Mobile parallel wall-climbing robot equipment for grinding large complex curved surface

Abstract

The invention relates to grinding equipment, and aims to provide movable parallel wall-climbing robot equipment for grinding a large complex curved surface, and the equipment has the characteristics of ingenious design and high practicability and is good in use effect. According to the technical scheme, the movable parallel wall-climbing robot equipment for grinding the large complex curved surface comprises a robot shell, a plurality of omni-directional wheel sets and an RRS parallel mechanism, wherein the omni-directional wheel sets and the RRS parallel mechanism are arranged on the robot shell. The robot is characterized in that the robot shell comprises a polygonal flat plate and a cladding plate which is connected with the peripheral edge of the polygonal flat plate and forms a cylindrical surface; a plurality of open grooves are formed in the outer circumferential direction of the cladding plate at equal intervals, the electromagnetic adsorption mechanisms are arranged in the open grooves one by one, the omnidirectional wheel sets are arranged in the open grooves one by one, and the omnidirectional wheel sets and the electromagnetic adsorption mechanisms are arranged at intervals one by one; and the RRS parallel mechanism is arranged on the inner side of the polygonal flat plate.

Description

Technical Field

[0001] The invention relates to a grinding device, in particular to a mobile parallel wall-climbing robot device used for grinding large complex curved surfaces. Background Art

[0002] Large and complex curved surface parts are widely used in the fields of shipbuilding, aerospace, military equipment, etc. These fields usually require high-precision and high-efficiency parts processing. The processing of large and complex curved surfaces usually involves the process of surface grinding. The existing equipment for grinding curved surface parts has low grinding accuracy for surfaces under special posture conditions and cannot take into account both grinding accuracy and grinding efficiency.

[0003] Compared with the traditional cantilever beam serial mechanism, the parallel mechanism has a spatial multi-closed loop structure, with advantages such as high precision, good rigidity, and strong posture adjustment ability, and has been widely used in mechanical processing, material handling and other fields. Based on the above advantages, researchers have studied and designed a variety of parallel processing robots, but general parallel robots have disadvantages such as small working range and narrow rotation angle, resulting in low grinding accuracy and difficulty in meeting the processing and grinding needs on large and complex curved surfaces.

[0004] CN110153843A discloses a titanium grinding robot based on a serial mechanism, but its stability is poor and its processing accuracy is low; CN115816425 discloses a motion mechanism of a redundantly driven planar two-degree-of-freedom parallel grinding robot, but its working environment is fixed and its mobility is poor. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a mobile parallel wall-climbing robot device for grinding large and complex curved surfaces. The device has the characteristics of ingenious design, strong practicality, and good use effect.

[0006] The technical solution provided by the present invention is:

[0007] A mobile parallel wall-climbing robot device for grinding large complex curved surfaces, comprising a robot housing, a plurality of omnidirectional wheel groups arranged on the robot housing, and an RRS parallel mechanism, characterized in that:

[0008] The robot shell comprises a polygonal flat plate and a covering plate connected to the outer peripheral edge of the polygonal flat plate and forming a cylindrical surface; a plurality of slots arranged at equal intervals are provided along the outer circumference direction of the covering plate, a plurality of electromagnetic adsorption mechanisms are arranged one by one in the slots, and the plurality of omnidirectional wheel groups are also arranged one by one in the slots and are arranged one by one with intervals from the plurality of electromagnetic adsorption mechanisms; the RRS parallel mechanism is arranged on the inner side of the polygonal flat plate;

[0009] The electromagnetic adsorption mechanism includes an electromagnet arranged on the slot through a first moving pair and an electromagnetic motor driving the electromagnet to move along the guide rail of the first moving pair;

[0010] The omnidirectional wheel assembly comprises an omnidirectional wheel movably arranged in the slot through a parallelogram bracket and a second motor driving the omnidirectional wheel assembly;

[0011] The RRS parallel mechanism includes an upper platform connected to the inner side of the polygonal flat plate, a lower platform provided with a grinding head, and three first branches arranged in parallel between the upper platform and the lower platform and driven by a driver.

[0012] The polygonal flat plate is a circular flat plate, and the cylindrical surface is a cylindrical surface.

[0013] The two side edges of the slot are parallel to the generatrix of the cylindrical surface and one end of the slot passes through the bottom end of the cladding plate; the two first movable sub-guide rails are fixed one by one along the two side edges of the slot, and the two sides of the electromagnet are slidably positioned on the first movable sub-guide rail through the first movable sub-slider, and the electromagnetic motor drives the electromagnet through the ball screw structure; thereby, the surface shape of the part can be adaptively adsorbed during movement and processing.

