Parallel wall-climbing robot for machining large and complex components

Abstract

The present invention relates to the field of industrial robot processing technology. The purpose is to provide a parallel wall-climbing robot for processing large and complex components, which robot should have the characteristics of high processing accuracy, strong mobility and simple structure. The technical solution is: a parallel wall-climbing robot for processing large and complex components, characterized in that: a five-degree-of-freedom parallel mechanism is provided between the fixed platform and the moving platform; the five-degree-of-freedom parallel mechanism includes four first branches and one second branch connected in parallel; the first branch includes a first moving pair, a first ball joint, a first connecting rod and a second ball joint connected in sequence between the fixed platform and the moving platform; the second branch includes a second moving pair, a third ball joint, a second connecting rod and a first rotating pair connected in sequence between the fixed platform and the moving platform; the moving platform includes a motive frame provided with a spindle processing head and a negative pressure adsorption mechanism of the moving platform, which can be used for processing large and complex components.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot processing, in particular to a parallel wall-climbing robot used for processing large and complex components. Background Art

[0002] Large and complex components are widely present in major equipment in the fields of energy, aerospace, etc., and are key basic components. Large and complex components have the characteristics of large overall size, irregular shape, high surface quality requirements, and a large number of surface features to be processed. In view of the above characteristics, the existing large and complex component processing modes are mainly divided into three categories: envelope processing based on large gantry machine tools, offline split processing based on small multi-axis CNC machine tools, and in-situ processing based on mobile processing robots. However, due to the large structure of the equipment itself, the difficulty of component installation and reset, or the low processing accuracy, it is impossible to take into account the various processing scenarios of large and complex components, such as open surfaces, side walls, and closed inner walls. Although component processing can be carried out by manual operation, there are problems such as high labor intensity, low production efficiency, and great safety hazards. Therefore, it is necessary to design high-flexibility and high-precision robotic equipment that takes into account both open and closed scenarios to complete the processing of different large and complex components.

[0003] Unlike traditional open-loop serial mechanisms, parallel mechanisms are multi-closed-loop structures consisting of a fixed platform, a moving platform, and multiple motion branches in parallel. They have the advantages of compact structure and strong load-bearing capacity. Based on the above advantages, relevant researchers have designed a variety of adsorption-type parallel processing robots, but most of them have problems such as a large number of drives (up to 18), a large number of rods and joints, and poor autonomous movement capabilities. They are difficult to meet the high-flexibility and high-precision processing requirements of large and complex components in multiple scenarios. Therefore, in response to the multi-scenario irregular processing requirements of different large and complex components, it is very necessary to propose a parallel wall-climbing robot equipment for large and complex component processing. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and to provide a parallel wall-climbing robot for processing large and complex components. The robot should have the characteristics of high processing accuracy, strong mobility and simple structure.

[0005] The technical solution of the present invention is:

[0006] A parallel wall-climbing robot for processing large and complex components, comprising a fixed platform and a moving platform; characterized in that: a five-degree-of-freedom parallel mechanism is provided between the fixed platform and the moving platform; the five-degree-of-freedom parallel mechanism comprises four first branches and one second branch connected in parallel; the first branch comprises a first moving pair, a first ball joint, a first connecting rod and a second ball joint connected in sequence between the fixed platform and the moving platform; the second branch comprises a second moving pair, a third ball joint, a second connecting rod and a first rotating pair connected in sequence between the fixed platform and the moving platform; the moving platform comprises a moving frame provided with a spindle machining head and a moving platform negative pressure adsorption mechanism, which can be used for processing large and complex components; the fixed platform comprises a fixed frame provided with a fixed platform negative pressure adsorption mechanism, which can adaptively adsorb the surface shape of large and complex components during movement and processing.

[0007] The moving platform negative pressure adsorption mechanism includes a first negative pressure suction cup connected to the moving frame through a third moving pair; the fixed platform negative pressure adsorption mechanism includes a support connected to the fixed frame and a second negative pressure suction cup connected to the support through a fourth ball joint.

[0008] The first movable pair includes a first movable pair guide rail connected to the fixed frame and a first movable pair slider connected to the first ball joint and slidingly engaged with the first movable pair guide rail; the second movable pair includes a second movable pair guide rail connected to the fixed frame and a second movable pair slider connected to the third ball joint and slidingly engaged with the second movable pair guide rail; the third movable pair includes a third movable pair guide rail connected to the first negative pressure suction cup and a third movable pair slider connected to the machine frame and slidingly engaged with the third movable pair guide rail.

[0009] The axis of the second movable secondary guide rail is arranged perpendicular to the first rotation secondary axis; the axis of the third movable secondary guide rail is arranged perpendicular to the first rotation secondary axis.

[0010] The first moving pair, the second moving pair and the third moving pair are all driving pairs.

[0011] The first moving pair, the second moving pair and the third moving pair are all ball screw mechanisms driven by motors.

