A multi-modal reconfigurable rigid-flexible coupled welding robot system

Abstract

The application discloses a multi-mode reconfigurable rigid-flexible coupling welding robot system, which comprises a robot module and a robot driving system, and the robot driving system comprises an actuator external frame, an actuator bistable support mechanism and a flexible cable control system. The inner frame of the actuator external frame is connected with an actuator vibration suppression module through a parallel robot vibration isolation module, and the robot module is arranged on the lower surface of the actuator external frame; the actuator bistable support mechanism is arranged on the front and rear sides of the frame, and the mechanism comprises a main bearing plate, an angle control device and a support sliding block, and can maintain a preset included angle. The flexible cable control system drives the overall structure positioning and component relative rotation through flexible cables. The rigid-flexible coupling welding robot structure of the application reduces the difficulty and cost of adjusting the working space of the welding robot system, and improves the spatial flexibility of the welding robot; the reconfigurable mechanism can effectively reduce the spatial interference between the flexible cable and the welding part, and has stronger task adaptability, environmental adaptability and function expansion capability.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically relating to a multi-mode reconfigurable rigid-flexible coupling welding robot system. Background Technology

[0002] In heavy industrial manufacturing sectors such as aerospace and large shipbuilding, production efficiency is a core indicator for measuring manufacturing level. The rapid development of robotics has brought about a technological revolution in automation in industrial manufacturing, significantly improving the manufacturing efficiency of heavy machinery such as cargo ships, launch vehicles, and energy equipment. Welding robots replacing traditional manual welding not only improves welding quality, efficiency, and stability, but also reduces the impact of human factors on welding quality, achieving standardization and automation of the welding process. Therefore, welding robots possess significant engineering application value and broad development prospects in modern industrial manufacturing.

[0003] Welding tasks in the manufacturing process of large-scale machinery are typically characterized by complex working environments and varied welding postures, thus placing higher demands on the spatial adaptability and operational flexibility of welding equipment. Traditional gantry welding robots can only change the workspace by adjusting the guide rail length, which is difficult to adjust and increases the guide rail length can lead to a decrease in structural rigidity. Rigid-flexible coupling robots combine the positioning stability of rigid mechanisms with the wide-range adjustability of flexible mechanisms, and can usually change the workspace through flexible supports and movable guide rails. Designing rigid-flexible coupling robots can effectively improve the spatial adaptability of welding equipment to complex manufacturing scenarios. In the welding of large-volume, complex structural weldments, the flexible cables in rigid-flexible coupling robots are prone to interference with the weldment, a defect that results in poor adaptability of rigid-flexible coupling robots to complex welding scenarios.

[0004] Large-scale mechanical equipment contains many structurally complex components, and the weld geometry is diverse and spatially irregular. Traditional welding robots have a single working mode and are difficult to adapt to complex weld conditions. Different welding robots need to be configured to work in coordination, which increases the difficulty of operation and production costs. Summary of the Invention

[0005] To address the aforementioned deficiencies in the existing technology, the present invention aims to provide a multi-mode reconfigurable rigid-flexible coupling welding robot system and a vibration suppression method. This invention, through its rigid-flexible coupling welding robot structure, reduces the difficulty and cost of adjusting the workspace of the welding robot system, thereby improving the spatial flexibility of the welding robot. By designing a reconfigurable mechanism, it effectively reduces spatial interference between the flexible cable and the workpiece, resulting in stronger task adaptability, environmental adaptability, and functional expansion capabilities.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A multi-mode reconfigurable rigid-flexible coupling welding robot system includes a robot module for welding and a robot drive system for driving the robot module to a preset position. The robot drive system includes an actuator outer frame, an actuator bistable support mechanism, and a flexible cable control system. The inner frame of the actuator outer frame is connected to an actuator vibration suppression module via a parallel robot vibration isolation module. The robot module is disposed on the lower surface of the actuator vibration suppression module. The actuator bistable support mechanism is provided on both the front and rear sides of the parallel robot vibration isolation module on the outside of the actuator outer frame. The actuator bistable support mechanism includes a main support plate and an angle control device. A support slider is slidably connected to the main support plate and is rotatably connected to the actuator outer frame. The angle control device is connected to the main support plate and the actuator outer frame and is used to maintain a preset angle between the main support plate and the actuator outer frame. The flexible cable control system drives the actuator outer frame and the main support plate connected by flexible cables to move the overall structure formed by the actuator outer frame and the actuator bistable support mechanism to the preset position and to drive the actuator outer frame to rotate relative to the main support plate.

[0007] The present invention has the following beneficial effects: This invention's multi-mode reconfigurable rigid-flexible coupling welding robot system employs a flexible cable control system for propulsion. This system can move the overall structure, consisting of the actuator's external frame and bistable support mechanism, to a preset position, and can also drive relative rotation between the actuator's external frame and the main support plate, forming a rigid-flexible coupling drive. Leveraging the large stroke characteristic of the flexible cable drive, the working range can be expanded without lengthening rigid guide rails, enabling the robot module, positioned on the lower surface of the actuator vibration suppression module, to achieve a wide range of pose adjustments, reducing the difficulty of adjusting the workspace. Simultaneously, the flexible cable drive method has a small overall moment of inertia and better dynamic response, improving the robot module's spatial operational flexibility. The inner frame of the actuator's external frame is connected to the actuator vibration suppression module via a parallel robot vibration isolation module. The robot module is directly positioned on the lower surface of the actuator vibration suppression module. When external vibration is transmitted through the actuator's external frame, the parallel robot vibration isolation module can block the transmission of vibration to the actuator vibration suppression module. Combined with the actuator vibration suppression module, this further suppresses the vibration generated by the robot module's operation. These two layers of action work together to mitigate... Vibration reduction is used to mitigate the interference of the robot module, thereby ensuring the motion stability of the welding process and improving the accuracy of welding trajectory tracking and welding quality. The actuator's external frame is equipped with bistable support mechanisms on both the front and rear sides of the parallel robot's vibration isolation module. The support sliders of the bistable support mechanisms are rotatably connected to the actuator's external frame. An angle control device constrains the angle between the main support plate and the actuator's external frame. When the flexible cable control system drives the actuator's external frame and the main support plate to complete relative rotation and achieve a work posture switch, the angle control device maintains the preset angle between them, preventing swaying or wobble after the posture switch, ensuring structural rigidity after posture conversion, adapting to the welding requirements of welds in different postures, reducing reliance on multiple sets of different welding equipment, and lowering the difficulty of working with complex components. While the flexible cable control system enables mechanism configuration changes, the actuator's bistable support mechanism compensates for the inherent weakness of the flexible cable itself. Based on achieving mechanism posture adjustment and adapting to complex working conditions, it ensures the structural stability of the entire machine during welding operations, improving the system's adaptability to complex welding conditions. Attached Figure Description

[0008] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the initial form (face-down welding) of the present invention; Figure 2 This is a schematic diagram of the overall structure of the side welding mode of the present invention; Figure 3 This is an exploded view of the guide rail module; Figure 4 This is a schematic diagram showing the installation relationship between the system framework and the guide rail module; Figure 5 This is a partial exploded view of the cable exit point position adjustment module; Figure 6 This is an exploded view of the adaptive rope angle adjustment mechanism; Figure 7 This is a partially exploded view of the end effector flipping module; Figure 8 This is an exploded view of the end effector flipping rope drive module; Figure 9 This is an exploded view of the parallel robot platform in the parallel robot vibration isolation module; Figure 10 This is a schematic diagram of the overall structure of the actuator vibration suppression module; Figure 11 This is a schematic diagram of the overall structure of the single pendulum vibration damping mechanism; Figure 12 This is a partial exploded view of the counterweight center of mass adjustment mechanism; Figure 13 This is a partially exploded view of the actuator's external frame; Figure 14 This is a schematic diagram of the overall structure of the end effector rope drive module; Figure 15 This is an exploded diagram of a rope tensioning mechanism; Figure 16 This is a schematic diagram of the overall structure of the end effector and the bistable support mechanism for the actuator assembly; Figure 17 yes Figure 16 The view in the C direction; Figure 18 yes Figure 16 The view in direction D; Figure 19 This is an exploded view of the planetary gear train drive mechanism in the bistable support mechanism of the actuator; Figure 20 This is a schematic diagram of the second part of the clutch; Figure 21 This is an exploded view of the gear drive mechanism in the bistable support mechanism of the actuator; Figure 22 This is a schematic diagram showing the installation relationship between the servo electric cylinder and the second part of the electromagnetic clutch; Figure 23 This is a schematic diagram of the overall structure of the actuator vibration suppression module and the robot module assembly; Figure 24 This is a partially exploded view of the robot module; Figure 25 This is a schematic diagram of the overall structure of the actuator external frame, actuator bistable support mechanism, actuator vibration suppression module and parallel robot vibration isolation module of the present invention after connection; Figure 26 This is a schematic diagram of the installation position of the planetary gear drive mechanism of the present invention; Figure 27 This is a process flow for operating a multi-mode reconfigurable rigid-flexible coupling welding robot system.