[0014] In the omnidirectional wheel assembly, a plurality of omnidirectional wheel rollers are connected and arranged on the outer circumferential edge of the omnidirectional wheel, and the wheel axle of the omnidirectional wheel is driven by the motor shaft of the second motor.

[0015] The parallelogram bracket is formed by hingedly connecting a fixed bracket and a movable bracket which are parallel to each other and of equal length, and two connecting rods which are parallel to each other and of equal length; the fixed bracket is fixed on the inner side of the circular plate, and the movable bracket can always keep parallel to the movable bracket when following the movement of the parallelogram bracket.

[0016] The wheel axle connected to the omnidirectional wheel hub is rotatably positioned on the movable frame, the second motor is also fixed on the movable frame, and the motor shaft of the second motor drives the wheel axle through a transmission gear set; the first motor is fixed on the fixed frame and the motor shaft is fixedly connected to an articulated shaft in the fixed frame, and the articulated shaft is fixed to one of the connecting rods.

[0017] The first motor and the second motor are both powered by batteries.

[0018] The RRS parallel mechanism includes an upper platform and a lower platform fixed on the inner side of a circular plate, and three first branches arranged in parallel between the upper platform and the lower platform; the first branch includes a first rotation pair, a first connecting rod, a second rotation pair, a second connecting rod and a first ball joint connected in sequence between the upper platform and the lower platform.

[0019] The three first ball joints of the three first branches are distributed in an equilateral triangle on the lower platform; the three first rotation pairs of the three first branches 39 are distributed in an equilateral triangle on the upper platform.

[0020] The three first rotating pairs are all drive pairs; the driver is a ball screw mechanism driven by a motor.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention has the advantages of high precision, good rigidity, fixed rotation axis, easy control, large working range, flexible spatial movement, etc. by setting up a mobile parallel mechanism. It can be used in the field of grinding large curved surface structural parts to improve processing efficiency and save processing time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0024] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the robot shell.

[0025] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure of the electromagnetic adsorption mechanism.

[0026] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the middle omnidirectional wheel assembly.

[0027] Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the RRS parallel mechanism.

[0028] Figure 6 for Figure 5 Schematic diagram of the three-dimensional structure of the first branch.

[0029] Reference numerals:

[0030] Robot housing 1, electromagnet 11, first battery 12, second battery 13, first movable auxiliary slider 14, first movable auxiliary guide rail 15, covering plate 16, electromagnetic adsorption mechanism 17, screw hole 18, center screw hole 19;

[0031] Omnidirectional wheel set 2, omnidirectional wheel 21, omnidirectional wheel roller 22, first motor 23, parallelogram bracket 24, second motor 25, fixing bracket 26;

[0032] RRS parallel mechanism 3, upper platform 31, second rotation pair 32, first connecting rod 33, third rotation pair 34, second connecting rod 35, first ball joint 36, lower platform 37, grinding head 38, first branch 39;

[0033] Polished parts 4. DETAILED DESCRIPTION

[0034] The present invention is described in detail below with reference to specific embodiments.

[0035] As shown in the figure, the mobile parallel wall-climbing robot device for grinding large complex curved surfaces includes a robot shell 1, a plurality of omnidirectional wheel groups 2 and an RRS parallel mechanism 3; the omnidirectional wheel groups are arranged around the robot shell 1; and the RRS parallel mechanism 3 is connected to the central part of the robot shell.

[0036] like Figure 2-3 As shown, the robot housing 1 includes a polygonal flat plate and a cylindrical cladding plate 16 connected to the outer peripheral edge of the polygonal flat plate (preferably a circular flat plate and a cylindrical cladding plate connected to the outer peripheral edge of the circular flat plate), which is in the shape of a pot with an opening facing downward, and six slots arranged at equal intervals are opened along the outer circumference of the cladding plate, and the two side edges of the slots are parallel to the generatrix of the outer cylindrical surface and one end of the slots passes through the bottom end of the cladding plate (i.e., the end facing away from the polygonal flat plate); three electromagnetic adsorption mechanisms 17 are arranged one by one in the slots of the cladding plate (three electromagnetic adsorption mechanisms are arranged at equal intervals on the edge of the robot housing 1), and three omnidirectional wheel groups are also arranged one by one in the slots of the cladding plate and are arranged one by one with intervals from the electromagnetic adsorption mechanisms (three omnidirectional wheel groups 2 are arranged at equal intervals on the outer peripheral edge of the robot housing 1). Each electromagnetic adsorption mechanism 17 includes an electromagnet 11, a first battery 12, a second battery 13 and a first moving pair; a first battery 12 for powering the electromagnet is fixed on each electromagnet.