[0012] The fixed platform negative pressure adsorption mechanism is arranged at the bottom of the fixed frame; and five fixed platform negative pressure adsorption mechanisms are arranged on the fixed frame.

[0013] The first movable secondary guide rail and the second movable secondary guide rail are arranged radially.

[0014] One end of the first movable secondary guide rail and the second movable secondary guide rail is close to the center of the fixed platform frame, and the other end of the first movable secondary guide rail and the second movable secondary guide rail is close to the fixed platform negative pressure adsorption mechanism.

[0015] The motors of the first moving pair and the second moving pair are installed at the bottom position close to the fixed frame, and the motor of the third moving pair is installed at the position close to the machine frame.

[0016] The beneficial effects of the present invention are:

[0017] The present invention can realize large-scale spatial movement and positioning and small-scale high-precision processing. It has significant advantages such as strong autonomous movement ability, good load capacity, and high precision / rigidity, which helps to achieve efficient and high-precision processing of large and complex components of different sizes. The five-degree-of-freedom parallel mechanism selected by the present invention has the advantages of fewer drivers, fewer joints and rods, which is conducive to ensuring the overall rigidity of the robot and improving the stability of the equipment during movement and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a practical operation schematic diagram of the present invention.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the fixed platform of the present invention.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the dynamic platform of the present invention.

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the first branch of the present invention.

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the second branch of the present invention.

[0024] Figure markings: parallel wall-climbing robot 1, large complex component 2, fixed frame 11, fixed platform negative pressure adsorption mechanism 12, dynamic frame 13, dynamic platform negative pressure adsorption mechanism 14, spindle processing head 15, five-degree-of-freedom parallel mechanism 16, support 121, second negative pressure suction cup 122, fourth ball joint 123, first movable sub-guide rail 130, first movable sub-slider 131, first ball joint 132, first connecting rod 133, second ball joint 134, second movable sub-slider 135, third ball joint 136, second connecting rod 137, first rotating pair 138, second movable sub-guide rail 139, first negative pressure suction cup 141, third movable sub-guide rail 142, third movable sub-slider 143. DETAILED DESCRIPTION

[0025] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0026] like Figure 1-2 As shown, a parallel wall-climbing robot for machining large and complex components includes a fixed platform, a moving platform, and a five-degree-of-freedom parallel mechanism 16. The five-degree-of-freedom parallel mechanism is arranged between the fixed platform and the moving platform. The five-degree-of-freedom parallel mechanism includes four first branches and one second branch connected in parallel between the fixed platform and the moving platform.

[0027] like Figure 2 and 4 As shown, the movable platform includes a machine frame 13, on which is mounted a spindle machining head 15 and a movable platform negative pressure suction mechanism 14, which can be used to process large, complex components 2. The movable platform negative pressure suction mechanism 14 includes a first negative pressure suction cup 141, which is connected to the machine frame via a third movable pair. The third movable pair includes a third movable pair guide rail 142 connected to the first negative pressure suction cup and a third movable pair slider 143 connected to the machine frame and slidably engaged with the third movable pair guide rail.

[0028] like Figure 3 As shown, the fixed platform includes a fixed frame 11, on which are mounted a plurality of fixed platform negative pressure suction mechanisms 12, which can adaptively suction the surface shape of a large and complex component 2 during robot movement and processing. The fixed platform negative pressure suction mechanisms include a support 121 connected to the fixed frame and a second negative pressure suction cup 122 connected to the support via a fourth ball joint 123.

[0029] Such as Figure 5 As shown, the first branch includes a first moving pair, a first ball joint 132, a first connecting rod 133, and a second ball joint 134, which are sequentially connected between the fixed frame and the moving frame. The first moving pair includes a first moving pair guide rail 130 connected to the fixed frame and a first moving pair slider 131 connected to the first ball joint and slidingly engaged with the first moving pair guide rail.

[0030] like Figure 6 As shown, the second branch includes a second moving pair, a third ball joint 136, a second connecting rod 137, and a first rotating pair 138, which are sequentially connected between the fixed frame and the moving frame. The second moving pair includes a second moving pair guide rail 139 connected to the fixed frame and a second moving pair slider 135 connected to the third ball joint and slidingly engaged with the second moving pair guide rail.

[0031] The fixed platform negative pressure adsorption mechanism is arranged at the bottom of the fixed frame. The fixed frame is provided with five fixed platform negative pressure adsorption mechanisms, which are evenly arranged around the fixed platform frame. The movable platform is arranged in the middle of the five fixed platform negative pressure adsorption mechanisms.

[0032] The first movable secondary guide rail and the second movable secondary guide rail are arranged radially, one end of the first movable secondary guide rail and the second movable secondary guide rail are close to the center of the fixed platform frame, and the other end of the first movable secondary guide rail and the second movable secondary guide rail are close to the fixed platform negative pressure adsorption mechanism.

