Large bending plate mobile processing robot based on virtual center mechanism

Abstract

The application discloses a large-scale bent plate mobile processing robot based on virtual center mechanisms, which comprises a bent plate fixing tool, an omnidirectional moving platform, a rotary positioning device, a radial moving platform, a vertical moving platform and a parallel processing module, wherein the rotary positioning device comprises a rotary table and two virtual center mechanisms; the rotary axis of the rotary table is located outside the rotary table in the horizontal direction; each virtual center mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a push rod and a push rod motor; the first connecting rod is parallel to the second connecting rod; and the third connecting rod is parallel to the fourth connecting rod. The large-scale bent plate mobile processing robot based on virtual center mechanisms has the advantages of high processing efficiency, good processing flexibility, strong processing reliability and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical processing, in particular to a large curved plate mobile processing robot based on a virtual center mechanism. BACKGROUND

[0002] Large curved plates are core components of equipment such as launch vehicles and spacecraft cabins. In order to reduce the mass of the curved plate and ensure the strength of the curved plate, array grid features are generally processed on the outer surface of the large curved plate. These features have characteristics such as high processing precision requirements, large material removal, and complex shapes.

[0003] The large curved plate processing method in the related art is to process through a gantry type multi-axis machine tool, which has long processing cycle and poor processing flexibility. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a large curved plate mobile processing robot based on a virtual center mechanism, which can process the outer side curved surface of a large curved plate and has advantages such as high processing efficiency, good processing flexibility, and strong processing reliability.

[0005] To achieve the above object, the large curved plate mobile processing robot based on virtual center mechanism according to the embodiment of the present application comprises: a curved plate fixing tool suitable for clamping a curved plate to be processed; an omnidirectional mobile platform; a rotary positioning device comprising a turntable and two virtual center mechanisms, the turntable being rotatably arranged on the omnidirectional mobile platform, the rotation axis of the turntable being oriented in the vertical direction and located outside the turntable in the horizontal direction, the two virtual center mechanisms being symmetrically arranged, each virtual center mechanism comprising a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a push rod and a push rod motor, one end of the first connecting rod being rotatably arranged on the omnidirectional mobile platform and the other end being pivotally connected with one end of the third connecting rod, one end of the second connecting rod being rotatably arranged on the omnidirectional mobile platform and the other end being pivotally connected with one end of the fourth connecting rod, the other end of the third connecting rod being pivotally connected with the turntable, the other end of the fourth connecting rod being pivotally connected with the turntable, the first connecting rod being parallel to the second connecting rod, the third connecting rod being parallel to the fourth connecting rod, the second connecting rod and the third connecting rod being pivotally connected, the connection between the second connecting rod and the third connecting rod being located between the two ends of the second connecting rod and between the two ends of the third connecting rod, the push rod motor being in transmission connection with the push rod, the push rod being pivotally connected with the second connecting rod and the connection being located between the two ends of the second connecting rod, the push rod motor being rotatably arranged on the omnidirectional mobile platform; a radial moving platform slidably arranged on the turntable; a vertical moving platform slidably arranged on the radial moving platform; and a parallel processing module arranged on the vertical moving platform.

[0006] The large curved plate mobile processing robot based on virtual center mechanism according to the embodiment of the present application can process the outer curved surface of a large curved plate, has the advantages of high processing efficiency, good processing flexibility and strong processing reliability, etc.

[0007] In addition, the large curved plate mobile processing robot based on virtual center mechanism according to the above embodiment of the present application can further have the following additional technical features:

[0008] According to one embodiment of the present application, the omnidirectional mobile platform is provided with an arc-shaped guide rail, the turntable is slidably arranged on the arc-shaped guide rail, the turntable is provided with a radial guide rail oriented in the length direction, the radial moving platform is slidably arranged on the radial guide rail, and the radial moving platform is provided with a first vertical guide rail, and the vertical moving platform is slidably arranged on the first vertical guide rail.

[0009] According to one of the embodiments of the present application, the rotating table is provided with a radial driving motor, and the radial driving motor is drivingly connected with a radial screw rod, and the radial screw rod is in threaded engagement with the radial moving platform.

[0010] According to one of the embodiments of the present application, the radial moving platform is provided with a first vertical motor, and the first vertical motor is drivingly connected with a first vertical screw rod, and the first vertical screw rod is in threaded engagement with the vertical moving platform.