[0009] The markings in the diagram are as follows: 1-Guide rail module; 101-First servo drive motor, 102-First flexible coupling, 103-First double-row angular contact ball bearing, 104-First guide rail, 105-First lead screw, 106-System support base; 2-System frame; 2-1-Left system frame, 2-1-1-Front column of left system frame, 2-1-2-Rear column of left system frame, 2-1-3-Crossbeam of left system frame, 2-2-Right system frame, 2-2-1-Front column of right system frame, 2-2-2-Rear column of right system frame, 2-2-3-Crossbeam of right system frame; 3-Cable exit point position adjustment module; 301-Second servo drive motor, 302-Second guide rail, 303 - Second lead screw; 304- Adaptive rope angle adjustment mechanism, 304-1- Angle adjustment mechanism mounting base, 304-2- Angular contact ball bearing, 304-3- Circumferential rotation base, 304-4- Pitch rotation base, 304-5- First fixed pulley, 304-6- Circumferential rotation angle encoder, 304-7- Pitch shaft, 304-8- Pitch rotation angle encoder, 304-9- Wiring fixed pulley; 305- First deep groove ball bearing, 306- Plum blossom type coupling, 307- Guide rail baffle; 4- End effector flipping module; 401- Third servo drive motor, 402- First rigid coupling, 403- First guide rail stop, 404- Third lead screw, 40 5-Embedded guide rail groove bearing base; 406-Ball screw slider; 407-End effector flip rope drive module; 407-1-Vertical wiring pulley; 407-2-First rope drum; 407-3-Second rigid coupling; 407-4-Module component bearing platform; 407-5-First stepper motor; 408-Second deep groove ball bearing; 5-Parallel robot vibration isolation module; 501-Parallel robot platform electric telescopic rod; 502-Parallel robot platform base; 503-Universal joint; 504-Parallel robot platform upper platform; 6-Actuator vibration suppression module; 601-Lower base plate; 602-Single pendulum vibration suppression mechanism; 602-1-Single pendulum; 602-2- Bearing support plate; 602-3-Third rigid coupling; 602-4-Fourth servo drive motor; 602-5-Thrust ball bearing; 603-First 90-degree connecting angle bracket; 604-First vertical column; 605-Counterweight center of gravity adjustment mechanism; 605-1-Fourth lead screw; 605-2-Fifth servo drive motor; 605-3-Fourth rigid coupling; 605-4-Second guide rail baffle; 605-5-Counterweight; 605-6-First thrust ball bearing; 605-7-Third guide rail; 606-Upper base plate; 607-First connecting plate; 608-Sensor module; 608-1-Six-dimensional force sensor; 608-2-IMU sensor; 7-Actuator external frame;701-Lower frame, 701-1-Lower frame screw and nut structure, 702-Second 90-degree connecting bracket, 703-Second vertical column, 704-Anti-interference pulley, 705-Fourth guide rail, 706-First lifting ring, 707-Second connecting plate, 708-Upper frame, 708-1-Upper frame screw and nut structure, 709-Bearing mounting plate, 710-Third guide rail baffle, 711-Second thrust ball bearing, 712-Second flexible coupling, 713-Fifth screw, 714-Sixth servo drive motor; 8-End effector rope drive module; 801-Second rope drum, 802-Fifth rigid coupling, 803-First stepper motor ; 804- Rope tensioning mechanism, 804-1- Rail-integrated base, 804-2- Tensioning wheel sliding base, 804-3- Fourth guide rail baffle, 804-4- Tensioning wheel, 804-5- Spring; 805- Horizontal wiring pulley, 806- Vertical wiring pulley; 9- Actuator bistable support mechanism; 901- Gear drive mechanism, 901-1- Slider base with guide rail groove, 901-2- Second thrust ball bearing, 901-3- Motor base gear, 901-3-1- Motor base, 901-4- Gear fixing plate, 901-5- Gear, 901-6- First brake drive motor; 902- Second double-row angular contact ball bearing; 903- Planetary Gear drive mechanism, 903-1-Slider base with guide rail groove gear ring, 903-2-Second brake drive motor, 903-3-Central gear, 903-6-Clutch base, 903-7-Clutch first part, 903-8-Third thrust ball bearing, 903-9-Planetary gear, 903-10-Clutch; 904-Mechanism bearing body, 904-1-Main bearing plate, 904-1-1-Upper screw nut structure, 904-1-2-Lower screw nut structure, 904-2-Bearing support slider, 904-3-Inner guide rail stop, 904-4-Inner guide rail, 904-5-Outer mounting guide rail, 904-6-Outer screw 904-7-Third flexible coupling, 904-8-Seventh servo drive motor, 904-9-Fourth thrust ball bearing, 904-10-Outer baffle, 904-11-Second lifting ring; 905-Set screw; 906-Servo electric cylinder, 906-1-Clutch second part, 906-2-Servo electric cylinder body; 10-Robot module; 1001-Fourth thrust ball bearing, 1002-Sixth lead screw, 1003-Eighth servo drive motor, 1004-Six-DOF welding robot, 1005-Fifth rigid coupling, 1006-Fifth guide rail, 1007-Fifth guide rail baffle, 1008-Moving slider; 11-Rope. Detailed Implementation

[0010] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0011] See Figure 1 , Figure 2 , Figure 10 , Figure 13 , Figure 16 , Figure 23 , Figure 24 and Figure 25 This invention discloses a multi-mode reconfigurable rigid-flexible coupling welding robot system, comprising a robot module 10 for welding and a robot drive system for driving the robot module 10 to a preset position. The robot drive system includes an actuator outer frame 7, an actuator bistable support mechanism 9, and a flexible cable control system. The inner frame of the actuator outer frame 7 is connected to an actuator vibration suppression module 6 via a parallel robot vibration isolation module 5. The robot module 10 is disposed on the lower surface of the actuator vibration suppression module 6. The actuator bistable support mechanism 9 is provided on both the front and rear sides of the parallel robot vibration isolation module 5 on the outside of the actuator outer frame 7. The actuator bistable support mechanism 9 includes... The system includes a main support plate 904-1 and an angle control device. A support slider is slidably connected to the main support plate 904-1. The support slider is rotatably connected to the actuator outer frame 7. The angle control device is connected to the main support plate 904-1 and the actuator outer frame 7 and is used to maintain a preset angle between the main support plate 904-1 and the actuator outer frame 7. The flexible cable control system is connected to the actuator outer frame 7 and the main support plate 904-1 by a flexible cable. It is used to drive the overall structure formed by the actuator outer frame 7 and the actuator bistable support mechanism 9 to move to a preset position and to drive the actuator outer frame 7 and the main support plate 904-1 to rotate relative to each other.

