and closing chain assembly 52 are synchronously opened and closed by controlling the meshing transmission of a worm and a worm gear by a driving motor. The adsorber driving assemblies 53 of the same structure are installed on the synchronous opening and closing mechanisms 52 of the same structure by screw connection, and the extension rod and the suction cup are driven by the driving motor to realize turning.

[0080] Embodiment

[0081] See Figures 1 to 12 , an integrated multi-arm collaborative tape laying robot equipment, including an industrial robot 1, a multi-joint arm fixed platform 2 is installed at the end of the industrial robot 1, adaptive hybrid roller pressing joint arms 3 of the same structure are installed at the left and right ends of the multi-joint arm fixed platform 2 at a fixed inclination angle, a feeding support mechanism 4 is installed at the bottom end of the multi-joint arm fixed platform 2, and the end of the feeding support mechanism 4 is connected to an adjustable adsorber 5. The industrial robot 1 is fixedly connected to the foundation of the workplace through a fixed floor base, and the multi-joint arm fixed platform 2 is installed at the end of the industrial robot 1 by screw connection.

[0082] The adaptive hybrid roller pressing joint arm 3 includes a two-translation-degree-of-freedom parallel mechanism 31, a one-rotation-degree-of-freedom joint 32 and an adaptive roller 33. The end of the two-translation-degree-of-freedom parallel mechanism 31 is connected to one end of a one-rotation-degree-of-freedom joint 32, and the adaptive roller 33 is installed at the other end of the one-rotation-degree-of-freedom joint 32 by screw connection.

[0083] Specifically, the two-translation-degree-of-freedom parallel mechanism 31 includes a fixed base 11, a drive motor assembly, a first link assembly 13, and a second link assembly 14. In the fixed base 11, a first drive motor support 111 and a second drive motor support 112 are vertically distributed and are respectively connected to the drive motor assembly. The drive motor assembly includes a first drive motor 121, a first coupling 122, a first end face flange 123, a second drive motor 124, a second coupling 125, and a second end face flange 126. The connection mode between the parts of the drive motor assembly 12 is as follows: the first drive motor 121 is installed on the first drive motor support 111 in the fixed base 11 by bolt connection, the first end face flange 123 is connected to the first drive motor 121 through the first coupling 122, the second drive motor 124 is installed on the second drive motor support 112 in the fixed base 11 by bolt connection, and the second end face flange 126 is connected to the second drive motor 124 through the second coupling 125. The first link assembly 13 includes a first link 131, a first connecting shaft 132, a second link 133, a second connecting shaft 134, and a connecting seat 135. The connection mode between the parts of the first link assembly 13 is as follows: one end of the first link 131 is connected to the first end face flange 123 in the drive motor assembly 12, and the other end is connected to one end of the second link 133 through the first connecting shaft 132 to form a Hooke joint. The second connecting shaft 134 is installed at the other end of the second link 132 and is connected to the connecting seat 135 to form a Hooke joint. The second link assembly 14 includes a third link 141, a third connecting shaft 142, a fourth link 143, and a fourth connecting shaft 144. The connection mode between the parts constituting the second link assembly 14 is as follows: one end of the third link 141 is connected to the second end face flange 126 in the drive motor assembly 12, and the other end is connected to one end of the fourth link 143 through the third connecting shaft 142 to form a revolute joint. The fourth connecting shaft 144 is installed at the other end of the fourth link 143. The one-rotation-degree-of-freedom joint 32 includes a third drive motor 21 and a U-shaped link 22. The connection mode between the parts of the one-rotation-degree-of-freedom joint 32 is as follows: one end of the third drive motor 21 is installed at the bottom end of the connecting seat 135 in the first link assembly 13 by screw connection, and the other end is installed at the top end of the U-shaped link 22. The bottom end of the U-shaped link 22 is connected to the fourth link 143 through the fourth connecting shaft 144 in the second link assembly 14 to form a revolute joint.

