Reconfigurable mobile series-parallel in-place machining robot with double working modes and working method thereof

Abstract

The invention relates to a reconfigurable mobile series-parallel in-place machining robot with double working modes and a working method of the reconfigurable mobile series-parallel in-place machining robot. The robot is designed to be a combination of an outer parallel module and an inner parallel module. The outer parallel module comprises an outer rack, a first branch chain, a second branch chain, a third branch chain, an outer movable platform, an outer rack negative pressure adsorption mechanism and an outer movable platform negative pressure adsorption mechanism; the inner parallel module comprises an inner rack, an inner first closed-loop motion branch chain and an inner second closed-loop motion branch chain. By means of the modular design, the robot can change the motion capacity and function by reconfiguring or combining different modules, execute a three-degree-of-freedom motion mode of three-translation or a five-degree-of-freedom motion mode of two-rotation and three-translation, and flexibly switch between a moving motion mode and a machining motion mode according to task requirements. The robot can adapt to different working environments, task requirements and component shapes, high-precision in-place machining can be conducted on the surfaces of large complex components, and meanwhile the stable operation state is kept.

Description

Technical Field

[0001] The invention relates to the technical field of large complex components, in particular to a dual-working-mode reconfigurable mobile hybrid on-site processing robot and a working method thereof. Background Art

[0002] The design and manufacturing of large and complex components are key technologies and are priority topics in the key development areas of the manufacturing industry. For example, large and complex components such as marine propellers, large aviation thin-walled parts, and large cabins of space stations usually have common characteristics such as large size, complex shape, high position accuracy and surface quality requirements. The traditional processing modes for such large and complex components are mainly divided into offline split cutting processing by small multi-axis CNC machine tools, "inclusive" processing mode represented by gantry multi-axis CNC machine tool processing, and serial mobile processing robots. However, the former has problems such as large motion inertia, poor adaptability, and large space occupation, while the latter has problems such as low stiffness and low efficiency. Both are difficult to meet the needs of efficient and high-quality in-situ processing of integral large and complex components. Therefore, it is necessary to design an in-situ processing robot that combines the advantages of compact structure, high flexibility, strong adaptability, and high specific stiffness to solve the problem of efficient and high-quality in-situ processing of large and complex components. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a dual-working mode reconfigurable mobile hybrid in-situ processing robot and a working method thereof. Through the coordinated work of the external parallel module and the internal parallel module, the robot can perform high-precision in-situ processing on the surface of large and complex components while maintaining a stable operating state, providing new technical support for the development of the manufacturing industry.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a dual-working mode reconfigurable mobile hybrid in-situ processing robot, including an external parallel module and an internal parallel module; the external parallel module includes an external frame, a first branch chain, a second branch chain, a third branch chain, an external moving platform, an external frame negative pressure adsorption mechanism, and an external moving platform negative pressure adsorption mechanism; the internal parallel module includes an internal frame, an internal first closed-loop motion branch chain, and an internal second closed-loop motion branch chain; the first branch chain, the second branch chain, and the third branch chain in the external parallel module are symmetrically arranged in the center of space, the upper ends of the first branch chain, the second branch chain, and the third branch chain are connected to the external frame, and the lower ends of the first branch chain, the second branch chain, and the third branch chain are connected to the external moving platform, the external frame negative pressure adsorption mechanism is distributed at the end of the moving secondary guide rail of the external frame, and the external moving platform negative pressure adsorption mechanism is distributed at the bottom of the external moving platform; the internal first closed-loop branch chain in the internal parallel module is composed of the fourth branch chain, the fifth branch chain, and the fifth branch chain. The fourth branch chain and the fifth branch chain are symmetrically arranged on both sides above the first inner moving platform, the upper ends of the fourth branch chain and the fifth branch chain are connected to the inner frame, and the lower ends of the fourth branch chain and the fifth branch chain are connected to the first inner moving platform; the second inner closed-loop branch chain is composed of the sixth branch chain, the seventh branch chain and the second inner moving platform, the sixth branch chain and the seventh branch chain are symmetrically arranged on both sides above the second inner moving platform, the upper ends of the sixth branch chain and the seventh branch chain are connected to the inner frame, and the lower ends of the sixth branch chain and the seventh branch chain are connected to the second inner moving platform; the first inner moving platform and the second inner moving platform are connected together through a platform rotation pair, and both the first inner moving platform and the second inner moving platform are provided with an end actuator interface; the external parallel module and the internal parallel module are connected together through the first branch chain, the second branch chain and the third branch chain, and when the mode is switched, the external moving platform of the external parallel module serves as the inner frame of the internal parallel module.