[0011] According to one of the embodiments of the present application, the first vertical guide rail is slidably provided with a second vertical guide rail, and the vertical moving platform is slidably arranged on the second vertical guide rail.

[0012] According to one of the embodiments of the present application, the radial moving platform is provided with a first vertical motor, and the first vertical motor is drivingly connected with a first vertical screw rod, and the first vertical screw rod is in threaded engagement with the second vertical guide rail, and the second vertical guide rail is provided with a second vertical motor, and the second vertical motor is drivingly connected with a second vertical screw rod, and the second vertical screw rod is in threaded engagement with the vertical moving platform.

[0013] According to one of the embodiments of the present application, the parallel machining module comprises a rack, a machining device and a plurality of branch chains, the rack is arranged on the vertical moving platform, the plurality of branch chains are arranged at intervals along the circumference of the rack, the branch chains are three, five or six, each of the branch chains comprises a hollow motor and a ball screw, the hollow motor is drivingly connected with the ball screw, the hollow motor is connected with the rack through a first hinge, and one end of the ball screw is connected with the machining device through a second hinge.

[0014] According to one of the embodiments of the present application, the branch chains are three, the three first hinges are all single-rotation pair hinges and the three second hinges are all double-rotation pair hinges, or the three first hinges are all double-rotation pair hinges and the three second hinges are all single-rotation pair hinges.

[0015] According to one of the embodiments of the present application, the branch chains are five, the five first hinges are all double-rotation pair hinges, four of the five second hinges are double-rotation pair hinges and the remaining one is a single-rotation pair hinge, the five first hinges are distributed in the same plane or three of the five first hinges are distributed in the same plane and the remaining two are distributed in another parallel plane, and three of the five second hinges are adjacent to the machining end of the machining device in the axial direction of the machining device and the remaining two are adjacent to the non-machining end of the machining device in the axial direction of the machining device.

[0016] According to one embodiment of the present application, the number of the branches is six, each of the first and second hinges is a double revolute pair hinge, six of the first hinges are distributed in the same plane or three of the first hinges are distributed in the same plane and the rest of the first hinges are distributed in another parallel plane, and three of the second hinges are adjacent to the working end of the machining device in the axial direction of the machining device and the rest of the second hinges are adjacent to the non-working end of the machining device in the axial direction of the machining device.

[0017] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0019] Figure 1 is a structural schematic diagram of a large bending plate mobile machining robot based on a virtual center mechanism according to an embodiment of the present application.

[0020] Figure 2 is a structural schematic diagram of a rotation positioning device of a large bending plate mobile machining robot based on a virtual center mechanism according to an embodiment of the present application.

[0021] Figure 3 is a structural schematic diagram of a rotation positioning device of a large bending plate mobile machining robot based on a virtual center mechanism according to an embodiment of the present application.

[0022] Figure 4 is a structural schematic diagram of a large bending plate mobile machining robot based on a virtual center mechanism according to one specific embodiment of the present application.

[0023] Figure 5 is a structural schematic diagram of a large bending plate mobile machining robot based on a virtual center mechanism according to another specific embodiment of the present application.

[0024] Figure 6 is a structural schematic diagram of a parallel machining module of a large bending plate mobile machining robot based on a virtual center mechanism according to one specific embodiment of the present application.

[0025] Figure 7 is a structural schematic diagram of a parallel machining module of a large bending plate mobile machining robot based on a virtual center mechanism according to another specific embodiment of the present application.

[0026] Figure 8is a structural schematic diagram of a parallel processing module of a large curved plate mobile processing robot based on a virtual center mechanism according to another specific embodiment of the present application.

[0027] Fig. 1 is a structural schematic diagram of a large curved plate mobile processing robot based on a virtual center mechanism according to an embodiment of the present application; Fig. 2 is a structural schematic diagram of a parallel processing module of the large curved plate mobile processing robot based on a virtual center mechanism according to another specific embodiment of the present application. DETAILED DESCRIPTION

[0028] The present application is based on the discovery and realization of the inventor on the following facts and problems:

[0029] The large curved plate processing method in the related art is processed by a gantry type multi-axis machine tool, which has long processing cycle, high equipment cost and poor processing flexibility.

[0030] Therefore, for the processing of the inner side arc surface of the large curved plate, there is a special processing robot, which drives the processing spindle by combining a rotating platform, a sliding platform and a multi-axis parallel positioning mechanism. Since it is located inside the large curved plate during processing, the center of rotation of the rotating platform can be located inside the large curved plate and inside the rotating platform. The rotating platform only needs to be driven by a simple rotating structure, for example, it can be directly connected by a rotating shaft.