[0084] The adaptive roller 33 includes an attitude holder 301, a sliding rod 302, a spring connection seat 303, a first spring 34, a second spring 35, a third spring 36, a fifth connecting shaft 37, a roller cover plate 38, a first plain bearing 39, a roller 310 and a second plain bearing 311. The connection manner between the parts of the adaptive roller 33 is as follows: The attitude holder 301 is fitted with a U-shaped connecting rod 22 in a rotational degree-of-freedom joint 32 and is installed by screw connection. The sliding rod 302 passes through the attitude holder 301 and is coaxially fitted with the first spring 34. The end of the sliding rod 302 is connected to the spring connection seat 303 by a screw. One end of the first spring 34 is fitted with the attitude holder 301, and the other end is fitted with the spring connection seat 303. The front end of the spring connection seat 303 has upper, middle and lower ears, and the rear end of the roller cover plate 38 has upper, middle and lower ears. The middle ear of the spring connection seat 303 is connected to the middle ear of the roller cover plate 38 by a fifth connecting shaft 37 to form a revolute pair. One end of the second spring 35 is connected to the upper ear of the spring connection seat 303, and the other end is connected to the upper ear of the roller cover plate 38. One end of the third spring 36 is connected to the lower ear of the spring connection seat 303, and the other end is connected to the lower ear of the roller cover plate 38. The front end of the roller cover plate 38 is coaxially connected to the first plain bearing 39, the roller 310 and the second plain bearing 311 in sequence.

[0085] The feeding support mechanism 4 includes a feeding drive assembly 41 and a telescopic link assembly 42. The feeding drive assembly 41 includes a guide sleeve 411, a push rod 412, and an intermediate connecting seat 413. The connection mode between the parts of the feeding drive assembly 41 is as follows: One end of the guide sleeve 411 is connected and installed at the bottom end of the multi-joint arm fixed platform 2 through bolts, and the other end is coaxially fitted with the push rod 412. The top end of the intermediate connecting seat 413 has a front ear and a rear ear, and one ear each on the left, right, and bottom. The end of the push rod 412 is connected to the rear ear at the top end of the intermediate connecting seat 413. The telescopic link assembly 42 includes a base 421, a first telescopic link 422, and a second telescopic link 423. Among them, a first support 4211 and a second support 4212 are vertically distributed in the base 421. The connection mode between the parts of the telescopic link assembly 42 is as follows: The first support 4211 in the base 421 is connected to the bottom end of the multi-joint arm fixed platform 2, the second support 4212 in the base 421 is connected to one end of the first telescopic link 422, the other end of the first telescopic link 422 is connected to one end of the second telescopic link 423 to form a rotating pair, and the right ear of the intermediate connecting seat 413 in the feeding drive assembly 41 is connected to the other end of the second telescopic link 423 to form a rotating pair. The adjustable adsorber 5 includes a synchronous opening and closing drive assembly 51, a synchronous opening and closing mechanism 52, and an adsorber drive assembly 53. The synchronous opening and closing drive assembly 51 includes a fourth driving motor 511, a third coupling 512, a worm 513, a first bolt bearing 514, a second bolt bearing 515, a first worm connecting shaft 516, a first worm 517, a third bolt bearing 518, a fourth bolt bearing 519, a second worm connecting shaft 5110, a second worm 5111, and a fifth bolt bearing 5112. Among them, through holes are opened on the end faces of the first worm 517 and the second worm 5111. The connection mode between the parts of the synchronous opening and closing drive assembly 51 is as follows: The fourth driving motor 511 is connected and installed in the intermediate connecting seat 413 of the feeding drive assembly 41 through screws. One end of the worm 513 is connected to the fourth driving motor 511 through the third coupling 512, and the other end is connected to the first bolt bearing 514 through threads. The first worm connecting shaft 516 is connected to the first worm 517 through key fit. The two ends of the first worm connecting shaft 516 are respectively connected to the second bolt bearing 515 and the third bolt bearing 518 through threads. The second worm connecting shaft 5110 is connected to the second worm 5111 through key fit. The two ends of the second worm connecting shaft 5110 are respectively connected to the fourth bolt bearing 519 and the fifth bolt bearing 5112 through threads.