[0005] In a preferred embodiment: the first branch chain, the second branch chain and the third branch chain have the same structure and are evenly distributed in an axially symmetrical circle. The first branch chain, the second branch chain and the third branch chain are successively provided with a rotating pair, a moving pair and a parallelogram branch from the outer frame to the outer moving platform. The parallelogram branch is composed of two driven arms. The upper end of the driven arm is connected to the moving pair, and the lower end of the driven arm is connected to the outer moving platform. The moving pair moves between the moving pair guide rails of the outer frame. The moving pair and the two driven arms are connected by a ball pair. At the same time, the outer moving platform and the driven arm are connected by a ball pair to form a parallelogram branch.

[0006] In a preferred embodiment: the rotating pairs and moving pairs of the first branch chain, the second branch chain and the third branch chain are all used as active motion pairs, the rotating pairs are driven by servo motors, and the moving pairs are driven by servo motors and screw rod subassembly modules.

[0007] In a preferred embodiment: the structures of the fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are exactly the same, the fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are evenly distributed around the same axis, the fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are successively provided with moving pairs, rotating pairs and Hooke's joints from the inner frame to the inner moving platform, the moving pairs move between the guide rails of the inner frame, and the Hooke's joints are connected and fixed to the corresponding inner moving platforms.

[0008] In a preferred embodiment: the moving pairs of the fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are all used as active moving pairs and are driven by a servo motor and a screw rod subassembly module; the external parallel module and the internal parallel module are connected together through the parallelogram branches of the first branch chain, the second branch chain and the third branch chain, one side of the parallelogram branch is connected to the moving pair on the outer frame of the external parallel module, and the other side of the parallelogram branch is connected to the inner frame of the internal parallel module.

[0009] In a preferred embodiment: the axis of the moving pair of each branch chain is perpendicular to the axis of the rotating pair, the axis of the rotating pair of the inner parallel module is parallel to the first axis of the Hooke's joint and perpendicular to the second axis of the Hooke's joint; an external frame negative pressure adsorption mechanism is provided at the end of the guide rail of the moving pair of the outer frame, and an external moving platform negative pressure adsorption mechanism is provided at the bottom of the external moving platform. When the robot moves and processes, it can adaptively adsorb the surface shape of large and complex components to perform stable processing operations. At the same time, through the staggered adsorption method, that is, staggered release of the external frame negative pressure adsorption mechanism and the external moving platform negative pressure adsorption mechanism, the robot can complete a large range of spatial positioning and movement on the surface of large and complex components.

[0010] The present invention also provides a working method of a dual-working-mode reconfigurable mobile hybrid on-site processing robot, which uses the dual-working-mode reconfigurable mobile hybrid on-site processing robot to achieve the switching of robot degrees of freedom and modes through topological reconstruction, execute two motion modes, namely, moving and processing, and realize on-site processing at the same time.

[0011] In a preferred embodiment, the external parallel module has the spatial motion capability of three translations, and the internal parallel module has the spatial motion capability of two rotations and one translation. By switching the fixed module with the working plane, it is reconstructed into a three-degree-of-freedom motion mode of three translations or a five-degree-of-freedom motion mode of two rotations and three translations to execute the moving or processing motion mode.