[0012] When the system described above is in operation, the flexible cable control system, acting as a power input unit, applies a traction force to the overall structure formed by the actuator outer frame 7 and the actuator bistable support mechanism 9 via the flexible cable, driving the overall structure to move to the preset position for welding operations, thereby transporting the robot module 10, which is located on the lower surface of the actuator vibration suppression module 6, to the welding position. Furthermore, the flexible cable control system, through the flexible cable output torque and angle control device, can drive the main support plate 904 of the actuator outer frame 7 and the actuator bistable support mechanism 9. 1. Relative rotation occurs, maintaining a preset angle between the main support plate 904-1 and the actuator outer frame 7, thereby adjusting and switching the working posture of the robot module 10. In the actuator bistable support mechanism 9, the support slider is slidably mounted on the main support plate 904. 1. A sliding pair is formed, and the support slider is rotatably connected to the actuator outer frame 7, forming a rotating pair, so that the main bearing plate 904 There are degrees of freedom for relative rotation and movement between 1 and the actuator's external frame 7; after the flexible cable control system drives the two to complete relative rotation and reach the target posture, the angle control device controls the main bearing plate 904. 1 and the actuator's external frame 7 are simultaneously constrained, thus securing the main bearing plate 904. The actuator outer frame 7 is kept at a preset angle with the actuator outer frame 7, locking the rotational degree of freedom and maintaining the structural state after posture transformation, preventing unexpected deflection and swaying during operation. The inner frame of the actuator outer frame 7 is connected to the actuator vibration suppression module 6 via the parallel robot vibration isolation module 5, and the robot module 10 is mounted and fixed on the lower surface of the actuator vibration suppression module 6. During operation, if the actuator outer frame 7 is subjected to external disturbances and vibrates, the vibration will first be transmitted to the parallel robot vibration isolation module 5, which will perform vibration isolation, blocking the vibration from the outer frame side from being transmitted to the actuator vibration suppression module 6 and the robot module 10. The vibration of the robot module 10 itself caused by the start, stop and movement of welding operations is suppressed and reduced by the actuator vibration suppression module 6. Through the external vibration isolation of the parallel robot vibration isolation module 5 and the body vibration suppression of the actuator vibration suppression module 6, the adverse effects of vibration on the welding operation of the robot module 10 are reduced. Overall, the flexible cable control system provides flexible cable traction to realize the spatial translation of the overall structure and the actuator outer frame 7 and the main bearing plate 904. The attitude rotation between 1 and 2; the actuator bistable support mechanism 9 locks the included angle after the attitude adjustment is in place, ensuring attitude stability; the parallel robot vibration isolation module 5 and the actuator vibration suppression module 6 form vibration isolation. The vibration damping combination ensures that the robot module 10, which is installed on the lower surface of the actuator vibration damping module 6, can carry out welding operations in a stable posture and vibration environment.

[0013] In the above-described solution of the present invention, with Figure 1 and Figure 2Taking the indicated orientation as an example, the flexible cable control system includes a left system frame 2-1 and a right system frame 2-2 that can move left and right. Both the left system frame 2-1 and the right system frame 2-2 are beam-column structures and are located in parallel planes. The rotation axis of the support slider is perpendicular to the columns of the left system frame and the right system frame. The front column 2-1-1 of the left system frame 2-1 is equipped with a first left cable outlet position adjustment module and a first right cable outlet position adjustment module that can move up and down. The rear column 2-1-2 of the left system frame 2-1 is equipped with a second left cable outlet position adjustment module and a second right cable outlet position adjustment module that can move up and down. The cable exit point position adjustment module includes a movable left end effector flipping module on the left system frame crossbeam 2-1-3 of the left system frame 2-1; a movable third left cable exit point position adjustment module and a movable third right cable exit point position adjustment module on the right system frame front column 2-2-1 of the right system frame 2-2; a movable fourth left cable exit point position adjustment module and a movable fourth right cable exit point position adjustment module on the right system frame rear column 2-2-2 of the right system frame 2-2; and a movable right end effector flipping module on the right system frame crossbeam 2-2-3 of the right system frame 2-2. The front actuator bistable support mechanism's main bearing plate has its upper left, lower left, upper right, and lower right corners connected to the first left cable outlet position adjustment module, the first right cable outlet position adjustment module, the third right cable outlet position adjustment module, and the third left cable outlet position adjustment module, respectively, via ropes at its upper left, lower left, upper right, and lower right corners. The rear actuator bistable support mechanism's main bearing plate has its upper left, lower left, upper right, and lower right corners connected to the second left cable outlet position adjustment module, the second right cable outlet position adjustment module, the fourth right cable outlet position adjustment module, and the fourth left cable outlet position adjustment module, respectively, via ropes at its upper left, lower left, upper right, and lower right corners. The left end actuator flipping module is connected to the rear end actuator via ropes at its upper left, lower left, upper right, and lower right corners. The right end actuator flipping module is connected to the upper right front corner and right rear corner of the actuator's outer frame 7 via ropes. The first left cable exit point position adjustment module, the first right cable exit point position adjustment module, the second left cable exit point position adjustment module, the second right cable exit point position adjustment module, the third left cable exit point position adjustment module, the third right cable exit point position adjustment module, the fourth right cable exit point position adjustment module, the fourth left cable exit point position adjustment module, the left end actuator flipping module, and the right end actuator flipping module can all retract or release their respective connected ropes. See also... Figure 1 , Figure 2 , Figures 16-18 and Figure 25 In this embodiment, the left system frame 2 1. Right System Framework 2 2. As the external support matrix for the flexible cable, the left system frame 2 1. Right System Framework 2 Both are beam-column structures and their planes are parallel to each other. The axis of rotation of the support slider ( Figure 1(The front-to-back direction shown is perpendicular to the paper) and the left system frame 2 1. Right System Framework 2 The column 2 remains vertical, and this assembly constraint limits the actuator's external frame 7 to the main load-bearing plate 904. The direction of the rotation axis of the revolute joint between 1 and 2. Left system frame 2. 1. The system can move left and right as a whole; the right side of the system framework is 2. 2 can also be moved left and right, by changing the left system frame 2 1. Right System Framework 2 2. The spacing between the two allows for overall adjustment of the working boundary of the entire flexible cable drive system, adapting to the working space of weldments of different sizes. Left system frame 2 1. Left system frame front column 2 1 1. Equipped with a first left cable exit point position adjustment module and a first right cable exit point position adjustment module that can move up and down; left system frame 2. 1. Left system frame rear column 2 1 2. The system frame 2 is equipped with a second left cable exit point position adjustment module and a second right cable exit point position adjustment module that can move vertically. 1. Left system frame crossbeam 2 1 The left end effector flipping module, which can move, is set on the top of the 3rd system frame; correspondingly, the right system frame 2... 2. Right system frame front column 2 2 1. The system includes a vertically movable third left cable exit point position adjustment module and a third right cable exit point position adjustment module. (Right system frame 2) 2. Rear column of the right system frame 2 2 2. The system includes a fourth left cable exit point position adjustment module and a fourth right cable exit point position adjustment module that can move vertically. (Right system frame 2) 2. Right system frame crossbeam 2 2 3. A movable right-end actuator flipping module is provided. Each cable exit point position adjustment module can move vertically along the corresponding column to change the spatial geometry of the cable exit point, and can also retrieve and release the cable, changing the effective working length of the cable. The left and right end actuator flipping modules can move along the corresponding crossbeam to adjust their own position, and can also retrieve and release the corresponding cable, thereby achieving independent adjustment of the three-dimensional position of each flexible cable exit point and the working length of the cable. The main bearing plate 904 of the front actuator bistable support mechanism 9. The upper left, lower left, upper right, and lower right corners of module 1 are respectively connected to the first left cable outlet position adjustment module, the first right cable outlet position adjustment module, the third right cable outlet position adjustment module, and the third left cable outlet position adjustment module via ropes; the main bearing plate 904 of the rear actuator bistable support mechanism 9 The upper left, lower left, upper right, and lower right corners of module 1 are respectively connected to the second left cable exit point position adjustment module, the second right cable exit point position adjustment module, the fourth right cable exit point position adjustment module, and the fourth left cable exit point position adjustment module via ropes. The left end actuator flipping module is connected to the upper right front corner and right rear corner of the actuator's outer frame 7 via ropes, and the right end actuator flipping module is connected to the left front corner and left rear corner of the left side of the actuator's outer frame 7 via ropes. The first left cable exit point position adjustment module, the first right cable exit point position adjustment module, the second left cable exit point position adjustment module, the second right cable exit point position adjustment module, the third left cable exit point position adjustment module, the fourth left cable exit point position adjustment module, the fourth right cable exit point position adjustment module, the left end actuator flipping module, and the right end actuator flipping module can all independently complete the retrieval and release of their connected ropes. When the system performs spatial posture adjustment operations, on the one hand, the cable exit point position adjustment modules on each column coordinate to be retracted and released, corresponding to the front and rear main bearing plates 904. The rope 1, relying on the coordinated tension of multiple ropes, drives the overall structure composed of the actuator outer frame 7 and the actuator bistable support mechanism 9 to complete spatial translation, transporting the robot module 10 to the preset welding position; at the same time, relying on the difference in the extension and retraction stroke between different ropes, it can drive the actuator outer frame 7 relative to the main support plate 904. 1. Relative rotation occurs, and simultaneously, the angle control device of the bistable support mechanism 9 of the actuator works in coordination. After the flexible cable drive completes the attitude adjustment and reaches the target angle, the angle control device controls the main bearing plate 904. 1. The actuator maintains a constraint with the external frame 7, preserving the preset angle between them to suppress unexpected deflection and swaying during operation. On the other hand, the left and right end actuator flip modules retract the ropes connected to the corners of the external frame 7, working in conjunction with the tension of the remaining ropes to further assist in adjusting the spatial attitude of the external frame 7. The adjustment modules for each cable exit point move up and down along the column, while the left and right end actuator flip modules move along the crossbeam, directly changing the cable exit position and adjusting the overall spatial orientation of the rope; this, combined with the left system frame 2... 1. Right System Framework 2 The overall left-right movement of component 2 allows for the reconfiguration of the entire flexible cable arrangement, enabling the cables to bypass the spatial obstructions of weldments and tooling, thus reducing the risk of interference between the flexible cables and weldments. As can be seen from the above scheme, the overall working logic of this embodiment is as follows: Left system frame 2 1. Right System Framework 2 2. Complete the overall base frame position adjustment; the cable outlet position adjustment module and the end effector flipping module change the cable outlet position and retract the cable, realizing the overall translation of the actuator external frame 7 and the actuator bistable support mechanism 9, as well as the relative rotation between the two. On the main bearing plate 904 When the actuator rotates relative to the external frame 7, the angle control device of the actuator bistable support mechanism 9 and the retraction and extension of the position adjustment modules of each cable outlet point coordinate with each other, so that the main bearing plate 904 1. Maintain constraint with the actuator's external frame 7 at a preset angle.