[0086] The synchronous opening and closing mechanism 52 includes an upper cover plate 521, a front cover plate 522, a lower cover plate 523, a first intermediate connecting rod 524, a second intermediate connecting rod 525, a third intermediate connecting rod 526, and an end connecting rod 527. The connection modes between the parts of the synchronous opening and closing mechanism 52 are as follows: the rear end of the upper cover plate 521 is connected to the front ear at the top of the intermediate connecting seat 413 in the feeding drive assembly 41, the bottom end of the upper cover plate 521 is coaxially matched with the second bolt bearing 515 and the fourth bolt bearing 519 in the synchronous opening and closing drive assembly 51, the rear end of the lower cover plate 523 is connected to the bottom ear of the intermediate connecting seat 413 in the feeding drive assembly 41, the top end of the lower cover plate 523 is coaxially matched with the third bolt bearing 518 and the fifth bolt bearing 5112 in the synchronous opening and closing drive assembly 51, there is an ear at the top, bottom, left, and right ends of the front cover plate 522, the top ear of the front cover plate 522 is connected to the front end of the upper cover plate 521, the bottom ear of the front cover plate 522 is connected to the front end of the lower cover plate 523, one end of the first intermediate connecting rod 524 is connected to the end face hole of the first worm wheel 517 in the synchronous opening and closing drive assembly 51, the other end of the first intermediate connecting rod 524 is connected to one end of the second intermediate connecting rod 525, the other end of the second intermediate connecting rod 525 is connected to the middle end of the third intermediate connecting rod 526, one end of the third intermediate connecting rod 526 is connected to the right ear of the front cover plate 522, and the other end of the third intermediate connecting rod 526 is connected to one end of the end connecting rod 527.

[0087] The adsorber drive assembly 53 includes a fifth drive motor 531, a fourth coupling 532, an extension rod 533, a first suction cup 534, and a second suction cup 535. The connection modes between the parts of the adsorber drive assembly 53 are as follows: the fifth drive motor 531 is installed at the other end of the end connecting rod 527 in the synchronous opening and closing mechanism 52 by screw connection, the extension rod 533 is connected to the fifth drive motor 531 through the fourth coupling 532, and the first suction cup 534 and the second suction cup 535 are respectively installed on the extension rod 533 by bolt connection.

[0088] In summary, the present invention proposes an integrated multi-arm collaborative tape laying robot equipment. Taking the industrial robot 1 as the main body, the adaptive hybrid roller pressing joint arm 3 is carried by the multi-joint arm fixed base 2 at the end, and the feeding support mechanism 4 and the adjustable adsorber 5 cooperate to lay the tape on the complex curved surfaces of the two wings of the airfoil component. On the one hand, the industrial robot 1 has a large working space and high motion flexibility, and can achieve overall alignment and attitude adjustment. The adaptive hybrid roller pressing joint arms 3 with the same structure are respectively installed at the left and right ends of the multi-joint arm fixed platform 2 by bolt connection with a fixed inclination angle. Among them, the double-drive RRR-RUU single-closed-loop parallel mechanism is connected in series with a single-drive rotating joint and an adaptive roller at the end, with high motion flexibility and an overall closed-loop structure, strong load-bearing capacity, and can meet the stiffness requirements of different postures. When controlling the movement of the drive motor, the adaptive roller 33 can perform complex movements in a two-dimensional plane and continuously change the structural inclination angle with the end contact surface to provide a supporting effect. The feeding support mechanism 4 realizes feeding through the control of the push rod transmission and relies on the closed-loop mechanism to provide support. The adjustable adsorber 5 realizes synchronous opening and closing through the control of the drive motor to drive the meshing transmission of the worm and worm gear. The adsorber drive components 53 with the same structure are installed on the synchronous opening and closing mechanism 52 with the same structure by screw connection, and the extension rod and the suction cup are driven by the drive motor to realize flipping. On the other hand, the adaptive hybrid roller pressing joint arm 3, the feeding support mechanism 4 and the adjustable adsorber 5 are carried at the end of the industrial robot 1 through the multi-joint arm fixed base 2. While retaining the functions and characteristics of a single module, the complex curved surfaces of the two wings of the airfoil component are laid through combination and coordination, with the advantages of high working efficiency, relatively low cost, compact structure, convenient adjustment, simple maintenance, and strong practicability. The idea of integrated multi-arm collaboration can provide a basis for other mechanisms and can meet the technical requirements of other processing mechanisms.

[0089] The above are only the embodiments of the present invention, and do not limit the protection scope of the present invention hereby. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related system fields, shall be included in the protection scope of the present invention by the same token.