[0012] In a preferred embodiment, when switching from the processing mode to the moving mode, the active moving pair in the inner parallel module moves upward, driving the inner first closed-loop motion branch chain and the inner second closed-loop motion branch chain to move upward, so that they are higher than the bottom horizontal plane of the inner frame, and the robot is configured as a three-translational three-degree-of-freedom motion mode and then starts to execute the moving gait; the moving gait is divided into four stages; in the first stage, the movement of the moving pairs of the first branch chain, the second branch chain and the third branch chain in the outer parallel module is controlled to move the outer moving platform downward from the initial position to the surface of the component, and at the same time, the negative pressure adsorption mechanism of the outer moving platform is activated to adsorb and fix the outer moving platform to the surface of the component, at which time the negative pressure adsorption mechanism of the outer frame is released; in the second stage, the movement of the moving pairs of the first branch chain, the second branch chain and the third branch chain in the outer parallel module is controlled to lift the outer frame and leave the surface of the component, and at the same time, the outer parallel module is controlled to move. The first branch chain, the second branch chain and the third branch chain in the block drive the parallelogram branch to move, and drive the external frame to the specified position; in the third stage, the movement of the first branch chain, the second branch chain and the third branch chain in the external parallel module is controlled to make the external frame descend and contact with the surface of the component, and at the same time, the negative pressure adsorption mechanism of the external frame is activated to adsorb and fix the external frame to the surface of the component, and at this time, the negative pressure adsorption mechanism of the external moving platform is released; in the fourth stage, the movement of the first branch chain, the second branch chain and the third branch chain in the external parallel module is controlled to make the external moving platform rise and leave the surface of the component, and at the same time, the movement of the first branch chain, the second branch chain and the third branch chain in the external parallel module is controlled to drive the parallelogram branch to move, and drive the external moving platform to the specified position to complete a moving gait; repeating the above steps can make the robot move within the specified path range.

[0013] In a preferred embodiment, when switching from the mobile mode to the processing mode, the negative pressure adsorption mechanism of the outer frame adsorbs and fixes the outer frame to the surface of the component, and the active moving pair in the inner parallel module moves downward, driving the inner first closed-loop motion branch chain and the inner second closed-loop motion branch chain to move downward so that they are bottomed on the horizontal plane of the bottom of the inner frame, and the robot is configured as a five-degree-of-freedom motion mode of two rotations and three translations, and the processing task is performed by the end effector of the inner moving platform; the robot can perform high-precision in-situ processing on the surface of large and complex components.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention combines the capabilities of large-scale spatial mobile positioning with small-scale high-precision processing, showing the advantages of strong autonomous mobile capability, compact structure, high precision and rigidity, and is suitable for efficient and high-precision processing of large and complex components of different sizes; (2) It has reconfigurable capabilities, and realizes the switching of robot degrees of freedom and modes through topological reconstruction, and executes a three-degree-of-freedom mobile mode with three translations and a five-degree-of-freedom processing mode with two rotations and three translations. Through the collaborative work of the dual working modes of movement and processing, the robot can perform high-precision in-situ processing on the surface of large and complex components. It has broad application prospects in the field of processing large and complex components. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The structure of the embodiment of the present invention is shown in FIG. Figure 1 .

[0016] Figure 2 The structure of the embodiment of the present invention is shown in FIG. Figure 2 .

[0017] Figure 3 The structure of the embodiment of the present invention is shown in FIG. Figure 3 .

[0018] Figure 4 The structure of the embodiment of the present invention is shown in FIG. Figure 4 .

[0019] Figure 5 Schematic diagram of the structure of the parallelogram branch according to an embodiment of the present invention.

[0020] Figure 6 Schematic diagram of the structure of a closed-loop branch chain according to an embodiment of the present invention.

[0021] Figure 7 Schematic diagram of actual operation of an embodiment of the present invention.

[0022] Figure 8 It is a schematic structural diagram of the connection between the moving platform and the eighth rotating pair according to an embodiment of the present invention.