[0014] See Figure 1 , Figure 5 and Figure 6In this embodiment, the first left cable outlet position adjustment module, the first right cable outlet position adjustment module, the second left cable outlet position adjustment module, the second right cable outlet position adjustment module, the third left cable outlet position adjustment module, the third right cable outlet position adjustment module, the fourth right cable outlet position adjustment module, and the fourth left cable outlet position adjustment module all have the same structure, including a screw nut structure, a servo drive motor, an adaptive rope angle adjustment mechanism 304, and an end effector rope drive module 8. The screw nut structure is set along the height direction of the column and connected to the column. The output shaft of the servo drive motor... The adaptive rope angle adjustment mechanism 304 is connected to the nut of the lead screw and nut structure. The adaptive rope angle adjustment mechanism 304 includes an angle adjustment mechanism mounting base 304-1, a circumferential rotation base 304-3, a pitch rotation base 304-4, a guide pulley, a circumferential rotation angle encoder 304-6, a pitch rotation shaft 304-7, a pitch rotation angle encoder 304-8, and a wiring pulley 304-9. The angle adjustment mechanism mounting base 304-1 is connected to the nut of the lead screw and nut structure, and the circumferential rotation base 304-3 is connected to the nut of the lead screw and nut structure. The mechanism mounting base 304-1 is rotatably connected with the vertical axis of rotation. A vertical rope through-hole is vertically opened inside the circumferential rotating base 304-3. The pitch rotating base 304-4 and the wiring pulley 304-9 are rotatably connected to the circumferential rotating base 304-3 via the pitch axis 304-7. The circumferential rotating base 304-3 is horizontally positioned, and the wiring pulley 304-9 is located above the rope through-hole. The guide pulley includes two first pulleys and is rotatably connected to the pitch rotating base 304-4. The axis of rotation of the guide pulley is perpendicular to the pitch axis 304-7. The end effector is rope-driven. Module 8 is connected to a rope for releasing and retrieving the rope. One end of the rope connected to the end effector rope drive module 8 passes through a rope through-hole inside the circumferential rotating base 304-3, around the wiring pulley 304-9, through the gap between the two first fixed pulleys, and finally connects to the main support plate of the actuator bistable support mechanism. A pitch angle encoder 304-8 is mounted on the pitch rotating base 304-4 to measure the pitch angle of the rope, and a circumferential angle encoder 304-6 is mounted on the circumferential rotating base 304-3 to measure the circumferential deflection angle of the rope. In this embodiment, referring to the structure shown in the attached drawings, when the entire module is working, the servo drive motor drives the lead screw of the lead screw and nut structure to rotate, causing the nut and the adaptive rope angle adjustment mechanism 304 fixed on the nut to move up and down along the column height direction, thereby changing the vertical height position of the rope exit point and realizing the position adjustment of the rope exit point height direction. The end effector rope drive module 8 completes the retrieval and release of the rope, changes the effective working length of the rope, and outputs traction force.When the actuator's outer frame 7 and the actuator's bistable support mechanism 9 undergo spatial translation or relative rotation, the spatial orientation of the rope connecting the main bearing plate changes accordingly; under the action of rope tension, the base 304 rotates circumferentially. 3. Can passively rotate in the horizontal plane around a vertical axis, pitching and rotating the base 304. 4. Can rotate around the pitch axis 304 7. Perform passive pitching and oscillation, driving the wiring pulley 304. 9. The guide pulley rotates synchronously with the actual direction of the rope, adaptively matching the spatial angle of the rope to prevent rope wear and jamming. 304 Circumferential Rotation Angle Encoder 6. Real-time acquisition of circumferential rotating base 304 3 represents the horizontal rotation angle, i.e., the circumferential deflection angle of the rope; pitch rotation angle encoder 304 8. Real-time acquisition of pitch and rotation base 304 The pitch angle of 4, i.e., the pitch angle of the rope, feeds the rope angle information back to the control system. The control system combines the height of the cable exit point and the rope length to complete the calculation of the mechanism's tension and posture. This module achieves adjustable cable exit point height through a lead screw nut, and the end effector rope drive module 8 achieves rope length adjustment. The adaptive rope angle adjustment mechanism 304 achieves passive follow-up in two dimensions by relying on rope tension. At the same time, it uses an encoder to collect the rope angle to ensure smooth force transmission in various working postures, reduce rope wear, and provide stable rope traction conditions for the spatial positioning and posture adjustment of the actuator's bistable support mechanism and the actuator's external frame 7.

[0015] See Figure 1 , Figure 2 , Figure 7 , Figure 8 , Figure 13 , Figure 16 as well as Figure 25In this embodiment, the left end effector flipping module and the right end effector flipping module have the same structure, both including a lead screw and nut structure, a servo drive motor, and an end effector flipping rope drive module 407. The lead screw and nut structure is arranged along the length of the system frame beam and connected to the system frame beam. The output shaft of the servo drive motor is connected to the lead screw of the lead screw and nut structure. The end effector flipping rope drive module 407 is connected to the nut of the lead screw and nut structure. The end effector flipping rope drive module 407 includes a module component support platform 407-4. Vertical wiring pulleys 407-1, rope drums 407-2, and stepper drive motors 407-5 are installed on both the front and rear sides of the module component support platform 407-4. For the module... On the front or rear side of the component support platform 407-4, the rope drum 407-2 is rotatably mounted. The rotating shaft of the rope drum 407-2 is set along the length direction of the crossbeam of the system frame. The output shaft of the stepper drive motor 407-5 is connected to the rotating shaft of the rope drum 407-2. The vertical wiring pulley 407-1 is located on the side of the rope drum 407-2 near the actuator outer frame 7. The rope led out from the rope drum 407-2 passes around the vertical wiring pulley 407-1 and connects to the actuator outer frame 7. The rope led out from the front rope drum 407-2 is connected to the front corner of the actuator outer frame 7, and the rope led out from the rear rope drum 407-2 is connected to the rear corner of the actuator outer frame 7. In this embodiment, the servo drive motor can drive the lead screw to rotate, causing the nut and the end effector to move together with the rope drive module 407 in a horizontal linear motion along the system frame beam. This changes the horizontal exit position of the rope, adapting to a large range of spatial displacement of the actuator's outer frame 7 and avoiding interference between the rope and surrounding components. During operation, the actuator's outer frame 7 relies on the support slider and the main bearing plate 904 A revolute joint is formed, and the axis of rotation of this revolute joint serves as the rotation reference for the flipping motion of the actuator's outer frame 7. A servo drive motor drives the lead screw and nut structure, causing the entire end effector flipping rope drive module 407 to move along the crossbeam. This movement is only used to adjust the horizontal position of the cable release point and does not participate in the flipping angle drive. Two stepper drive motors 407-5 in the left end effector flipping module on the left system frame crossbeam 2-1-3 of the left system frame 2-1 drive the rope drum 407-2 to release the rope. Simultaneously, two stepper drive motors in the right end effector flipping module on the right system frame crossbeam 2-2-3 of the right system frame 2-2 drive the rope drum to wind up the rope. The end effector flipping modules on both sides work together, applying flipping traction forces from the left and right sides of the actuator's outer frame 7 respectively, completing the spatial attitude flipping of the actuator's outer frame 7. Vertical wiring pulley 407 1. It guides and constrains the rope, limits the rope's direction, reduces rope deflection and wear, and ensures that the rope tension can be stably transmitted to the corner of the actuator's outer frame 7.