[0031] However, for the processing of the outer side arc surface of the large curved plate, the processing robot for processing the inner side arc surface of the large curved plate in the related art is difficult to process the outer side arc surface of the large curved plate. In order to adapt to the processing of the outer side arc surface of the large curved plate, the processing robot needs to be located outside the large curved plate and the center of rotation of the rotating platform needs to be located inside the large curved plate, so that the center of rotation of the rotating platform can only be located outside the rotating platform, and the rotation of the rotating platform cannot be realized by a simple rotating shaft structure.

[0032] Embodiments of the present application will be described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0033] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0034] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] The virtual center mechanism-based large bending plate mobile machining robot 1 according to the embodiment of the present application is described below with reference to the drawings.

[0036] As shown in Figures 1-8 The virtual center mechanism-based large bending plate mobile machining robot 1 according to the embodiment of the present application includes a bending plate fixing tool 10, an omnidirectional mobile platform 20, a rotary positioning device 30, a radial mobile platform 40, a vertical mobile platform 50 and a parallel machining module 60.

[0037] The bending plate fixing tool 10 is adapted to clamp the bending plate 2 to be machined.

[0038] The rotary positioning device 30 includes a turntable 31 and two virtual center mechanisms 32, the turntable 31 is rotatably arranged on the omnidirectional mobile platform 20, the rotation axis of the turntable 31 is oriented in the vertical direction and located outside the turntable 31 in the horizontal direction (the up-down direction is shown by the arrow in the figure, and the horizontal direction is perpendicular to the up-down direction).

[0039] The two virtual center mechanisms 32 are symmetrically arranged, each of which comprises a first connecting rod 321, a second connecting rod 322, a third connecting rod 323, a fourth connecting rod 324, a push rod 325 and a push rod motor 326, one end of the first connecting rod 321 is rotatably arranged on the omnidirectional mobile platform 20 and the other end is pivotally connected with one end of the third connecting rod 323, one end of the second connecting rod 322 is rotatably arranged on the omnidirectional mobile platform 20 and the other end is pivotally connected with one end of the fourth connecting rod 324, the other end of the third connecting rod 323 is pivotally connected with the rotating table 31, the other end of the fourth connecting rod 324 is pivotally connected with the rotating table 31, the first connecting rod 321 is parallel to the second connecting rod 322, the third connecting rod 323 is parallel to the fourth connecting rod 324, the second connecting rod 322 and the third connecting rod 323 are pivotally connected, the connection between the second connecting rod 322 and the third connecting rod 323 is located between the two ends of the second connecting rod 322 and between the two ends of the third connecting rod 323, the push rod motor 326 is in driving connection with the push rod 325, the push rod 325 is pivotally connected with the second connecting rod 322 and the connection is located between the two ends of the second connecting rod 322, and the push rod motor 326 is rotatably arranged on the omnidirectional mobile platform 20.

[0040] The radial moving platform 40 is slidably arranged on the rotating table 31. The vertical moving platform 50 is slidably arranged on the radial moving platform 40. The parallel machining module 60 is arranged on the vertical moving platform 50.

[0041] Specifically, the parallel machining module 60 can be provided with a machining tool, the omnidirectional mobile platform 20 moves to a specified working position outside the bent plate 2 to be machined, the position of the parallel machining module 60 in the circumferential direction of the bent plate 2 to be machined is adjusted through the movement of the rotating positioning device 30, the position of the parallel machining module 60 in the radial direction of the bent plate 2 to be machined is adjusted through the movement of the radial moving platform 40, the up-down position height of the parallel machining module 60 is adjusted through the movement of the vertical moving platform 50, finally the pose of the machining tool is flexibly adjusted in multiple degrees of freedom through the parallel machining module 60, and the machining of the complex features on the bent plate 2 to be machined is realized.