[0037] The first movable sub-rail includes a first movable sub-rail 15 and a first movable sub-slider 14. The first movable sub-rail is fixed along the edge of the slot, and the first movable sub-slider 14 is slidably set on the first movable sub-rail 15. The left and right parts of the electromagnet 11 are respectively connected with a first movable sub-slider 14; the electromagnetic motor drives the first movable sub-slider through a ball screw structure (the electromagnetic motor and the ball screw structure are omitted in the figure), so that each electromagnet can move along the first movable sub-rail to be adsorbed on the surfaces of the polished parts with different heights; the second battery 13 is fixed on the inner side of the circular plate to power the electromagnetic motor.

[0038] like Figure 4As shown, each omnidirectional wheel group 2 (existing technology) includes an omnidirectional wheel 21, a plurality of omnidirectional wheel rollers 22 installed on the omnidirectional wheel, a first motor 23, a parallelogram bracket 24 and a second motor 25; a plurality of omnidirectional wheel rollers 22 are sequentially connected and arranged on the omnidirectional wheel 21 along the outer circumferential direction of each omnidirectional wheel 21, and the wheel axle of the omnidirectional wheel is driven by the motor shaft of the second motor 25; the power supply for the first motor and the second motor (the power supply is omitted in the figure) is a battery fixed on the inside of the robot shell or an external AC power supply.

[0039] Each parallelogram bracket 24 is formed by a fixed frame 26 and a movable frame that are parallel to each other and of equal length, and two connecting rods that are parallel to each other and of equal length are hinged; the fixed frame is fixed to the inner side of the circular plate by screws (the screw holes 18 cooperate with the screws), and the movable frame can always remain parallel to the movable frame when the parallelogram bracket moves.

[0040] The wheel axle connected to the hub of the omnidirectional wheel is rotatably positioned on the movable frame of the parallelogram bracket 24 through a bearing, and the second motor 25 is also fixedly arranged on the movable frame of the parallelogram bracket 24, and the motor shaft of the second motor drives the wheel axle through a transmission gear set. The first motor 23 is fixedly arranged on the fixed frame of the parallelogram bracket 24 and the motor shaft is fixedly connected to a hinge shaft in the fixed frame, and the hinge shaft is fixed to one of the connecting rods. Since the parallelogram bracket 24 is arranged on the slotted side of the cladding plate, the omnidirectional wheel can be positioned at the slotted portion and keep the wheel axle axis always parallel to the diameter direction of the circular plate, and can also move parallel to the axis of the circular plate when the first motor 23 is driven (there is also a concomitant movement parallel to the diameter direction of the circular plate), so that the omnidirectional wheel can contact or separate from the surface of the polished part during operation.

[0041] like Figure 5-6 As shown, the RRS parallel mechanism 3 includes an upper platform 31, a lower platform 37 and three first branches 39 arranged in parallel between the upper platform and the lower platform; the first branch 39 includes a first rotation pair 32, a first connecting rod 33, a second rotation pair 34, a second connecting rod 35, and a first ball joint 36 connected in sequence between the upper platform and the lower platform; the upper platform 31 is fixed to the center position of the inner side of the circular plate by screws (the center screw hole 19 cooperates with the screw), and the first rotation pair 32 is arranged on the lower surface of the upper platform 31 (the hinge ear is omitted in the figure), the first rotation pair 32 is connected to one end of the first connecting rod 33, the other end of the first connecting rod 33 is connected to one end of the second connecting rod 35 through the second rotation pair 34, and the other end of the second connecting rod 35 is connected to the upper surface of the lower platform 37 through the first ball joint 36, and the grinding head 38 (existing technology) is fixedly arranged at the lower part of the lower platform 37; the three first ball joints of the three first branches 39 are distributed in an equilateral triangle on the lower platform; the three first rotation pairs of the three first branches 39 are distributed in an equilateral triangle on the upper platform.

[0042] The three first rotation pairs 32 are all drive pairs, and the drive is a ball screw mechanism driven by a motor (existing technology, no further description is needed).

[0043] By adopting the RRS parallel mechanism, the grinding head can be adjusted accordingly according to the height change of the surface of the part being ground, thereby realizing grinding operations on large and complex curved surfaces.

[0044] The working principle of the present invention is: when not polished, the RRS parallel mechanism together with the polishing head retracts into the covering plate and is shielded and protected; and the three omnidirectional wheels 21 also retract into the covering plate with the movement of the parallelogram bracket. In the working state, the present invention is first placed on the surface of the polished part 4, and uses the magnetic force of the electromagnet after power-on to adsorb on the surface of the polished part; then the first motor 23 is turned on to move the parallelogram bracket, and the three omnidirectional wheels extend downward and contact the surface of the polished part; then the second motor is turned on to enable the present invention to move on the surface of the polished part according to the designed path; finally, the driver of the RRS parallel mechanism is started, so that the polishing head moves downward and extends to polish the surface of the part. After polishing, all moving parts can return to the starting state.

