Mobile parallel wall-climbing robot device for polishing large complex curved surface

Abstract

The present application relates to a kind of polishing equipment, the purpose is to provide a kind of mobile parallel wall-climbing robot equipment for large complex curved surface surface polishing, the equipment has the characteristics of ingenious design, strong practicality, and use effect is good.The technical scheme is a kind of mobile parallel wall-climbing robot equipment for large complex curved surface surface polishing, including robot shell, several omni-directional wheel groups and RRS parallel mechanism being set on the robot shell, characterized by: the robot shell includes polygonal flat plate and the covering plate connected to the outer circumferential edge of polygonal flat plate and forms the cylindrical surface;Several slot openings are opened along the outer circumferential direction of covering plate, several electromagnetic adsorption mechanisms are set in the slot opening one by one, the several omni-directional wheel groups are also set in the slot opening one by one and are arranged one by one with several electromagnetic adsorption mechanisms;The RRS parallel mechanism is set on the inside of 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, complex curved parts are widely used in fields such as shipbuilding, aerospace, and military equipment, which often require high-precision and high-efficiency part processing. Machining these large, complex curved surfaces often involves surface polishing. Existing equipment for polishing curved parts has low precision for surfaces in specialized positions and poses, failing to achieve a balanced balance between precision and efficiency.

[0003] Compared to traditional cantilever beam serial mechanisms, parallel mechanisms feature multiple closed-loop structures with high precision, excellent rigidity, and robust posture adjustment capabilities, making them widely used in machining, material handling, and other fields. Based on these advantages, researchers have developed and designed a variety of parallel machining robots. However, typical parallel robots suffer from shortcomings such as a small working range and narrow rotation angle, resulting in low grinding accuracy and difficulty meeting the demands of machining and grinding large, complex curved surfaces.

[0004] CN110153843A discloses a titanium polishing 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 polishing 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 polishing large complex curved surfaces, comprising a robot housing, a plurality of omnidirectional wheel assemblies arranged on the robot housing, and an RRS parallel mechanism, characterized in that:

[0008] The robot housing includes a polygonal flat plate and a cladding plate connected to the outer periphery of the polygonal flat plate to form a cylindrical surface; a plurality of slots are arranged at equal intervals along the outer circumference of the cladding plate, a plurality of electromagnetic adsorption mechanisms are disposed one by one in the slots, and the plurality of omnidirectional wheel assemblies are also disposed one by one in the slots and spaced apart from the plurality of electromagnetic adsorption mechanisms; the RRS parallel mechanism is disposed on the inner side of the polygonal flat plate;

[0009] The electromagnetic adsorption mechanism includes an electromagnet provided on the slot via 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 includes an omnidirectional wheel movably arranged in the slot via 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 rails through the first movable sub-slider, 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.

[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 remain 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 a hinge shaft in the fixed frame, and the hinge 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 drive 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 provides a movable parallel mechanism, which has the advantages of high precision, good rigidity, fixed rotation axis, easy control, large working range, and flexible spatial movement. It can be used in the field of grinding large curved surface structural parts, improves processing efficiency, and saves processing time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 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 medium 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 assembly 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 revolute pair 32, first connecting rod 33, third revolute 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, a mobile parallel wall-climbing robot device for polishing 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 center 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). It is in the shape of a pot with an opening facing downward, and six slots are arranged at equal intervals along the outer circumference of the cladding plate. The two side edges of the slots are parallel to the generatrix of the outer cylindrical surface, and one end of the slot 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 (the 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 spaced apart from the electromagnetic adsorption mechanisms (the 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; each electromagnet is fixed with a first battery 12 for powering the 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 to a first movable sub-slider 14; the electromagnetic motor drives the first movable sub-slider through a ball screw structure (the electromagnetic motor and 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 flat 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 connected and arranged on the omnidirectional wheel 21 in sequence 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 that is parallel to each other and of equal length, a movable frame, and two parallel and equal-length connecting rods that are hinged together; the fixed frame is fixed to the inner side of the circular plate by screws (the screw holes 18 are matched with the screws), and the movable frame can always remain parallel to the movable frame when the parallelogram bracket moves.

[0040] The axle connected to the omnidirectional wheel hub is rotatably positioned on the movable frame of the parallelogram bracket 24 via a bearing. The second motor 25 is also fixedly mounted on the movable frame of the parallelogram bracket 24, and the motor shaft of the second motor drives the axle via a transmission gear set. The first motor 23 is fixedly mounted on the fixed frame of the parallelogram bracket 24, and the motor shaft is fixedly connected to a hinge shaft in the fixed frame, which is fixed to one of the connecting rods. Because the parallelogram bracket 24 is positioned on the slotted side of the cladding plate, the omnidirectional wheel can be positioned in the slotted area and the wheel axle axis is always parallel to the diameter of the circular plate. When driven by the first motor 23, it can also move parallel to the axis of the circular plate (with accompanying movement parallel to the diameter of the circular plate), allowing the omnidirectional wheel to contact or disengage from the surface of the part being polished 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 rotating pair 32, a first connecting rod 33, a second rotating 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 rotating pair 32 is arranged on the lower surface of the upper platform 31 (the hinge ear is omitted in the figure), the first rotating 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 rotating 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 rotating 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] Using the RRS parallel mechanism, the grinding head can be adjusted accordingly according to the height changes 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 as follows: when not polishing, the RRS parallel mechanism and the polishing head retract into the cladding plate and are shielded and protected; and the three omnidirectional wheels 21 also retract into the cladding plate as the parallelogram bracket moves. 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 is applied 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 along the designed path on the surface of the polished part; finally, the driver of the RRS parallel mechanism is activated, causing the polishing head to move downward and extend to polish the surface of the part. After polishing is completed, all moving parts can return to their starting state.

[0045] This parallel wall-climbing robot is capable of polishing large, complex curved surfaces. Electromagnetic attraction and release mechanisms on the robot's housing allow it to adhere to and separate from large metal surfaces. Combined with the RRS parallel mechanism, the robot can perform machining and polishing on these surfaces. Once the robot reaches the designated machining location, the polishing head mounted on the lower platform achieves high-precision machining on these surfaces.

Claims

1. A mobile parallel wall-climbing robot device for polishing large complex curved surfaces, comprising a robot housing (1), a plurality of omnidirectional wheel sets (2) and an RRS parallel mechanism (3) arranged on the robot housing (1), characterized in that: The robot housing 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 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 sets 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 a slot via a parallelogram bracket (24) and a second motor (25) for 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, 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, 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 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 rails through the first movable sub-sliders (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, 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 on the inner side of the circular 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, 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 a hinge shaft in the fixed frame, and the hinge 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, 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, characterized in that: The RRS parallel mechanism includes 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 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.

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 drive is a ball screw mechanism driven by a motor.

Images