[0016] See Figure 1 , Figure 2 , Figure 13 , Figures 16-18 as well as Figure 25 In this embodiment, the angle control device includes a first telescopic mechanism, a second telescopic mechanism, and upper frame screw and nut structures 708-1, 904-1-1, 904-1-2, and 701-1 arranged sequentially from top to bottom. The upper screw and nut structures 904-1-1 and 904-1-2 are mounted on the main bearing plate 904-1 of the actuator bistable support mechanism, while the upper frame screw and nut structures 708-1 and 701-1 are mounted on the actuator's outer frame 7. The upper end of the first telescopic mechanism is rotatably connected to the nut of the upper frame screw and nut structure 708-1, and the lower end is rotatably connected to the nut of the upper screw and nut structure 904-1-1. The upper end of the second telescopic mechanism is rotatably connected to the nut of the lower screw and nut structure 904-1-2, and the lower end is rotatably connected to the nut of the frame screw and nut structure 701-1. In this embodiment, both ends of the first and second telescopic mechanisms are rotated connections, which can release the angular freedom brought about by deflection and prevent the mechanisms from jamming. Upper frame screw and nut structure 708 1. Upper lead screw nut structure 904 1 1. Lower lead screw nut structure 904 1 2. Lower frame lead screw and nut structure 701 Each of these components can drive its respective nut to make linear displacement along the corresponding lead screw. Upper frame lead screw and nut structure 708 1. Drive its nut to move, changing the position of the upper hinge point of the first telescopic mechanism on the outer frame 7 of the actuator; upper screw nut structure 904 1 1. Drive its nut to move, changing the lower hinge point of the first telescopic mechanism at the main bearing plate 904. 1. Upper position; Lower lead screw nut structure 904 1 2. Drive its nut to move, changing the upper hinge point of the second telescopic mechanism at the main bearing plate 904. 1. Position on the upper part; Lower frame lead screw and nut structure 701 1. Drive the nut to move, changing the position of the lower hinge point of the second telescopic mechanism on the actuator's outer frame 7. By coordinating the adjustment of the four hinge points through the four sets of screw-nut structures, the arrangement and force arm of the first and second telescopic mechanisms can be changed, adapting to different preset angles, avoiding dead points, and ensuring support force conditions. When the rope drives the actuator's outer frame 7 to rotate to the target posture and reach the preset angle, the lengths of the first and second telescopic mechanisms are locked. The first and second telescopic mechanisms, respectively, are positioned at the upper and lower levels relative to the actuator's outer frame 7 and the main support plate 904. 1. A rigid support is formed to constrain the rotating joint and maintain the main bearing plate at 904. The preset angle between the actuator and the external frame 7 suppresses unexpected deflection and swaying between them during welding operations. The angle control device works in conjunction with the rope drive mechanism: the rope drive mechanism is responsible for adjusting the attitude of the external frame 7; the angle control device provides rigid locking support after the attitude is in place, compensating for the lack of rigidity of the flexible cable drive itself and ensuring the stability of the entire machine's attitude during welding operations.

[0017] Based on the above embodiments, see Figure 1 , Figure 2 , Figure 13 , Figures 16-22 , Figure 25 as well as Figure 26In this embodiment, both the first and second telescopic mechanisms employ servo electric cylinders 906. The piston end of the first telescopic mechanism is rotatably connected to the nut of the upper frame lead screw nut structure 708-1 via a planetary gear drive mechanism 903, and the motor end is rotatably connected to the nut of the upper lead screw nut structure 904-1-1 via a gear drive mechanism 901. Similarly, the motor end of the second telescopic mechanism is rotatably connected to the nut of the lower lead screw nut structure 904-1-2 via a gear drive mechanism 901, and the piston end is rotatably connected to the nut of the frame lead screw nut structure 701-1 via a planetary gear drive mechanism 903. The gear drive mechanism 901 includes a guide rail groove slider base 901-1, a motor base 901-3-1, and a motor. The base includes gears 901-3 and 901-5, and a first brake drive motor 901-6. The guide rail groove slider base 901-1 is connected to the nut of the upper lead screw nut structure 904-1-1 or the nut of the lower lead screw nut structure 904-1-2. The first brake drive motor 901-6 is fixedly connected to the guide rail groove slider base 901-1, and the output shaft of the first brake drive motor 901-6 is connected to gear 901-5. The motor base 901-3-1 is fixedly connected to the motor end of the first telescopic mechanism or the motor end of the second telescopic mechanism. One side of the motor base gear 901-3 is fixedly connected to the motor base 901-3-1, and the other side of the motor base gear 901-3 is fixedly connected to the guide rail groove slider base 901-6. 1-1 Rotary connection, the motor base gear 901-3 meshes externally with gear 901-5; the planetary gear drive mechanism 903 includes a guide rail groove gear ring slider base 903-1, a second brake drive motor 903-2, a center gear 903-3, a clutch base 903-6, a clutch first part 903-7, and several planetary gears 903-9. The guide rail groove gear ring slider base 903-1 is connected to the nut of the upper frame lead screw nut structure 708-1 or the nut of the lower frame lead screw nut structure 701-1. The second brake drive motor 903-2 is installed in the guide rail groove gear ring slider base 903-1, and the center gear 903-3 is connected to the output shaft of the second brake drive motor 903-2. A plurality of planetary gears 903-9 are uniformly externally meshed on the outer circumference of the central gear 903-3 and internally mesh with the gear ring of the guide rail groove slider base 903-1. The planetary gears 903-9 are rotatably connected to the clutch base 903-6. The first part of the clutch 903-7 is fixedly connected to the clutch base 903-6. The second part of the clutch 906-1 is fixedly connected to the end of the telescopic rod of the first telescopic mechanism or the end of the telescopic rod of the second telescopic mechanism. The first part of the clutch 903-7 and / or the second part of the clutch 906-1 are provided with electromagnets for attracting and coaxially fixing the two. The first part of the clutch 903-7 and the second part of the clutch 906-1 have meshing teeth at their engagement ends. In this embodiment, the guide rail groove slider base 901... 1. Fixed connection on the upper lead screw nut structure 904 1 1. Nut or lead screw nut structure 904 1 On nut 2, it can slide linearly along with the corresponding nut. Includes guide rail, toothed ring, slider base 903. 1. Screw and nut structure with upper frame 708 1. Nut or lower frame lead screw nut structure 701 The nuts 1 are connected and can slide linearly following the corresponding nuts; the bases of the gear drive mechanism 901 and the planetary gear drive mechanism 903 can also move synchronously and linearly following their respective lead screw nuts. The working principle and process of this embodiment are as follows: The mechanism in this embodiment has two working modes: clutch disengagement follow-up mode and clutch engagement rigid locking / angle fine adjustment mode, which are adapted to two working conditions: rope-driven flipping and attitude locking, respectively.

[0018] Mode 1: Rope-driven actuator external frame 7 flipping motion stage (electromagnetic clutch disengaged) Clutch Part 1 903 7 and clutch part 2 906 1. Once the adsorption is released, the meshing teeth of the two sets of components separate from each other, the rigid connection between the piston end of the servo electric cylinder 906 and the planetary gear drive mechanism 903 is released, and the servo electric cylinder 906 can retract appropriately. At this stage, the flipping posture of the actuator's outer frame 7 is completely driven by the external rope drive system. Thus, the servo electric cylinder 906 and the gear drive mechanism 901 remain on the main bearing plate 904-1, and the planetary gear drive mechanism 903 remains on the actuator's outer frame 7, without causing motion interference to the flipping motion of the actuator's outer frame 7.