Claims

1. An integrated multi-arm collaborative tape laying robot equipment, characterized in that: It includes an industrial robot (1), a multi-joint arm fixing platform (2) is installed at the end of the industrial robot (1), adaptive hybrid roller pressing joint arms (3) with the same structure are installed at the left and right ends of the multi-joint arm fixing platform (2) at a fixed inclination angle, a feeding support mechanism (4) is installed at the bottom end of the multi-joint arm fixing platform (2), and the end of the feeding support mechanism (4) is connected to an adjustable adsorber (5); The adaptive hybrid roller pressing joint arm (3) includes two translational degree-of-freedom parallel mechanisms (31), a rotational degree-of-freedom joint (32) and an adaptive roller (33). The ends of the two translational degree-of-freedom parallel mechanisms (31) are connected to one end of a rotational degree-of-freedom joint (32), and the adaptive roller (33) is installed on the other end of the rotational degree-of-freedom joint (32); The two translational degree-of-freedom parallel mechanisms (31) include a fixed base (11), a drive motor assembly, a first chain assembly (13) and a second chain assembly (14). The fixed base (11) includes a first drive motor support (111) distributed vertically and a second drive motor support (112) distributed horizontally. The drive motor assembly includes a first drive motor assembly and a second drive motor assembly; The first drive motor assembly and the second drive motor assembly are respectively fixed on the first drive motor support (111) and the second drive motor support (112), and are respectively connected to one end of the first chain assembly (13) and the second chain assembly (14). The other ends of the first chain assembly (13) and the second chain assembly (14) are both connected to one end of a rotational degree-of-freedom joint (32), and the other end of the rotational degree-of-freedom joint (32) is connected to the adaptive roller (33); The first drive motor assembly includes a first drive motor (121), a first coupling (122) and a first end face flange (123); the second drive motor assembly includes a second drive motor (124), a second coupling (125) and a second end face flange (126); The first drive motor (121) is installed on the first drive motor support (111) in the fixed base (11), and the first end face flange (123) is connected to the first drive motor (121) through the first coupling (122); the second drive motor (124) is installed on the second drive motor support (112) in the fixed base (11), and the second end face flange (126) is connected to the second drive motor (124) through the second coupling (125); The first chain assembly (13) includes a first connecting rod (131), a first connecting shaft (132), a second connecting rod (133), a second connecting shaft (134) and a connecting seat (135); One end of the first connecting rod (131) is connected to the first end face flange (123), and the other end is connected to one end of the second connecting rod (133) through the first connecting shaft (132) to form a Hooke joint. The second connecting shaft (134) is installed at the other end of the second connecting rod (133) and is connected to the connecting seat (135) to form a Hooke joint; the connecting seat (135) is connected to a rotational degree-of-freedom joint (32); the first end face flange (123) drives the first connecting rod (131) to rotate in a vertical plane.

2. The integrated multi-arm collaborative tape laying robot equipment according to claim 1, characterized in that: The second branch chain assembly (14) includes a third connecting rod (141), a third connecting shaft (142), a fourth connecting rod (143) and a fourth connecting shaft (144); One end of the third connecting rod (141) is connected to the second end face flange (126), and the other end is connected to one end of the fourth connecting rod (143) through the third connecting shaft (142) to form a revolute pair. The other end of the fourth connecting rod (143) is connected to a rotational degree-of-freedom joint (32) through the fourth connecting shaft (144).

3. The integrated multi-arm collaborative tape laying robot equipment according to claim 2, characterized in that: The rotational degree-of-freedom joint (32) includes a third driving motor (21) and a U-shaped connecting rod (22); the U-shaped connecting rod (22) includes an upper wing, a middle connecting part and a lower wing; One end of the third driving motor (21) is fixed to the bottom end of the connecting seat (135), and the other end is fixed to the upper wing of the U-shaped connecting rod (22). The lower wing of the U-shaped connecting rod (22) is connected to the fourth connecting rod (143) through the fourth connecting shaft (144) to form a revolute pair.

4. The integrated multi-arm collaborative tape laying robot equipment according to claim 3, characterized in that: The adaptive roller (33) includes an attitude maintaining frame (301), a slide rod (302), a spring connecting seat (303), a first spring (34), a second spring (35), a third spring (36), a fifth connecting shaft (37), a roller cover plate (38) and a roller (310); The attitude maintaining frame (301) is connected to the middle connecting part of the U-shaped connecting rod (22). The slide rod (302) passes through the attitude maintaining frame (301) and the middle connecting part of the U-shaped connecting rod (22), and is coaxially matched with the first spring (34). The end of the slide rod (302) is connected to the spring connecting seat (303). One end of the first spring (34) is matched with the attitude maintaining frame (301), and the other end is matched with the spring connecting seat (303). The front end of the spring connecting seat (303) has upper, middle and lower ears. The roller cover plate (38) includes a U-shaped structure, and there are upper, middle, and lower ears on the back of the U-shaped structure. The middle ear of the spring connection seat (303) is connected to the middle ear of the roller cover plate (38) through the fifth connecting shaft (37) to form a rotating pair. One end of the second spring (35) is connected to the upper ear of the spring connection seat (303), and the other end is connected to the upper ear of the roller cover plate (38). One end of the third spring (36) is connected to the lower ear of the spring connection seat (303), and the other end is connected to the lower ear of the roller cover plate (38). The two wings of the roller cover plate (38) are respectively connected to the roller (310) through bearings.