[0033] The guide rail axis of the second movable pair is arranged perpendicular to the axis of the first rotating pair. The guide rail axis of the third movable pair is arranged perpendicular to the axis of the first rotating pair. The first movable pair, the second movable pair and the third movable pair are all drive pairs. The first movable pair, the second movable pair and the third movable pair are all ball screw mechanisms driven by motors. The motors of the first movable pair and the second movable pair are installed at the bottom position close to the fixed frame (the side of the fixed platform facing the large and complex components), and the motor of the third movable pair is installed at a position close to the machine frame. When the drive pair moves, the five-degree-of-freedom parallel mechanism can output five-degree-of-freedom motion, including three rotational degrees of freedom and two translational degrees of freedom.

[0034] The first negative pressure suction cup and the second negative pressure suction cup are connected to an external air source. The first moving pair, the second moving pair, and the third moving pair are electrically connected to an external controller.

[0035] This parallel wall-climbing robot 1 enables highly flexible and high-precision machining of large, complex components across multiple scenarios (surfaces, sidewalls, interior walls, etc.). By interleaving the suction / release of the moving platform's negative pressure suction mechanism with the fixed platform's negative pressure suction mechanism, combined with the spatial motion of a five-degree-of-freedom parallel mechanism, the robot can autonomously move across large, complex components and achieve wide-scale spatial positioning. Once the robot reaches the area to be machined on a large, complex component, the spindle machining head mounted on the moving platform can achieve high-precision machining within a small area, along the normal direction of the respective machining area on the large, complex component.

[0036] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0037] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A parallel wall-climbing robot for machining large and complex components, comprising a fixed platform and a moving platform; characterized by: A five-degree-of-freedom parallel mechanism (16) is provided between the fixed platform and the movable platform; the five-degree-of-freedom parallel mechanism includes four first branches and one second branch connected in parallel; the first branch includes a first moving pair, a first ball joint (132), a first connecting rod (133) and a second ball joint (134) connected in sequence between the fixed platform and the movable platform; the second branch includes a second moving pair, a third ball joint (136), a second connecting rod (137) and a first rotating pair (138) connected in sequence between the fixed platform and the movable platform; the movable platform includes a motive frame (13) provided with a spindle machining head (15) and a movable platform negative pressure adsorption mechanism (14), which can be used for machining large and complex components (2); the fixed platform includes a fixed frame (11) provided with a fixed platform negative pressure adsorption mechanism (12), which can be adaptively adsorbed according to the surface shape of the large and complex components during movement and machining; The moving platform negative pressure adsorption mechanism comprises a first negative pressure suction cup (141) connected to the moving frame via a third moving pair; the fixed platform negative pressure adsorption mechanism comprises a support (121) connected to the fixed frame and a second negative pressure suction cup (122) connected to the support via a fourth ball joint (123); The first movable pair includes a first movable pair guide rail (130) connected to the fixed frame and a first movable pair slider (131) connected to the first ball joint and slidingly engaged with the first movable pair guide rail; the second movable pair includes a second movable pair guide rail (139) connected to the fixed frame and a second movable pair slider (135) connected to the third ball joint and slidingly engaged with the second movable pair guide rail; the third movable pair includes a third movable pair guide rail (142) connected to the first negative pressure suction cup and a third movable pair slider (143) connected to the frame and slidingly engaged with the third movable pair guide rail; The axis of the second movable secondary guide rail is arranged perpendicular to the first rotation secondary axis; the axis of the third movable secondary guide rail is arranged perpendicular to the first rotation secondary axis.

2. The parallel wall-climbing robot for processing large and complex components according to claim 1, characterized in that: The first moving pair, the second moving pair and the third moving pair are all driving pairs.

3. The parallel wall-climbing robot for processing large and complex components according to claim 2, characterized in that: The first moving pair, the second moving pair and the third moving pair are all ball screw mechanisms driven by motors.

4. The parallel wall-climbing robot for processing large and complex components according to claim 3, characterized in that: The fixed platform negative pressure adsorption mechanism is arranged at the bottom of the fixed frame; and five fixed platform negative pressure adsorption mechanisms are arranged on the fixed frame.

5. The parallel wall-climbing robot for processing large and complex components according to claim 4, characterized in that: The first movable secondary guide rail and the second movable secondary guide rail are arranged radially.

6. The parallel wall-climbing robot for processing large and complex components according to claim 5, characterized in that: One end of the first movable secondary guide rail and the second movable secondary guide rail is close to the center of the fixed platform frame, and the other end of the first movable secondary guide rail and the second movable secondary guide rail is close to the fixed platform negative pressure adsorption mechanism.

7. The parallel wall-climbing robot for machining large and complex components according to claim 6, characterized in that: The motors of the first moving pair and the second moving pair are installed at the bottom position close to the fixed frame, and the motor of the third moving pair is installed at the position close to the machine frame.

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