[0019] Mode 2: At the correct posture, locked support (electromagnetic clutch engaged) When the cable drive rotates the actuator's outer frame 7 to the target preset angle, the four sets of lead screw and nut structures drive the corresponding nuts, moving the gear drive mechanism 901 and the planetary gear drive mechanism 903 to the hinge point matching the posture. Then, the second brake drive motor 903-2 drives the central gear 903-3 to rotate, which in turn drives the clutch base 903-6 to rotate to the preset angle. The first brake drive motor 901-6 drives the gear 901-5 to rotate, which in turn drives the motor base 901-3-1 to rotate to the preset angle. This causes the servo electric cylinder 906 to rotate to the appropriate position, so that the first part 903-7 of the clutch and the second part 906-1 of the clutch are directly opposite each other. Then, the servo electric cylinder 906 extends, coupling the first part 903-7 of the clutch and the second part 906-1 of the clutch to achieve a rigid connection, thereby keeping the actuator's outer frame 7 stably at the target preset angle.

[0020] As can be seen, this embodiment can disengage the clutch during the large-stroke rotation of the rope to avoid mechanical interference; after reaching the desired position, the clutch is engaged to establish rigid support. The gear drive mechanism 901 and the planetary gear drive mechanism 903 provide both hinged swing freedom and rotational locking via a motor brake. The entire mechanism base moves laterally with the lead screw and nut, adapting to the hinge point position under different deflection angles, avoiding dead points in the mechanism, and ensuring that the support lever arm is always within a reasonable range.

[0021] See Figure 1 , Figure 2 , Figures 10-12 , Figures 23-25 In this embodiment, the actuator vibration suppression module 6 includes a mounting frame. The mounting frame is connected to the inner frame of the actuator outer frame 7 via a parallel robot vibration isolation module 5. The robot module 10 is located at the lower part of the mounting frame. The mounting frame is equipped with a sensor module 608, a counterweight center-of-gravity adjustment mechanism 605 for compensating for changes in the center of gravity of the entire actuator vibration suppression module 6, and a single pendulum vibration damping mechanism 602 for compensating for changes in the vibration torque of the entire actuator vibration suppression module 6. The sensor module 608 includes a six-dimensional force sensor 608. 1 and IMU sensor 608 2. The six-dimensional force sensor 608 1. IMU sensor 608 2. Both the counterweight center of gravity adjustment mechanism 605 and the pendulum vibration damping mechanism 602 are connected to a data processing module; the data processing module can adjust the data based on the six-dimensional force sensor 608. 1 and IMU sensor 608 The detection data of module 2 controls the operation of the counterweight center of gravity adjustment mechanism 605 and the single pendulum vibration damping mechanism 602, so that the overall structure formed by the connection between the actuator vibration suppression module 6 and the robot module 10 remains stable. In this embodiment, the parallel robot vibration isolation module 5 serves as a vibration isolation connection structure to isolate the shaking and impact disturbances generated on the actuator's external frame 7 side, allowing the mounting frame 601 to undergo a small decoupling motion relative to the actuator's external frame 7. Only a small amount of residual disturbance can penetrate the vibration isolation module and be transmitted to the inside. The six-dimensional force sensor 608... 1. Collect the three-dimensional force and three-dimensional torque information on the mounting frame 601 to calculate the disturbance torque and the center of mass offset. IMU sensor 608 2. The attitude angle, angular velocity, and angular acceleration of the mounting frame 601 are collected to obtain the original data of vibration and attitude deviation. The counterweight center of gravity adjustment mechanism 605 is a multi-axis screw slide mechanism that can drive the counterweight to move in multiple directions in the plane, suitable for compensating for low-frequency, slowly changing center of gravity drift. The single pendulum vibration damping mechanism 602 is a driveable pendulum vibration damping component, suitable for compensating for high-frequency alternating vibration torque. It outputs a reverse compensation torque through the swing of the pendulum body to cancel the transmitted vibration torque. During the operation of the rope-driven equipment, the rope drive system drives the actuator external frame 7 to complete a large stroke rotation. During attitude adjustment, due to the characteristics of the flexible rope, the outer frame 7 of the actuator will experience swaying, impact, and vibration. The parallel robot vibration isolation module 5 provides initial isolation for the aforementioned external vibrations, with only a small amount of residual disturbance transmitted to the inner mounting frame 601 and robot module 10. At the same time, the joint movements, start-stop, and load changes of the robot module 10 during operation will also cause the center of gravity of the mounting frame 601 assembly to shift, generating additional alternating vibration torque, which in turn degrades the welding accuracy at the end of the robot module 10. During operation, the six-dimensional force sensor 608... 1. Real-time acquisition of force and torque signals acting on the mounting frame 601, using IMU sensor 608. 2. Real-time acquisition of attitude, vibration acceleration, and angular velocity information of the mounting frame 601. The detection data acquired by the two types of sensors are uploaded to the data processing module in real time. The data processing module processes the acquired signals to identify the current overall structure's center of gravity offset, vibration amplitude, vibration frequency, and disturbance torque. When the robot module 10's attitude changes or the workload changes, causing a low-frequency slow drift in the center of gravity of the overall structure composed of the actuator vibration suppression module 6 and the robot module 10, the data processing module calculates the center of gravity offset based on the sensor data and outputs a control signal to drive the counterweight center of gravity adjustment mechanism 605. This drives the counterweight to make a displacement in the corresponding direction in the plane, actively adjusting the overall center of gravity position of the system to counteract the center of gravity drift caused by robot movement and load changes. To eliminate the overturning torque induced by the center of mass shift, and to address the residual disturbances penetrating the vibration isolation module and the high-frequency alternating vibration torque generated by the mechanism's motion, the data processing module, based on the vibration frequency and torque amplitude feedback from the sensors, drives the pendulum vibration suppression mechanism 602 to swing in the corresponding phase and amplitude, outputting a reverse compensation torque to cancel the alternating vibration torque of the system and suppress the vibration amplitude. The parallel robot vibration isolation module 5 achieves primary vibration isolation from large external disturbances. Combined with the low-frequency center of mass correction of the counterweight center of mass adjustment mechanism 605 and the high-frequency torque suppression of the pendulum vibration suppression mechanism 602, multiple methods work together to ultimately maintain the posture stability of the overall structure formed by the actuator vibration suppression module 6 and the robot module 10, reducing the adverse effects of vibration on the robot's end-effector operation accuracy.

[0022] Based on the above embodiments, a more specific embodiment of the present invention is as follows: the mounting frame includes an upper base plate 606, a lower base plate 601, and a vertical column 604. The upper base plate 606 and the lower base plate 601 are arranged vertically opposite each other and are connected by the vertical column 604 to form the mounting frame. The vertical column 604 is connected to the inner frame of the actuator's outer frame 7 through a parallel robot vibration isolation module 5. The robot module 10 is disposed on the lower surface of the lower base plate 601. The single pendulum vibration damping mechanism 602 and the sensor module 608 are mounted on the upper surface of the lower base plate 601, and the counterweight center of gravity adjustment mechanism 605 is disposed on the upper surface of the upper base plate 606. The sensor module 608 includes an IMU sensor 608. 2 and four six-dimensional force sensors 608 1. IMU sensor 608 2. Four six-dimensional force sensors 608 are positioned at the center of the lower base plate 601. 1. IMU sensor 608 2 are arranged in a circle at a 90-degree angle around the center; on the lower base plate 601, each six-dimensional force sensor 608 The single pendulum vibration damping mechanism 602 is installed at each of the four locations. The four sets of single pendulum vibration damping mechanisms 602 are arranged in a circle at a 90-degree angle around the sensor module 608 on the lower base plate 601. Each set of single pendulum vibration damping mechanisms 602 includes a fourth servo drive motor 602 installed on the lower base plate 601. 4. The fourth servo drive motor 602 The output shaft of 4 is connected to a simple pendulum 602. 1; The fourth servo drive motor 602 on the upper base plate 606 of the two adjacent sets of single pendulum damping mechanisms 602 The counterweight center of gravity adjustment mechanism 605 is installed at the corresponding position above the angle bisector of the four axes. Each set of counterweight center of gravity adjustment mechanism 605 includes a lead screw and nut assembly and a fifth servo drive motor 605. 2 and counterweight 605 5. The lead screw of the lead screw assembly is driven by the fourth servo drive motor 602 of the two adjacent sets of single pendulum damping mechanisms 602. The corresponding position is set above the angle bisector of the 4-axis, and the lead screw of the lead screw and nut assembly is connected to the fifth servo drive motor 605. The output shaft of 2 is connected, and a counterweight 605 is connected to the nut of the lead screw nut assembly. 5; Fourth servo drive motor 602 4 and the fifth servo drive motor 605 Both 2 are connected to the data processing module.