[0023] In the figure: P-transmission pair, R-rotation pair, S-ball pair, A1-external moving platform negative pressure adsorption mechanism, B1-external frame, L1-first branch chain, L2-second branch chain, L3-third branch chain, M1-external moving platform, P motor-P auxiliary motor, R motor-R auxiliary motor; U-Hook hinge, B2-inner frame, A2-inner moving platform negative pressure adsorption mechanism, CL1-inner first closed-loop motion branch chain, CL2 inner second closed-loop motion branch chain, L4-fourth branch chain, L5-fifth branch chain, L6-sixth branch chain, L7-seventh branch chain, M2-inner first moving platform, M3-inner second moving platform, R8-platform rotation pair; SR1-third The rotation secondary axis of one branch chain, SP1-the moving secondary axis of the first branch chain, SR2-the rotation secondary axis of the second branch chain, SP2-the moving secondary axis of the second branch chain, SR3-the rotation secondary axis of the third branch chain, SP3-the moving secondary axis of the third branch chain; follower arm 1-parallelogram branch follower arm 1, follower arm 2-parallelogram branch follower arm 2, SS1,1-the first ball pair first axis of follower arm 1, SS1,2-the first ball pair second axis of follower arm 1, SS1,3-the first ball pair third axis of follower arm 1, SS1,4-the second ball pair first axis of follower arm 1, SS1,5-follower arm 1 - the second ball pair second axis of the follower arm 1, SS1,6 - the second ball pair third axis of the follower arm 1, SS2,1 - the first ball pair first axis of the follower arm 2, SS2,2 - the first ball pair second axis of the follower arm 2, SS2,3 - the first ball pair third axis of the follower arm 2, SS2,4 - the second ball pair first axis of the follower arm 2, SS2,5 - the second ball pair second axis of the follower arm 2, SS2,6 - the second ball pair third axis of the follower arm 2; SR4 - the rotation pair axis of the fourth branch chain, SP4 - the movement pair axis of the fourth branch chain, SU41 - the first axis of the Hooke's joint of the fourth branch chain, SU42 -The second axis of the Hooke's hinge of the fourth branch chain, SR5-the secondary axis of rotation of the fifth branch chain, SP5-the secondary axis of movement of the fifth branch chain, SU51-the first axis of the Hooke's hinge of the fifth branch chain, SU52-the second axis of the Hooke's hinge of the fifth branch chain, SR6-the secondary axis of rotation of the sixth branch chain, SP6-the secondary axis of movement of the third branch chain, SU61-the first axis of the Hooke's hinge of the sixth branch chain, SU62-the second axis of the Hooke's hinge of the sixth branch chain, SR7-the secondary axis of rotation of the seventh branch chain, SP7-the secondary axis of movement of the seventh branch chain, SU71-the first axis of the Hooke's hinge of the seventh branch chain, SU72-the second axis of the Hooke's hinge of the seventh branch chain, SR8-the secondary axis of rotation of the platform; 1-Reconfigurable mobile hybrid in-situ processing robot with dual working modes, 2-Component surface. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0026] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0027] like Figure 1-8 As shown, a reconfigurable mobile hybrid in-situ processing robot with dual working modes, the external parallel module includes an external frame B1, a first branch chain L1, a second branch chain L2, a third branch chain L3, an external moving platform M1, an external frame negative pressure adsorption mechanism A1, and an external moving platform negative pressure adsorption mechanism A2; the internal parallel module includes an internal frame B2, an internal first closed-loop motion branch chain CL1, and an internal second closed-loop motion branch chain CL2; the first branch chain, the second branch chain, and the third branch chain in the external parallel module are symmetrically arranged in the center of space, the upper ends of the first branch chain, the second branch chain, and the third branch chain are connected to the external frame, and the lower ends of the first branch chain, the second branch chain, and the third branch chain are connected to the external moving platform, the external frame negative pressure adsorption mechanism is distributed at the end of the moving secondary guide rail of the external frame, and the external moving platform negative pressure adsorption mechanism is distributed at the bottom of the external moving platform; the internal first closed-loop branch chain in the internal parallel module is composed of a fourth branch chain L4, a fifth branch chain L5, and an internal first moving platform M2, and the fourth branch chain and the fifth branch chain are symmetrically arranged on the internal first On both sides above the moving platform, the upper ends of the fourth branch chain and the fifth branch chain are connected to the inner frame, and the lower ends of the fourth branch chain and the fifth branch chain are connected to the inner first moving platform; the inner second closed-loop branch chain is composed of the sixth branch chain L6, the seventh branch chain L7 and the inner second moving platform M3, the sixth branch chain and the seventh branch chain are symmetrically arranged on both sides above the inner second moving platform, the upper ends of the sixth branch chain and the seventh branch chain are connected to the inner frame, and the lower ends of the sixth branch chain and the seventh branch chain are connected to the inner second moving platform; the inner first moving platform and the inner second moving platform are connected together through the platform rotation pair R8, and the inner first moving platform and the inner second moving platform are both provided with end effector interfaces, and the inner first moving platform and the inner second moving platform can be configured with different end effector interfaces for rapid switching of modules such as milling spindles, grinding spindles, and drilling spindles; the external parallel module and the inner parallel module are connected together through the first branch chain, the second branch chain, and the third branch chain. When the mode is switched, the external moving platform of the external parallel module serves as the inner frame of the inner parallel module.