5. The integrated multi-arm collaborative tape laying robot equipment according to claim 1, characterized in that: The feeding support mechanism (4) includes a feeding drive assembly (41) and a telescopic chain assembly (42); the feeding drive assembly (41) includes a guide sleeve (411), a push rod (412), and an intermediate connection seat (413); one end of the guide sleeve (411) is connected and installed at the bottom end of the multi-joint arm fixed platform (2) through bolts, and the other end is coaxially matched with the push rod (412). The top end of the intermediate connection seat (413) has a front ear and a rear ear, and there is an ear on each of the left, right, and bottom ends. The end of the push rod (412) is connected to the rear ear at the top end of the intermediate connection seat (413); the number of the telescopic chain assemblies (42) is two, and the two telescopic chain assemblies (42) are symmetrically arranged on both sides of the feeding drive assembly (41); The telescopic chain assembly (42) includes a base (421), a first telescopic link (422), and a second telescopic link (423). A vertically distributed first support (4211) and a horizontally distributed second support (4212) are provided in the base (421); the first support (4211) is connected to the bottom end of the multi-joint arm fixed platform (2), the second support (4212) is connected to one end of the first telescopic link (422), the other end of the first telescopic link (422) is connected to one end of the second telescopic link (423) to form a rotating pair, and the other end of the second telescopic link (423) is connected to the right ear of the intermediate connection seat (413) to form a rotating pair.

6. The integrated multi-arm collaborative tape laying robot equipment according to claim 5, characterized in that: The adjustable adsorber (5) includes a synchronous opening and closing drive assembly (51), a synchronous opening and closing mechanism (52), and an adsorber drive assembly (53); The synchronous opening and closing drive assembly (51) includes a fourth drive motor (511), a worm (513), a first worm gear (517), and a second worm gear (5111), and holes are opened on the end faces of the first worm gear (517) and the second worm gear (5111); The fourth drive motor (511) is installed in the intermediate connection seat (413). The fourth drive motor (511) drives the worm (513) to rotate, and the worm (513) drives the first worm gear (517) and the second worm gear (5111) to rotate; The synchronous opening and closing mechanism (52) includes an upper cover plate (521), a front cover plate (522), and a lower cover plate (523). Opening and closing chains are symmetrically arranged on both sides of the front cover plate (522). The opening and closing chains include a first intermediate connecting rod (524), a second intermediate connecting rod (525), a third intermediate connecting rod (526), and a terminal connecting rod (527). The rear end of the upper cover plate (521) is connected to the front ear at the top of the intermediate connecting seat (413), and the rear end of the lower cover plate (523) is connected to the bottom ear of the intermediate connecting seat (413). There is an ear at the top, bottom, left, and right ends of the front cover plate (522). The top ear of the front cover plate (522) is connected to the front end of the upper cover plate (521), and the bottom ear of the front cover plate (522) is connected to the front end of the lower cover plate (523). One ends of two first intermediate connecting rods (524) are respectively connected to the end face holes of a first worm gear (517) and a second worm gear (5111). The other end of the first intermediate connecting rod (524) is connected to one end of the second intermediate connecting rod (525). The other end of the second intermediate connecting rod (525) is connected to the middle end of the third intermediate connecting rod (526). One end of the third intermediate connecting rod (526) is connected to the right ear of the front cover plate (522), and the other end of the third intermediate connecting rod (526) is connected to one end of the terminal connecting rod (527).

7. The integrated multi-arm collaborative tape laying robot equipment according to claim 6, characterized in that: The adsorber driving assembly (53) includes a fifth driving motor (531), a fourth coupling (532), an extension rod (533), a first suction cup (534), and a second suction cup (535). The fifth driving motor (531) is installed at the other end of the terminal connecting rod (527). The extension rod (533) is connected to the fifth driving motor (531) through the fourth coupling (532). The first suction cup (534) and the second suction cup (535) are respectively installed on the extension rod (533).

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