[0023] See Figure 9 , Figure 10 , Figure 13 , Figure 16 , Figures 23-25In this embodiment, the parallel robot vibration isolation module 5 includes a parallel robot platform base 502 connected to the actuator external frame 7, a parallel robot platform upper platform 504 connected to the actuator vibration suppression module 6, and six identical parallel robot platform electric telescopic rods 501 disposed between the parallel robot platform base 502 and the parallel robot platform upper platform 504. Each parallel robot platform electric telescopic rod 501 has a universal joint 503 connected to both ends. The universal joint 503 is connected to the parallel robot platform base 502 and the parallel robot platform upper platform 504 through the universal joint base. The axes of the six identical parallel robot platform electric telescopic rods 501 are along six different directions to filter the six-dimensional torque generated by the overall structure formed by connecting the actuator vibration suppression module 6 and the robot module 10. During operation, the actuator's external frame 7 experiences swaying, impact, and six-dimensional vibration disturbances due to the cable drive. These external disturbances are transmitted to the parallel robot platform base 502. Six electric telescopic rods 501, arranged in different directions, achieve multi-degree-of-freedom attitude decoupling through universal joints 503 at both ends. Through the coordinated telescopic motion of each electric telescopic rod 501, the external six-dimensional disturbance displacement and disturbance torque transmitted from the base 502 are actively compensated and filtered, blocking the six-dimensional vibration disturbances from the external frame 7 side from being transmitted to the parallel robot platform 504 and the actuator vibration suppression module 6 and robot module 10 connected to it. Only a small amount of residual disturbance is transmitted to the inner assembly, thus completing the primary active vibration isolation of large external disturbances. This provides a foundation for the rear counterweight center of gravity adjustment mechanism and the single pendulum vibration suppression mechanism to further carry out center of gravity correction and high-frequency torque compensation vibration suppression. Multiple mechanisms cooperate with each other to ensure the operational accuracy of the robot module end.

[0024] See Figure 1 , Figure 2 , Figure 12 , Figures 23-25 In this embodiment, the robot module includes a lead screw and nut assembly, an eighth servo drive motor 1003, and a six-degree-of-freedom welding robot 1004. Both the lead screw and nut assembly and the eighth servo drive motor 1003 are mounted on the lower surface of the actuator vibration suppression module 6. The output shaft of the eighth servo drive motor 1003 is connected to the lead screw of the lead screw and nut assembly, and the six-degree-of-freedom welding robot 1004 is connected to the nut of the lead screw and nut assembly. During operation, the eighth servo drive motor 1003 drives the lead screw of the lead screw and nut assembly to rotate. The lead screw drives the nut, along with the six-degree-of-freedom welding robot 1004, to achieve linear position adjustment, thereby adjusting the working reference position of the six-degree-of-freedom welding robot 1004. Based on this adjustment, the six-degree-of-freedom welding robot 1004 then performs its own multi-degree-of-freedom welding operations, expanding its working range and degrees of freedom.

[0025] In the above-described scheme of the present invention, the system frame 2 (including the left system frame 2-1 and the right system frame 2-2) can move left and right, and its lower part is connected to the guide rail module 1. Specifically, the system frame 2, as the moving slider of the ball screw module in the guide rail module 1, can be driven and controlled to move by the first servo drive motor 101 to realize the transformation of the system frame shape. The welding machine and control cabinet are installed on the base of the system frame, providing energy power for the movement and welding of the four six-degree-of-freedom welding robots. The cable exit point position adjustment module 3 is used to change the position of the eight cable exit points in their respective vertical directions. The end effector rope drive module 8 is installed on the upper surface of the base of the system frame 2 by bolts. The rope is connected to the eight first lifting rings 706 of the bistable support mechanism 9 of the actuator through the cable exit point position adjustment module 3, providing power for the movement of the end effector. The end effector flipping module 4 is installed horizontally on the platform above the system frame 2, and its two ends are connected to the system frame by bolts, which is used to provide the end effector with the power to flip ninety degrees. The end effector flipping rope drive module 407 can synchronously follow the end effector to move horizontally. The actuator vibration suppression module 6, the parallel robot vibration isolation module 5, the actuator external frame 7, and the robot module 10 together constitute the end effector of the multi-mode reconfigurable rigid-flexible coupling welding robot system of the present invention. The actuator bistable support mechanism 9 is installed at opposite ends of the actuator external frame 7 (e.g., Figure 16 (as shown on the left and right ends) to ensure the stability of the end effector.

[0026] like Figure 2 As shown, the present invention transforms into a side welding working mode by moving the system frame 2 and rotating and moving the end effector 90 degrees forward. To more clearly illustrate the embodiments, a brief description is given below. Figure 1 The initial working mode shown is transformed into Figure 2 The following is the flow chart for the side welding operation mode: 1) System frame form transformation: The system frame located on the right moves longitudinally to the left along the first guide rail 104 of the guide rail module. When it moves to the appropriate position, the ball screw module stops driving, thus completing the form transformation of the system frame. 2) End-effector configuration transformation: The end-effector flipping module 4 on the left side drives the end-effector flipping rope drive module to tension and retract the rope, while the end-effector flipping module 4 on the right side drives the end-effector flipping rope drive module to tension and release the rope, providing flipping torque for the end-effector and causing it to flip. Furthermore, the positions of the gear drive mechanism 901 and the planetary gear drive mechanism 903 are adjusted using the upper frame lead screw and nut structure 708-1, upper lead screw and nut structure 904-1-1, lower lead screw and nut structure 904-1-2, and lower frame lead screw and nut structure 701-1, thereby fine-tuning the left and right positions of the end-effector. Once the end-effector is fully in position, the gear drive mechanism 901, servo electric cylinder 906, clutch, and planetary gear drive mechanism 903 work together to lock the end-effector's orientation.

[0027] like Figure 3 As shown, the guide rail module 1 in this embodiment includes a system support base 106, two identical first servo drive motors 101, a first flexible coupling 102, a first double-row angular contact ball bearing 103, a first lead screw 105, and a first guide rail 104. Two sets of ball screw modules are provided to independently drive the movement of the two system frames. The two first guide rails 104 are symmetrically mounted on the upper surface of the system support base 106 by bolts. The first double-row angular contact ball bearings 103 are installed in bearing holes located at the front and rear of the system support base 106 to support the rotation of the lead screw. The lead screw passes through the inner holes of the two bearings. The first servo drive motor 101 is connected to the first lead screw 105 via the first flexible coupling 102 and is bolted to the surface of the system support base 106 to drive the lead screw rotation.

[0028] like Figure 4 As shown, each column of the system frame 2 is installed directly above the guide rail module 1. The four column frames serve as sliders for the ball screw modules, and are driven by the ball screw modules individually. The base of the column frame is symmetrical about the center plane, except that the position of the screw connection hole is different. The side not connected to the screw is provided with an arc to prevent interference with the screws of other ball screw modules.

[0029] like Figure 5 As shown, the cable exit point position adjustment module 3 in this embodiment includes a second servo drive motor 301, a second lead screw 303, a first deep groove ball bearing 305, a plum blossom type coupling 306, a guide rail baffle 307, and four identical second guide rails 302. Two second guide rails 302 are used as a group to install the adaptive rope angle adjustment mechanism 304.

[0030] Four identical second guide rails 302 are vertically mounted on the column of the system frame 2 by bolts. Two identical guide rail baffles 307 are attached to the upper and lower end faces of the second guide rails 302 and are mounted on the column by bolts. The guide rail baffles 307 are provided with bearing mounting holes for supporting the rotation of the lead screw. The lead screw is installed by passing through the inner holes of the two bearings. The second servo drive motor 301 is connected to the second lead screw 303 through a plum blossom type coupling 306 and is mounted on the column of the system frame 2 by bolts. It is used to drive the second lead screw 303 to rotate, thereby realizing the adaptive rope angle adjustment mechanism 304 sliding along the second guide rails 302 in the vertical direction.