[0028] The first branch chain, the second branch chain and the third branch chain in the external parallel module have the same structure and are evenly distributed in an axisymmetric circle. The first branch chain, the second branch chain and the third branch chain are successively distributed with a rotating pair R, a moving pair P and a parallelogram branch 4S from the external frame to the external moving platform. The parallelogram branch is composed of two driven arms 1 and 2. The upper end of the driven arm is connected to the moving pair P, and the lower end of the driven arm is connected to the external moving platform M1. The moving pair moves between the moving pair guide rails of the external frame. The moving pair and the two driven arms are connected by two ball pairs S. At the same time, the external moving platform and the driven arm are connected by two ball pairs S to form a parallelogram branch. Among them, the rotating pair and the moving pair of the first branch chain, the second branch chain and the third branch chain are all used as active kinematic pairs. The rotating pair is driven by a servo motor, and the moving pair is driven by a servo motor and a screw pair module. The structures of the fourth branch, the fifth branch, the sixth branch and the seventh branch of the inner parallel module are exactly the same. The fourth branch, the fifth branch, the sixth branch and the seventh branch are successively provided with a moving pair P, a rotating pair R and a Hooke's hinge U from the inner frame to the inner moving platform. The moving pair moves between the guide rails of the inner frame, and the Hooke's hinge is connected and fixed with the corresponding inner moving platform. Among them, the moving pairs of the fourth branch, the fifth branch, the sixth branch and the seventh branch are all used as active moving pairs, which are driven by a servo motor and a screw rod pair module. The outer parallel module and the inner parallel module are connected together through the parallelogram branches of the first branch, the second branch and the third branch. One side of the parallelogram branch is connected to the moving pair on the outer frame of the outer parallel module, and the other side of the parallelogram branch is connected to the inner frame of the inner parallel module.

[0029] In this embodiment, the axis of the moving pair and the axis of the rotating pair of each branch chain are perpendicular to each other, the axis of the rotating pair of the inner parallel module is parallel to the first axis of the Hooke's joint and perpendicular to the second axis of the Hooke's joint; the axis SR4 of the rotating pair of the fourth branch chain of the inner parallel module is parallel to the axis SR5 of the rotating pair of the fifth branch chain, and the axis SR6 of the rotating pair of the sixth branch chain is parallel to the axis SR7 of the rotating pair of the seventh branch chain; the second axis SU42 of the Hooke's joint of the fourth branch chain is collinear with the second axis SU52 of the Hooke's joint of the fifth branch chain; the second axis SU62 of the Hooke's joint of the sixth branch chain is collinear with the second axis SU72 of the Hooke's joint of the seventh branch chain; the axis SR8 of the platform rotating pair is perpendicular to and intersects with the second axis SU62 of the Hooke's joint of the sixth branch chain and the second axis SU42 of the Hooke's joint of the fourth branch chain, and the second axis SU42 of the Hooke's joint of the fourth branch chain intersects with the second axis SU62 of the Hooke's joint of the sixth branch chain. The first inner moving platform and the second inner moving platform have two rotational and one translational motion capabilities, wherein the axis of one rotational freedom degree coincides with the second axis of the Hooke's joint of the fourth branch chain, and the axis of the other rotational freedom degree coincides with the second axis of the Hooke's joint of the sixth branch chain.