[0042] The two virtual center mechanisms 32 of the rotary positioning device 30 drive the linkage to realize the driving of the rotary table 31 through the respective push rod motors 326, the first linkage 321 and the second linkage 322 of the virtual center mechanism 32 form a parallelogram mechanism, the third linkage 323 and the fourth linkage 324 form a parallelogram mechanism, and the two parallelogram mechanisms are connected through the pivoting of the second linkage 322 and the third linkage 323 to realize the transmission. The push rod motor 326 drives the push rod 325, the push rod 325 drives the second linkage 322 to rotate, at the same time, the second linkage 322 drives the parallelogram mechanism formed by the first linkage 321 and the second linkage 322 to rotate, the second linkage 322 also drives the third linkage 323 to rotate, and the third linkage 323 drives the parallelogram mechanism formed by the third linkage 323 and the fourth linkage 324 to rotate, thereby realizing the driving of the rotary table 31 through the third linkage 323 and the fourth linkage 324.

[0043] According to the large curved plate mobile machining robot 1 based on the virtual center mechanism, by arranging the omnidirectional mobile platform 20, the rotary positioning device 30, the radial mobile platform 40, the vertical mobile platform 50 and the parallel machining module 60, the omnidirectional mobile platform 20 can be used to move to the specified working position outside the curved plate 2 to be machined, the rotary positioning device 30 can be used to adjust the position of the parallel machining module 60 in the circumferential direction of the curved plate 2 to be machined, the radial mobile platform 40 can be used to adjust the position of the parallel machining module 60 in the radial direction of the curved plate 2 to be machined, the vertical mobile platform 50 can be used to adjust the up-down position height of the parallel machining module 60, and the parallel machining module 60 can be used to flexibly adjust the pose of the machining tool in multiple degrees of freedom, so as to realize the machining of the complex features on the curved plate 2 to be machined. Compared with the machining mode of the gantry type multi-axis machine tool in the related art, the parallel machining module 60 can play the advantages of lightweight, local high-efficiency and high-precision machining, and the machining flexibility and efficiency of the large curved plate part can be greatly improved.

[0044] In addition, by orienting the rotation axis of the rotary table 31 in the vertical direction and locating the rotation axis in the horizontal direction outside the rotary table 31, the rotary table 31 can be located outside the curved plate 2 to be machined while the rotation axis is located inside the curved plate 2 to be machined, so that the rotation of the rotary table 31 can adapt to the outer arc surface of the curved plate 2 to be machined, and the outer arc surface of the curved plate 2 to be machined can be machined conveniently. Compared with the robot suitable for machining only the inner arc surface of the curved plate in the related art, the large curved plate mobile machining robot 1 based on the virtual center mechanism can machine the outer arc surface of the large curved plate selectively, and the machining efficiency of the outer arc surface of the large curved plate can be improved.

[0045] Further, by arranging two virtual center mechanisms 32, each of which comprises a first connecting rod 321, a second connecting rod 322, a third connecting rod 323, a fourth connecting rod 324, a push rod 325 and a push rod motor 326, the first connecting rod 321 is parallel to the second connecting rod 322, the third connecting rod 323 is parallel to the fourth connecting rod 324, and the second connecting rod 322 and the third connecting rod 323 are pivotally connected, so that the first connecting rod 321 and the second connecting rod 322 form a parallelogram mechanism, the third connecting rod 323 and the fourth connecting rod 324 form a parallelogram mechanism, and the two parallelogram mechanisms are connected by the pivoting of the second connecting rod 322 and the third connecting rod 323 to realize transmission. In this way, the driving force of the push rod motor 326 can be transmitted to the turntable 31 through the two parallelogram mechanisms, which can facilitate the restriction of the rotation axis of the turntable 31, avoid the shift of the rotation axis of the turntable 31 during the movement of the turntable 31, improve the stability of the turntable 31 when rotating around the rotation axis outside the turntable 31, and improve the processing accuracy and reliability.

[0046] Therefore, the large curved plate mobile machining robot 1 based on a virtual center mechanism according to the embodiment of the present application can process the outer arc surface of a large curved plate, has the advantages of high processing efficiency, good processing flexibility, strong processing reliability, etc.

[0047] Hereinafter, a large curved plate mobile machining robot 1 based on a virtual center mechanism according to a specific embodiment of the present application will be described with reference to the accompanying drawings.

[0048] In some specific embodiments of the present application, as shown in Figures 1-8 The large curved plate mobile machining robot 1 based on a virtual center mechanism according to the embodiment of the present application comprises a curved plate fixing tool 10, an omnidirectional mobile platform 20, a rotary positioning device 30, a radial mobile platform 40, a vertical mobile platform 50 and a parallel machining module 60.