[0045] The parallel wall-climbing robot can realize the grinding of large and complex curved surfaces. The electromagnet part of the robot shell is attached / released by the electromagnet to fit / separate with the large metal curved surface, and combined with the RRS parallel mechanism, the robot can perform machining and grinding on large and complex curved surfaces. When the robot reaches the designated machining position, the grinding head installed on the lower platform can achieve high-precision machining on the large and complex curved surface.

Claims

1. A mobile parallel wall-climbing robot device for grinding large complex curved surfaces, comprising a robot housing (1), a plurality of omnidirectional wheel groups (2) arranged on the robot housing (1) and an RRS parallel mechanism (3), characterized in that: The robot shell comprises a polygonal flat plate and a covering plate (16) connected to the outer peripheral edge of the polygonal flat plate and forming a cylindrical surface; a plurality of slots are provided along the outer circumference direction of the covering plate, a plurality of electromagnetic adsorption mechanisms (17) are arranged one by one in the slots, and the plurality of omnidirectional wheel groups are also arranged one by one in the slots and spaced apart from the plurality of electromagnetic adsorption mechanisms; the RRS parallel mechanism is arranged on the inner side of the polygonal flat plate; The electromagnetic adsorption mechanism comprises an electromagnet (11) arranged on the slot via a first movable pair and an electromagnetic motor driving the electromagnet to move along a first movable pair guide rail (15); The omnidirectional wheel assembly comprises an omnidirectional wheel (21) movably arranged in the slot via a parallelogram bracket (24) and a second motor (25) driving the omnidirectional wheel assembly; The RRS parallel mechanism comprises an upper platform (31) connected to the inner side of the polygonal flat plate, a lower platform (37) provided with a grinding head, and three first branches (39) arranged in parallel between the upper platform and the lower platform and driven by a driver.

2. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 1 is characterized in that: The polygonal flat plate is a circular flat plate, and the cylindrical surface is a cylindrical surface.

3. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 2 is characterized in that: The two side edges of the slot are parallel to the generatrix of the cylindrical surface and one end of the slot passes through the bottom end of the cladding plate; the two first movable auxiliary guide rails are fixed one by one along the two side edges of the slot, and the two sides of the electromagnet are slidably positioned on the first movable auxiliary guide rails through the first movable auxiliary slider (14), and the electromagnetic motor drives the electromagnet through the ball screw structure; thereby, the part surface shape can be adaptively adsorbed during movement and processing.

4. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 3 is characterized in that: In the omnidirectional wheel assembly (2), a plurality of omnidirectional wheel rollers (22) are connected and arranged on the outer circumferential edge of the omnidirectional wheel (21), and the wheel axle of the omnidirectional wheel is driven by the motor shaft of the second motor (25).

5. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 4 is characterized in that: The parallelogram bracket (24) is formed by hingedly connecting a fixed bracket (26) and a movable bracket which are parallel to each other and of equal length, and two connecting rods which are parallel to each other and of equal length; the fixed bracket is fixed to the inner side of the circular flat plate, and the movable bracket can always remain parallel to the fixed bracket when following the movement of the parallelogram bracket.

6. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 5 is characterized in that: The wheel axle connected to the omnidirectional wheel hub is rotatably positioned on the movable frame, the second motor (25) is also fixedly arranged on the movable frame, and the motor shaft of the second motor drives the wheel axle through a transmission gear set; the first motor (23) is fixed on the fixed frame and the motor shaft is fixedly connected to an articulated shaft in the fixed frame, and the articulated shaft is fixed to one of the connecting rods.

7. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 6 is characterized in that: The first motor and the second motor are both powered by batteries.

8. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 7 is characterized in that: The RRS parallel mechanism comprises an upper platform (31) fixed on the inner side of a circular plate, a lower platform (37) and three first branches (39) arranged in parallel between the upper platform and the lower platform; the first branch comprises a first rotation pair (32), a first connecting rod (33), a second rotation pair (34), a second connecting rod (35) and a first ball joint (36) connected in sequence between the upper platform and the lower platform.

9. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 8, characterized in that: The three first ball joints of the three first branches are distributed in an equilateral triangle on the lower platform; the three first rotation pairs of the three first branches are distributed in an equilateral triangle on the upper platform.

10. The mobile parallel wall-climbing robot device for grinding large complex curved surfaces according to claim 9, characterized in that: The three first rotating pairs are all drive pairs; the driver is a ball screw mechanism driven by a motor.

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