[0030] An external frame negative pressure adsorption mechanism A1 is provided at the end of the external frame moving auxiliary guide rail, and an external moving platform negative pressure adsorption mechanism A2 is provided at the bottom of the external moving platform. When the robot moves and processes, it can adaptively adsorb the surface shape of large and complex components and perform stable processing operations. At the same time, through the staggered adsorption method, that is, staggered release of the external frame negative pressure adsorption mechanism and the external moving platform negative pressure adsorption mechanism, the robot can complete a large range of spatial positioning and movement on the surface of large and complex components.

[0031] In this embodiment, the working method of the reconfigurable mobile hybrid on-site processing robot with dual working modes realizes the switching of the robot's degrees of freedom and modes through topological reconstruction, executes two motion modes of movement and processing, and realizes on-site processing at the same time.

[0032] In this embodiment, a working method of a reconfigurable mobile hybrid in-situ processing robot with dual working modes is described, in which the external parallel module has the spatial motion capability of three translations, and the internal parallel module has the spatial motion capability of two rotations and one translation. By switching the fixed module with the working plane, it is reconstructed into a three-degree-of-freedom motion mode of three translations or a five-degree-of-freedom motion mode of two rotations and three translations to execute the moving or processing motion mode.

[0033] In this embodiment, the working method of the reconfigurable mobile hybrid in-situ processing robot with dual working modes is as follows: when switching from the processing mode to the mobile mode, the active moving pair in the inner parallel module moves upward, driving the inner first closed-loop motion branch chain and the inner second closed-loop motion branch chain to move upward, so that they are higher than the bottom horizontal plane of the inner frame, and the robot is configured as a three-translational three-degree-of-freedom motion mode and then starts to execute the mobile gait; the mobile gait is divided into four stages; in the first stage, the movement of the moving pairs of the first branch chain, the second branch chain and the third branch chain in the outer parallel module is controlled to move the outer moving platform downward from the initial position to the surface of the component, and at the same time, the negative pressure adsorption mechanism of the outer moving platform is activated to adsorb and fix the outer moving platform to the surface of the component, and at this time, the negative pressure adsorption mechanism of the outer frame is released from adsorption; in the second stage, the movement of the moving pairs of the first branch chain, the second branch chain and the third branch chain in the outer parallel module is controlled to lift the outer frame and leave The component surface is controlled, and the revolving pairs of the first branch chain, the second branch chain and the third branch chain in the external parallel module are controlled to drive the parallelogram branch to move, and the external frame is driven to move to the specified position; in the third stage, the moving pairs of the first branch chain, the second branch chain and the third branch chain in the external parallel module are controlled to move, so that the external frame descends and contacts with the component surface, and the negative pressure adsorption mechanism of the external frame is activated to adsorb and fix the external frame to the component surface, and the negative pressure adsorption mechanism of the external moving platform is released at this time; in the fourth stage, the moving pairs of the first branch chain, the second branch chain and the third branch chain in the external parallel module are controlled to move, so that the external moving platform is lifted and leaves the component surface, and the revolving pairs of the first branch chain, the second branch chain and the third branch chain in the external parallel module are controlled to drive the parallelogram branch to move, and the external moving platform is driven to move to the specified position to complete a moving gait; repeating the above steps can make the robot move within the specified path range.

[0034] In this embodiment, the working method of the dual-working-mode reconfigurable mobile hybrid in-situ processing robot is that when the mobile mode is switched to the processing mode, the negative pressure adsorption mechanism of the outer frame adsorbs and fixes the outer frame to the surface of the component, and the active moving pair in the inner parallel module moves downward, driving the inner first closed-loop motion branch chain and the inner second closed-loop motion branch chain to move downward, so that they are at the bottom of the inner frame. The robot is configured in a five-degree-of-freedom motion mode of two rotations and three translations, and the processing task is performed by the end effector of the inner moving platform. The robot can perform high-precision in-situ processing on the surface of large and complex components.

