Six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts

Abstract

The application relates to the field of industrial robot machining, and aims to provide a six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts, so as to solve the problems of difficult machining operation and insufficient machining precision caused by complex actual machining scenes. The technical scheme is a six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts; characterized in that: a six-degree-of-freedom parallel mechanism is arranged between the fixed platform and the movable platform; the six-degree-of-freedom parallel mechanism comprises six branches connected in parallel; the branch comprises a first moving pair, a first spherical hinge, a first connecting rod and a second spherical hinge which are sequentially connected between the fixed platform and the movable platform; the movable platform comprises a movable frame provided with a main shaft machining head and a movable platform negative pressure adsorption mechanism, and can be used for machining large and complex parts; the fixed platform comprises a fixed frame provided with a fixed platform negative pressure adsorption mechanism, and can be adaptively adsorbed according to the surface shape of the large and complex parts during movement and machining.

Description

Technical Field

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

[0002] Following my country's industrial reform, industrial equipment and technology have developed rapidly in the fields of automobiles, ships, energy, aviation, aerospace, etc. The processing requirements for large and complex parts have gradually increased. The processing difficulty of various key basic components of large and complex parts with complex surface shapes and numerous processing scene features has also increased accordingly.

[0003] Compared with the traditional serial mechanism, the parallel structure has the advantages of greater rigidity, stronger flexibility, compact structure, large load-bearing capacity, high positioning accuracy, and superior posture adjustment ability, which is conducive to more diversified processing and production at this stage. However, conventional parallel equipment still has the disadvantage of a closed frame.

[0004] As a special robot, wall-climbing robots are now widely used in civil, military and other fields. They effectively solve the problems of high intensity, low efficiency and certain dangers of manual operations. They have unique advantages in overcoming complex processing scenarios and processing modes. Existing large and complex parts processing modes, such as envelope processing based on large gantry machine tools and in-situ processing based on mobile processing robots, are difficult to achieve high-precision processing in complex processing scenarios due to the extremely large structure of the processing equipment, difficult installation and reset, and low processing accuracy. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and provide a six-degree-of-freedom parallel wall-climbing robot for processing large and complex parts, so as to solve problems such as difficult processing operations and insufficient processing accuracy caused by the complexity of actual processing scenarios.

[0006] The technical solution of the present invention is:

[0007] A six-degree-of-freedom parallel wall-climbing robot for processing large and complex parts, comprising a fixed platform and a moving platform; characterized in that a six-degree-of-freedom parallel mechanism is provided between the fixed platform and the moving platform; the six-degree-of-freedom parallel mechanism includes six branches connected in parallel; the branches include 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 moving platform includes a moving frame provided with a spindle processing head and a moving platform negative pressure adsorption mechanism, which can be used for processing large and complex parts; the fixed platform includes a fixed frame provided with a fixed platform negative pressure adsorption mechanism, which can adaptively adsorb the surface shape of large and complex parts during movement and processing.

[0008] The movable platform negative pressure adsorption mechanism comprises a first negative pressure suction disc connected to the movable frame through a second moving pair; and the fixed platform negative pressure adsorption mechanism comprises a support connected to the fixed frame and a second negative pressure suction disc connected to the support through a third spherical hinge.

[0009] The first moving pair comprises a first moving pair guide rail connected to the fixed frame and a first moving pair sliding block connected to the first spherical hinge and slidingly matched with the first moving pair guide rail; and the second moving pair comprises a second moving pair guide rail connected to the first negative pressure suction disc and a second moving pair sliding block connected to the movable frame and slidingly matched with the second moving pair guide rail.

[0010] The second moving pair guide rail axes are parallel to each other.

[0011] The first moving pair and the second moving pair are both driving pairs.

[0012] The first moving pair and the second moving pair are both ball screw mechanisms driven by motors.

[0013] The fixed platform negative pressure adsorption mechanism is arranged at the bottom of the fixed frame; and six fixed platform negative pressure adsorption mechanisms are arranged on the fixed frame.

[0014] The first moving pair guide rails are arranged radially.

[0015] One end of the first moving pair guide rail is close to the center of the fixed frame, and the other end of the first moving pair guide rail is close to the fixed platform negative pressure adsorption mechanism.

[0016] The motor of the first moving pair is installed at a position close to the bottom of the fixed frame, and the motor of the second moving pair is installed at a position close to the movable frame.

[0017] The present application has the following beneficial effects:

[0018] The overall structure of the present application has the characteristics of transparency, compactness, low cost and high stability, and has a better development prospect compared with the existing parallel mechanism; the present application can realize large-range space positioning movement and small-range high-precision processing in the processing scene, and has the advantages of strong load capacity, high rigidity and strong self-adaptability compared with the existing parallel mechanism; the present application has the advantages of fewer drivers, fewer rod pieces and higher processing precision, and is a more effective way of large and complex part processing compared with the existing parallel mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a practical operation schematic diagram of the present application.