[0049] Specifically, the connections of the two third connecting rods 323 with the turntable 31 coincide, the connections of the two fourth connecting rods 324 with the turntable 31 coincide, and the connections of the third connecting rod 323 and the fourth connecting rod 324 on the turntable 31 are spaced apart in the length direction of the turntable 31. In this way, the rotation of the turntable 31 can be further facilitated to ensure the stability of the rotation axis of the turntable 31 during rotation.

[0050] Specifically, as shown in Figures 1-5As shown, the omnidirectional mobile platform 20 is provided with an arc-shaped guide rail 21, the rotating table 31 is slidably arranged on the arc-shaped guide rail 21, the rotating table 31 is provided with a radial guide rail 311 oriented along the length direction, the radial mobile platform 40 is slidably arranged on the radial guide rail 311, the radial mobile platform 40 is provided with a first vertical guide rail 41, and the vertical mobile platform 50 is slidably arranged on the first vertical guide rail 41. Specifically, the arc-shaped guide rail 21 is two and coaxially arranged, the radial guide rail 311 is two and parallelly arranged, and the first vertical guide rail 41 is two and parallelly arranged. In this way, the rotation of the rotating table 31, the radial sliding of the radial mobile platform 40 and the up-down sliding of the vertical mobile platform 50 can be guided by the guide rails, so that the rotation of the rotating table 31, the radial sliding of the radial mobile platform 40 and the up-down sliding of the vertical mobile platform 50 are more stable.

[0051] More specifically, as shown in the figure, Figures 1-3 the rotating table 31 is provided with a radial drive motor 312, the radial drive motor 312 is drivingly connected with a radial screw rod 313, and the radial screw rod 313 is threadedly matched with the radial mobile platform 40. In this way, the radial drive motor 312 can drive the radial screw rod 313 to rotate, and the rotation of the radial screw rod 313 can be converted into the axial movement of the radial mobile platform 40 along the radial screw rod 313 through the thread matching between the radial screw rod 313 and the radial mobile platform 40, so as to realize the driving of the radial movement of the radial mobile platform 40.

[0052] In some embodiments, as shown in the figure, Figure 4 the radial mobile platform 40 is provided with a first vertical motor 42, the first vertical motor 42 is drivingly connected with a first vertical screw rod, and the first vertical screw rod is threadedly matched with the vertical mobile platform 50. In this way, the first vertical motor 42 can drive the first vertical screw rod to rotate, and the rotation of the first vertical screw rod can be converted into the axial movement of the vertical mobile platform 50 along the first vertical screw rod through the thread matching between the first vertical screw rod and the vertical mobile platform 50, so as to realize the driving of the up-down movement of the vertical mobile platform 50.

[0053] In other embodiments, as shown in the figure, Figure 5 the first vertical guide rail 41 is slidably provided with a second vertical guide rail 43, and the vertical mobile platform 50 is slidably arranged on the second vertical guide rail 43. In this way, the stroke range of the vertical mobile platform 50 in the up-down direction can be increased, so as to facilitate the application of the large-scale curved plate mobile processing robot 1 based on the virtual center mechanism to the processing of large-scale curved plates with different heights.

[0054] Specifically, as shown in the figure, Figure 5As shown, the radial moving platform 40 is provided with a first vertical motor 42, the first vertical motor 42 is drivingly connected with a first vertical screw, the first vertical screw is in threaded cooperation with a second vertical guide rail 43, the second vertical guide rail 43 is provided with a second vertical motor 44, the second vertical motor 44 is drivingly connected with a second vertical screw, the second vertical screw is in threaded cooperation with the vertical moving platform 50. In this way, the first vertical motor 42 can drive the first vertical screw to rotate, and the rotation of the first vertical screw is converted into the axial movement of the second vertical guide rail 43 along the first vertical screw through the threaded cooperation between the first vertical screw and the second vertical guide rail 43, the second vertical motor 44 drives the second vertical screw to rotate, and the rotation of the second vertical screw is converted into the axial movement of the vertical moving platform 50 along the second vertical screw through the threaded cooperation between the second vertical screw and the vertical moving platform 50, thereby achieving the driving of the up-and-down two-stage movement of the second vertical guide rail 43 and the vertical moving platform 50.