Claims

1. A dual-working mode reconfigurable mobile hybrid in-situ processing robot, characterized by: It includes an external parallel module and an internal parallel module; the external parallel module includes an external frame, a first branch chain, a second branch chain, a third branch chain, an external moving platform, an external frame negative pressure adsorption mechanism, and an external moving platform negative pressure adsorption mechanism; the internal parallel module includes an internal frame, an internal first closed-loop motion branch chain, and an internal second closed-loop motion branch chain; the first branch chain, the second branch chain, and the third branch chain in the external parallel module are symmetrically arranged in the center of space, the upper ends of the first branch chain, the second branch chain, and the third branch chain are connected to the external frame, and the lower ends of the first branch chain, the second branch chain, and the third branch chain are connected to the external moving platform, the external frame negative pressure adsorption mechanism is distributed at the end of the moving secondary guide rail of the external frame, and the external moving platform negative pressure adsorption mechanism is distributed at the bottom of the external moving platform; the internal first closed-loop branch chain in the internal parallel module is composed of a fourth branch chain, a fifth branch chain, and an internal first moving platform, and the fourth branch chain, the fifth branch chain, and the third branch chain are connected to the external frame. The fourth and fifth branches are symmetrically arranged on both sides above the inner first moving platform, the upper ends of the fourth branch chain and the fifth branch chain are connected to the inner frame, and the lower ends of the fourth and fifth branches are connected to the inner first moving platform; the inner second closed-loop branch chain is composed of the sixth branch chain, the seventh branch chain and the inner second moving platform, the sixth branch chain and the seventh branch chain are symmetrically arranged on both sides above the inner second moving platform, the upper ends of the sixth and seventh branches are connected to the inner frame, and the lower ends of the sixth and seventh branches are connected to the inner second moving platform; the inner first moving platform and the inner second moving platform are connected together through a platform rotation pair, and both the inner first moving platform and the inner second moving platform are provided with an end effector interface; the external parallel module and the inner parallel module are connected together through the first branch chain, the second branch chain and the third branch chain, and when the mode is switched, the external moving platform of the external parallel module serves as the inner frame of the inner parallel module.

2. According to the dual-working mode reconfigurable mobile hybrid in-situ processing robot of claim 1, it is characterized by: The first branch chain, the second branch chain and the third branch chain have the same structure and are evenly distributed in an axisymmetric circle. The first branch chain, the second branch chain and the third branch chain are successively provided with a rotating pair, a moving pair and a parallelogram branch from the outer frame to the outer moving platform. The parallelogram branch is composed of two driven arms. The upper end of the driven arm is connected to the moving pair, and the lower end of the driven arm is connected to the outer moving platform. The moving pair moves between the moving pair guide rails of the outer frame. The moving pair and the two driven arms are connected by a ball pair. At the same time, the outer moving platform and the driven arm are connected by a ball pair to form a parallelogram branch.

3. A dual-working-mode reconfigurable mobile hybrid in-situ processing robot according to claim 2, characterized in that: The rotating pairs and moving pairs of the first branch chain, the second branch chain and the third branch chain are all used as active motion pairs, the rotating pairs are driven by a servo motor, and the moving pairs are driven by a servo motor and a screw rod pair module.

4. The dual-working-mode reconfigurable mobile hybrid in-situ processing robot according to claim 2, characterized in that: The structures of the fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are exactly the same. The fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are evenly distributed around the same axis. The fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are successively provided with moving pairs, rotating pairs and Hooke's joints from the inner frame to the inner moving platform. The moving pairs move between the guide rails of the inner frame, and the Hooke's joints are connected and fixed to the corresponding inner moving platform.

5. The dual-working-mode reconfigurable mobile hybrid in-situ processing robot according to claim 4, characterized in that: The moving pairs of the fourth branch chain, the fifth branch chain, the sixth branch chain and the seventh branch chain are all used as active moving pairs and are driven by a servo motor and a screw rod sub-group module; the external parallel module and the internal parallel module are connected together through the parallelogram branches of the first branch chain, the second branch chain and the third branch chain, one side of the parallelogram branch is connected to the moving pair on the outer frame of the external parallel module, and the other side of the parallelogram branch is connected to the inner frame of the internal parallel module.