[0020] Figure 2 is a three-dimensional structure schematic diagram of the present application.

[0021] Figure 3It is a schematic diagram of the three-dimensional structure of the fixed platform of the present invention.

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the dynamic platform of the present invention.

[0023] Figure 5 It is a schematic diagram of the three-dimensional structure of the branch of the present invention.

[0024] Reference numerals:

[0025] Six-degree-of-freedom parallel wall-climbing robot 1, large complex parts 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, six-degree-of-freedom parallel mechanism 16, inner ring 111, supporting member 112, cross bar 113, support 121, second negative pressure suction cup 122, third ball joint 123, first movable sub-guide rail 131, first movable sub-slider 132, first ball joint 133, first connecting rod 134, second ball joint 135, first negative pressure suction cup 141, second movable sub-guide rail 142, second movable sub-slider 143. DETAILED DESCRIPTION

[0026] 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.

[0027] like Figure 1 As shown, a six-degree-of-freedom parallel wall-climbing robot 1 for machining large, complex parts 2 includes a fixed platform, a moving platform, and a six-degree-of-freedom parallel mechanism 16. The six-degree-of-freedom parallel mechanism 16 is disposed between the fixed platform and the moving platform. The six-degree-of-freedom parallel mechanism 16 includes six branches connected in parallel between the fixed platform and the moving platform.

[0028] The movable platform includes a machine frame 13, on which is mounted a spindle machining head 15 and a movable platform negative pressure adsorption mechanism 14, which can be used for machining large and complex parts 2. The movable platform negative pressure adsorption mechanism 14 includes a first negative pressure suction cup 141, which is connected to the machine frame 13 via a second movable pair. The second movable pair includes a second movable pair guide rail 142 connected to the first negative pressure suction cup 141 and a second movable pair slider 143 connected to the machine frame 13 and slidably engaged with the second movable pair guide rail 142.

[0029] The fixed platform includes a fixed frame 11, on which are mounted several fixed platform negative pressure suction mechanisms 12, which can adaptively suction the surface shape of large, complex parts 2 during robot movement and processing. The fixed platform negative pressure suction mechanisms 12 include a support 121 connected to the fixed frame 11 and a second negative pressure suction cup 122 connected to the support 121 via a third ball joint 123.

[0030] The branch includes a first movable pair, a first ball joint 133, a first connecting rod 134, and a second ball joint 135, which are sequentially connected between the fixed frame 11 and the driving frame 13. The first movable pair includes a first movable pair guide rail 131 connected to the fixed frame 11 and a first movable pair slider 132 connected to the first ball joint 135 and slidingly engaged with the first movable pair guide rail 131.

[0031] The fixed platform negative pressure adsorption mechanism 12 is arranged at the bottom of the fixed frame 11. Six fixed platform negative pressure adsorption mechanisms 12 are arranged on the fixed frame 11, and the six fixed platform negative pressure adsorption mechanisms 12 are evenly arranged around the fixed frame 11. The movable platform is arranged in the middle of the six fixed platform negative pressure adsorption mechanisms 12.

[0032] The fixed platform comprises an inner ring 111, six support members 112, and six cross bars 113. The inner ring 111 is the center and highest point of the fixed platform. The support members 112 are radially arranged around the inner ring 111 from top to bottom. One end (the highest point) of the support members 112 is fixed to the inner ring 111, while the other ends (the lowest points) of the support members 112 are fixed in pairs via cross bars 113 to ensure the stability of the fixed frame 11 during movement. A fixed platform negative pressure adsorption mechanism 12 is located at the lowest point of each support member 112.

[0033] The first movable secondary guide rails 131 are arranged radially, with one end close to the center (inner circle 111) of the fixed frame 11 and the other end close to the fixed platform negative pressure adsorption mechanism 12. The axes of the second movable secondary guide rails 142 are parallel to each other.

[0034] Both the first and second moving pairs are driven pairs. Both pairs are motor-driven ball screw mechanisms. The motor for the first moving pair is mounted near the bottom of the fixed frame 11 (the side of the fixed platform facing large, complex parts), while the motor for the second moving pair is mounted near the gantry. When the driven pair moves, the six-degree-of-freedom parallel mechanism 16 can output six degrees of freedom (DOF), including three rotational degrees of freedom and three translational degrees of freedom.

[0035] The first negative pressure suction cup 141 and the second negative pressure suction cup 122 are connected to an external air source. The first moving pair and the second moving pair are electrically connected to an external controller.