[0055] Figures 6-8 A large-scale bending plate mobile processing robot 1 based on a virtual center mechanism according to some examples of the present application is shown. As Figures 6-8 shown, the parallel processing module 60 includes a rack 61, a processing device 62, and a plurality of branch chains 63, the rack 61 is arranged on the vertical moving platform 50, the plurality of branch chains 63 are arranged at intervals along the circumference of the rack 61, the branch chains 63 are three, five or six, each branch chain 63 includes a hollow motor 631 and a ball screw 632, the hollow motor 631 is drivingly connected with the ball screw 632, the hollow motor 631 is connected with the rack 61 through a first hinge 64, one end of the ball screw 632 is connected with the processing device 62 through a second hinge 65. Specifically, the hollow motor 631 is provided with a nut, the ball screw 632 is in threaded cooperation with the nut, the hollow motor 631 drives the ball screw 632 to rotate, and the rotation of the ball screw 632 is converted into axial movement through the threaded cooperation between the ball screw 632 and the nut. In this way, the plurality of branch chains 63 can drive the processing device 62 to move relative to the rack 61 in multiple degrees of freedom, thereby improving the processing flexibility of the parallel processing module 60.

[0056] In some embodiments, as Figure 6 shown, the branch chains 63 are three, the three first hinges 64 are all single-rotation pair hinges and the three second hinges 65 are all double-rotation pair hinges, or the three first hinges 64 are all double-rotation pair hinges and the three second hinges 65 are all single-rotation pair hinges. In this way, the three branch chains 63 can be used to drive the processing device 62 in three degrees of freedom.

[0057] In other embodiments, as Figure 7As shown, the branch chains 63 are five, the five first hinges 64 are all double-rotating pair hinges, four of the five second hinges 65 are double-rotating pair hinges and the rest one second hinge 65 is single-rotating pair hinge, the five first hinges 64 are distributed in the same plane or three of the five first hinges 64 are distributed in the same plane and the rest two first hinges 64 are distributed in another parallel plane, three of the five second hinges 65 are adjacent to the machining end of the machining device 62 in the axial direction of the machining device 62 and the rest two second hinges 65 are adjacent to the non-machining end of the machining device 62 in the axial direction of the machining device 62. In this way, the five branch chains 63 can drive the movement of the machining device 62 in five degrees of freedom, compared with the three-branch-chain 63 mode, the driving flexibility can be improved, and the setting position of the hinge can be adjusted conveniently.

[0058] In other embodiments, as shown in FIG. 6, Figure 8 As shown, the branch chains 63 are six, the six first hinges 64 and the six second hinges 65 are all double-rotating pair hinges, the six first hinges 64 are distributed in the same plane or three of the six first hinges 64 are distributed in the same plane and the rest three first hinges 64 are distributed in another parallel plane, three of the six second hinges 65 are adjacent to the machining end of the machining device 62 in the axial direction of the machining device 62 and the rest three second hinges 65 are adjacent to the non-machining end of the machining device 62 in the axial direction of the machining device 62. In this way, the six branch chains 63 can drive the movement of the machining device 62 in six degrees of freedom, compared with the five-branch-chain 63 mode, the driving flexibility can be further improved, and the setting position of the hinge can be adjusted conveniently.

[0059] In summary, the large curved plate mobile machining robot 1 based on the virtual center mechanism according to the embodiment of the present application can meet the requirements of large-span workspace range and the needs of curved plate outer side machining, and has the advantages of lightweight, local high-efficiency and high-precision machining of parallel robots, and greatly improves the machining flexibility and efficiency of large curved plate parts.

[0060] Other configurations and operations of the large curved plate mobile machining robot 1 based on the virtual center mechanism according to the embodiment of the present application are known to those skilled in the art, and will not be described in detail here.

[0061] In the description of the specification, reference to "one embodiment", "some embodiments", "an exemplary embodiment", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in an exemplary embodiment", "an example", "a specific example", or "some examples" in various places in the specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0062] Although embodiments of the application have been shown and described, it will be appreciated that those skilled in the art can make various changes, modifications, substitutions and alterations thereto without departing from the principles and scope of the application, which are defined by the claims and their equivalents.