6. The dual-working-mode reconfigurable mobile hybrid in-situ processing robot according to claim 1, characterized in that: The axis of the moving pair of each branch chain is perpendicular to the axis of the rotating pair, and the axis of the rotating pair of the inner parallel module is parallel to the first axis of the Hooke's joint and perpendicular to the second axis of the Hooke's joint; an external frame negative pressure adsorption mechanism is provided at the end of the guide rail of the moving pair of the outer frame, and an external moving platform negative pressure adsorption mechanism is provided at the bottom of the external moving platform. When the robot moves and processes, it can adaptively adsorb the surface shape of large and complex components and perform stable processing operations. At the same time, through the staggered adsorption method, that is, staggered release of the external frame negative pressure adsorption mechanism and the external moving platform negative pressure adsorption mechanism, the robot can complete a large range of spatial positioning and movement on the surface of large and complex components.

7. A working method of a dual-working-mode reconfigurable mobile hybrid in-situ processing robot, characterized in that A reconfigurable mobile hybrid on-site processing robot with dual working modes as described in any one of claims 1 to 6 above is used: the robot's degrees of freedom and modes are switched through topological reconstruction, two motion modes of movement and processing are executed, and on-site processing is realized at the same time.

8. The working method of the dual-working-mode reconfigurable mobile hybrid in-situ processing robot according to claim 7, characterized in that: The external parallel module has the spatial motion capability of three translations, and the internal parallel module has the spatial motion capability of two rotations and one translation. By switching the fixed module with the working plane, it can be reconstructed into a three-degree-of-freedom motion mode of three translations or a five-degree-of-freedom motion mode of two rotations and three translations to execute the moving or processing motion mode.

9. The working method of the dual-working-mode reconfigurable mobile hybrid in-situ processing robot according to claim 8, characterized in that: When switching from processing mode to mobile mode, the active moving pair in the inner parallel module moves upward, driving the inner first closed-loop motion branch chain and the inner second closed-loop motion branch chain to move upward, so that they are higher than the bottom horizontal plane of the inner frame, and the robot is configured as a three-translational three-degree-of-freedom motion mode and then starts to execute the mobile gait; the mobile gait is divided into four stages; in the first stage, the movement of the moving pairs of the first branch chain, the second branch chain and the third branch chain in the outer parallel module is controlled to move the outer moving platform downward from the initial position to the surface of the component, and at the same time, the negative pressure adsorption mechanism of the outer moving platform is activated to adsorb and fix the outer moving platform to the surface of the component, at which time the negative pressure adsorption mechanism of the outer frame is released; in the second stage, the movement of the moving pairs of the first branch chain, the second branch chain and the third branch chain in the outer parallel module is controlled to lift the outer frame and leave the surface of the component, and at the same time, the first branch chain in the outer parallel module is controlled to move downward to the surface of the component, and at the same time, the negative pressure adsorption mechanism of the outer frame is released. The first branch chain, the second branch chain and the third branch chain's revolving pairs drive the parallelogram branches to move, driving the external frame to the specified position; in the third stage, the first branch chain, the second branch chain and the third branch chain's moving pairs are controlled to move, so that the external frame descends and contacts the component surface, and at the same time, the external frame's negative pressure adsorption mechanism is activated to adsorb and fix the external frame to the component surface, and at this time, the negative pressure adsorption mechanism of the external moving platform releases the adsorption; in the fourth stage, the first branch chain, the second branch chain and the third branch chain's moving pairs are controlled to move, so that the external moving platform is lifted and leaves the component surface, and at the same time, the first branch chain, the second branch chain and the third branch chain's revolving pairs are controlled to drive the parallelogram branches to move, driving the external moving platform to the specified position, completing a moving gait; repeating the above steps can make the robot move within the specified path range.

10. The working method of the dual-working-mode reconfigurable mobile hybrid in-situ processing robot according to claim 8, characterized in that: When switching from mobile mode to processing mode, the negative pressure adsorption mechanism of the outer frame adsorbs and fixes the outer frame to the surface of the component, and the active moving pair in the inner parallel module moves downward, driving the inner first closed-loop motion branch chain and the inner second closed-loop motion branch chain to move downward, so that they are bottomed on the horizontal plane of the bottom of the inner frame, and the robot is configured in a five-degree-of-freedom motion mode of two rotations and three translations, and the processing task is performed by the end effector of the inner moving platform; the robot can perform high-precision in-situ processing on the surface of large and complex components.

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