[0036] The present invention has unique advantages for complex processing scenarios of large and complex parts. Through alternating adsorption of the fixed platform negative pressure adsorption mechanism 12 and the dynamic platform negative pressure adsorption mechanism 14, high-precision processing can be performed in processing scenarios with irregular surface shapes, reducing the problems of high risk factor, high difficulty of operation, and high possibility of error in manual processing, and is more suitable for today's industrial processing needs.

[0037] When the six-degree-of-freedom parallel wall-climbing robot 1 is in the working scene, that is, the surface of a large and complex part 2 (this surface includes the outer surface, side surface, inner wall and other machinable areas), it moves according to the command of the external controller, and the first moving pair and the second moving pair of the six-degree-of-freedom parallel mechanism operate, and the fixed platform and the moving platform alternately support each other. At this time, the fixed platform negative pressure adsorption mechanism 12 and the moving platform negative pressure adsorption mechanism 14 are alternately adsorbed under the action of the external air source to complete the positioning and movement in the processing scene. Among them, the six fixed platform negative pressure adsorption mechanisms 12 can respectively connect and disconnect the air source to achieve the adsorption requirements required for movement, so that the six-degree-of-freedom parallel wall-climbing robot 1 can move in the processing scene.

[0038] Because the movable joints of the six-degree-of-freedom parallel mechanism 16 are all ball-joint structures, they have greater flexibility and stronger force-bearing capacity. When the six-degree-of-freedom parallel wall-climbing robot 1 moves to the area to be processed, the fixed platform negative pressure adsorption mechanism 12 and the moving platform negative pressure adsorption mechanism 14 simultaneously adsorb to fix the six-degree-of-freedom parallel wall-climbing robot 1 in the processing area, which has high stability and reduces processing errors. Under the second movement side effect, the moving platform lowers the spindle processing head 15, and the spindle processing head 15 performs high-precision processing in a small range along the normal direction of the area to be processed. If an abnormal situation or processing error occurs during the processing process, the controller controls the six-degree-of-freedom parallel wall-climbing robot 1 to immediately perform emergency braking, or manually intervene in advance to stop processing.

[0039] 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.

[0040] 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 six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts, comprising a fixed platform and a moving platform; characterized in that: A six-degree-of-freedom parallel mechanism (16) is provided between the fixed platform and the movable platform; the six-degree-of-freedom parallel mechanism includes six branches connected in parallel; the branches include a first moving pair, a first ball joint (133), a first connecting rod (134) and a second ball joint (135) connected in sequence between the fixed platform and the movable platform; the movable platform includes a motive frame (13) provided with a spindle processing head (15) and a movable platform negative pressure adsorption mechanism (14), which can be used for processing large and complex parts (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 parts during movement and processing; The moving platform negative pressure adsorption mechanism (14) includes a first negative pressure suction cup (141) connected to the moving frame (13) via a second moving pair; the fixed platform negative pressure adsorption mechanism (12) includes a support (121) connected to the fixed frame and a second negative pressure suction cup (122) connected to the support via a third ball joint (123); The first movable pair includes a first movable pair guide rail (131) connected to the fixed frame (11) and a first movable pair slider (132) connected to the first ball joint (133) and slidingly engaged with the first movable pair guide rail (131); the second movable pair includes a second movable pair guide rail (142) connected to the first negative pressure suction cup (141) and a second movable pair slider (143) connected to the machine frame (13) and slidingly engaged with the second movable pair guide rail (142).

2. The six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts according to claim 1, characterized in that: The axes of the second movable secondary guide rails (142) are parallel to each other.

3. The six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts according to claim 2, characterized in that: The first moving pair and the second moving pair are both driving pairs.

4. The six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts according to claim 3, characterized in that: The first moving pair and the second moving pair are both ball screw mechanisms driven by motors.

5. The six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts according to claim 4, characterized in that: The fixed platform negative pressure adsorption mechanism (12) is arranged at the bottom of the fixed frame (11); and six fixed platform negative pressure adsorption mechanisms (12) are provided on the fixed frame (11).

6. The six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts according to claim 5, characterized in that: The first movable secondary guide rails (131) are arranged radially.

7. The six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts according to claim 6, characterized in that: One end of the first movable auxiliary guide rail (131) is close to the center of the fixed frame (11), and the other end of the first movable auxiliary guide rail (131) is close to the fixed platform negative pressure adsorption mechanism (12).

8. The six-degree-of-freedom parallel wall-climbing robot for machining large and complex parts according to claim 7, characterized in that: The motor of the first moving pair is installed at a position close to the bottom of the fixed frame (11), and the motor of the second moving pair is installed at a position close to the moving frame (13).

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