Claims

1. A large-scale bending plate mobile processing robot based on a virtual center mechanism, characterized by, The utility model relates to a kind of processing device for bending plate, comprising: Bending plate fixing tool, the bending plate fixing tool is suitable for clamping to be processed bending plate; Omni-directional mobile platform; Rotary positioning device, the rotary positioning device includes turntable and two virtual center mechanisms, the turntable is rotatably arranged on the omni-directional mobile platform, the rotation axis of the turntable is oriented along vertical direction and is located outside the turntable in horizontal direction, two virtual center mechanisms are symmetrically arranged, each virtual center mechanism includes first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, push rod and push rod motor, one end of the first connecting rod is rotatably arranged on the omni-directional mobile platform and the other end is pivotally connected with one end of the third connecting rod, one end of the second connecting rod is rotatably arranged on the omni-directional mobile platform and the other end is pivotally connected with one end of the fourth connecting rod, the other end of the third connecting rod is pivotally connected with the turntable, the other end of the fourth connecting rod is pivotally connected with the turntable, the first connecting rod is parallel to the second connecting rod, the third connecting rod is parallel to the fourth connecting rod, the second connecting rod and the third connecting rod are pivotally connected, the connection of the second connecting rod and the third connecting rod is located between the two ends of the second connecting rod and between the two ends of the third connecting rod, the push rod motor is drivingly connected with the push rod, the push rod is pivotally connected with the second connecting rod and the connection is located between the two ends of the second connecting rod, the push rod motor is rotatably arranged on the omni-directional mobile platform, the connections of two third connecting rods and the turntable coincide, the connections of two fourth connecting rods and the turntable coincide, the connections of the third connecting rod and the fourth connecting rod on the turntable are spaced apart in the length direction of the turntable; Radial motion platform, the radial motion platform is slidably arranged on the turntable; Vertical motion platform, the vertical motion platform is slidably arranged on the radial motion platform in up and down directions; Parallel processing module, the parallel processing module is arranged on the vertical motion platform.

2. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 1, characterized by, Arc-shaped guide rail is arranged on the omni-directional mobile platform, the turntable is slidably arranged on the arc-shaped guide rail, radial guide rail is arranged on the turntable in length direction, the radial motion platform is slidably arranged on the radial guide rail, first vertical guide rail is arranged on the radial motion platform, the vertical motion platform is slidably arranged on the first vertical guide rail.

3. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 2, characterized by, Radial drive motor is arranged on the turntable, radial screw is drivingly connected with the radial drive motor, the radial screw is threadedly matched with the radial motion platform.

4. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 2, characterized by, First vertical motor is arranged on the radial motion platform, first vertical screw is drivingly connected with the first vertical motor, the first vertical screw is threadedly matched with the vertical motion platform.

5. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 2, characterized by, Second vertical guide rail is slidably arranged on the first vertical guide rail in up and down directions, the vertical motion platform is slidably arranged on the second vertical guide rail.

6. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 5, characterized by, The radial moving platform is provided with a first vertical motor, the first vertical motor is in transmission connection with a first vertical screw rod, the first vertical screw rod is in screw thread cooperation with the second vertical guide rail, the second vertical guide rail is provided with a second vertical motor, the second vertical motor is in transmission connection with a second vertical screw rod, and the second vertical screw rod is in screw thread cooperation with the vertical moving platform.

7. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 1, characterized by, The parallel processing module comprises a rack, a processing device and a plurality of branch chains, the rack is arranged on the vertical moving platform, a plurality of branch chains are arranged at intervals along the circumference of the rack, the branch chains are three, five or six, each branch chain comprises a hollow motor and a ball screw, the hollow motor is in transmission connection with the ball screw, the hollow motor is connected with the rack through a first hinge, and one end of the ball screw is connected with the processing device through a second hinge.

8. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 7, characterized by, The three first hinges are single-rotation pair hinges and the three second hinges are double-rotation pair hinges, or the three first hinges are double-rotation pair hinges and the three second hinges are single-rotation pair hinges.

9. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 7, characterized by, The five first hinges are double-rotation pair hinges, four of the five second hinges are double-rotation pair hinges and the remaining one is a single-rotation pair hinge, the five first hinges are distributed in the same plane or three of the five first hinges are distributed in the same plane and the remaining two are distributed in another parallel plane, and three of the five second hinges are adjacent to the processing end of the processing device in the axial direction of the processing device and the remaining two are adjacent to the non-processing end of the processing device in the axial direction of the processing device.

10. The large bending plate mobile processing robot based on a virtual center mechanism according to claim 7, wherein The six first hinges and the six second hinges are double-rotation pair hinges, the six first hinges are distributed in the same plane or three of the six first hinges are distributed in the same plane and the remaining three are distributed in another parallel plane, and three of the six second hinges are adjacent to the processing end of the processing device in the axial direction of the processing device and the remaining three are adjacent to the non-processing end of the processing device in the axial direction of the processing device.

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