[0031] like Figure 6 As shown, the adaptive rope angle adjustment mechanism 304 in this embodiment includes an angle adjustment mechanism mounting base 304-1, an angular contact ball bearing 304-2, a circumferential rotation base 304-3, a pitch rotation base 304-4, two identical first fixed pulleys 304-5, a circumferential rotation angle encoder 304-6, a pitch rotation shaft 304-7, a pitch rotation angle encoder 304-8, and a wiring fixed pulley 304-9. The angular contact ball bearing 304-2 is mounted on the hollow column of the angle adjustment mechanism mounting base 304-1. The circumferential rotation base 304-3 is mounted on the angular contact ball bearing 304-2 through the bearing mounting hole at the bottom. The circumferential rotation base 304-3 has a vertical rope through hole inside. The pitch shaft 304-7 passes through the circumferential rotation base 304-3, the pitch rotation base 304-4, and the wiring pulley 304-9, supporting the rotation of the pitch rotation base 304-4 and the wiring pulley 304-9. The pitch rotation angle encoder 304-8 is mounted on the side supporting the pitch rotation base 304-4 and is used to measure the pitch angle of the rope. The circumferential rotation angle encoder 304-6 is mounted on the upper end face of the circumferential rotation base 304-3 and is used to measure the circumferential deflection angle of the rope.

[0032] The rope led out from the end effector rope drive module 8 passes through the hollow column of the angle adjustment mechanism mounting base 304-1, the vertical rope through hole inside the circumferential rotating base 304-3, around the wiring fixed pulley 304-9, through the gap between two identical first fixed pulleys 304-5, and connects to the second lifting ring 904-11 of the actuator bistable support mechanism 9.

[0033] like Figure 7As shown, the end effector flipping module 4 in this embodiment includes a third servo drive motor 401, a first rigid coupling 402, a first guide rail block 403, a third lead screw 404, an embedded guide rail groove bearing base 405, a ball screw slider 406, an end effector flipping rope drive module 407, and two second deep groove ball bearings 408. The first guide rail stop 403 is bolted to the left end face of the embedded guide rail groove support base 405, fitting against the guide rail termination surface to prevent the slider from exceeding the guide rail. The first guide rail stop 403 has through holes, and two second deep groove ball bearings 408 are installed in the through holes at both ends of the first guide rail stop 403, with the bearing end faces flush with the stop end faces, supporting the rotation of the lead screw. The third lead screw 404 is installed through the inner holes of the two second deep groove ball bearings 408. The third servo drive motor 401 is connected to the third lead screw 404 via a first rigid coupling 402 and bolted to the surface of the embedded guide rail groove support base 405 to drive the rotation of the third lead screw 404. This allows the entire assembly, consisting of the ball screw slider 406 and the end effector flip rope drive module 407, to slide along the guide rail of the embedded guide rail groove support base 405. This overall movement is synchronized with the lateral movement of the end effector. Figure 8 As shown, the end effector flip rope drive module 407 is bolted directly below the ball screw slider 406 and moves together with the ball screw slider 406. The end effector flip rope drive module 407 includes a vertical wiring pulley 407-1, a first rope drum 407-2, a second rigid coupling 407-3, a module component support platform 407-4, and a first stepper drive motor 407-5. The first rope drum 407-2 is bolted to the surface of the module component support platform 407-4, with its end face fitting against the end face of the module component support platform. The first stepper drive motor 407-5 is connected to the first rope drum 407-2 via the second rigid coupling 407-3 and is bolted to the surface of the module component support platform 407-4, driving the first rope drum 407-2 to wind and unwind the rope. All these identical components are symmetrically mounted on the surface of the module component support platform 407-4 about a central plane. The rope, drawn from the first reel 407-2, passes over two identical vertical wiring pulleys 407-1 and connects to the first lifting ring 706 in the actuator's outer frame 7. Figure 1 Taking the orientation shown as an example, the overall structure and components of the end effector flipping module 4 on the left and right sides are completely identical. The only difference is that the horizontal width (i.e., the upper left and lower right direction) of the module component carrying platform in the end effector flipping rope drive module is designed differently. The purpose of the different width design is to prevent the ropes led out from the front left and right end effector flipping modules from interfering with each other.

[0034] like Figure 9As shown, the parallel robot vibration isolation module 5 of this embodiment includes six identical parallel robot platform electric telescopic rods 501, a parallel robot platform base 502, universal joints 503, and a parallel robot platform upper platform 504. The surfaces of both the parallel robot platform base 502 and the parallel robot platform upper platform 504 are provided with six identical universal joint bases. The other end of each universal joint is fixedly connected to the motor end of the parallel robot platform electric telescopic rod 501. The parallel robot platform base 502 is connected to the connecting plate 707 in the actuator outer frame 7 by bolts, and the parallel robot platform upper platform 504 is connected to the connecting plate 607 in the actuator vibration suppression module 6 by bolts. See also... Figure 16 Each corner of the actuator's external frame 7 will be equipped with a parallel robot vibration isolation module 5. When vibration occurs outside the end effector, the four parallel robot platforms (i.e., the parallel robot vibration isolation modules 5) will generate four six-dimensional torques, effectively filtering the vibration and ensuring that the end effector is not disturbed by external factors.

[0035] like Figures 10-12 As shown, the actuator vibration suppression module 6 of this embodiment includes a lower base plate 601 and an upper base plate 606 with identical structures, four sets of single pendulum vibration suppression mechanisms 602, several first 90-degree connecting brackets 603, eight first vertical columns 604, four sets of counterweight center-of-gravity adjustment mechanisms 605, four first connecting plates 607, and a sensor module 608. The upper and lower base plates are fixedly connected at their four corners by eight first vertical columns 604 and several first 90-degree connecting brackets 603. The four first connecting plates 607 are bolted to the four corners of the upper and lower base plates. The counterweight center-of-gravity adjustment mechanisms 605 are bolted to the upper surface of the upper base plate 606 in a circumferential arrangement at 90-degree intervals. The single pendulum vibration suppression mechanisms 602 and the sensor module 608 are mounted on the upper surface of the lower base plate 601. The single pendulum vibration suppression mechanisms 602 are arranged in a circumferential arrangement at 90-degree intervals, and the sensor module 608 is bolted to the center of the upper surface of the lower base plate 601.

[0036] like Figure 11 As shown, the pendulum vibration damping mechanism 602 includes four identical pendulums 602-1, a bearing support plate 602-2, a third rigid coupling 602-3, a fourth servo drive motor 602-4, and a thrust ball bearing 602-5. The bearing support plate 602-2 is bolted to corresponding grooves in the upper and lower base plates. The bearing support plate 602-2 has bearing mounting holes, and the thrust ball bearing 602-5 is installed in these holes. The pendulum 602-1 passes through the inner hole of the thrust ball bearing 602-5 and is connected to the fourth servo drive motor 602-4 via the third rigid coupling 602-3. The fourth servo drive motor 602-4 is bolted to the corresponding boss surface of the lower base plate.

[0037] like Figure 12 As shown, the counterweight center-of-gravity adjustment mechanism 605 includes four identical fourth lead screws 605-1, four identical fifth servo drive motors 605-2, four identical fourth rigid couplings 605-3, eight identical second guide rail baffles 605-4, four identical counterweights 605-5, eight identical first thrust ball bearings 605-6, and eight identical third guide rails 605-7. The second guide rail baffles 605-4 are bolted to the upper surface of the upper base plate 606, with the end face of the outer guide rail baffle fitting against the end face of the upper base plate. The two third guide rails 605-7 are symmetrically installed, with the axis of symmetry being the center line of the outer guide rail baffle. The end face of the inner guide rail baffle fits against the inner surface of the outer guide rail baffle, and the inner guide rail baffle fits against the other end face of the two third guide rails 605-7. The mechanism is bolted to the upper surface of the upper base plate 606. The counterweights 605-5 are installed along the guide rails. The second guide rail baffles 605-4... The inner bearing mounting holes are provided. Two first thrust ball bearings 605-6 are installed in the mounting holes of the second guide rail baffle 605-4 to support the rotation of the lead screw. The fourth lead screw 605-1 is installed through the inner holes of the two first thrust ball bearings 605-6. The fifth servo drive motor 605-2 is connected to the fourth lead screw 605-1 through the fourth rigid coupling 605-3 and is installed on the upper surface of the upper base plate 606 by bolts to drive the lead screw to rotate and realize the movement of the counterweight 605-5.

[0038] The sensor module 608 includes four six-dimensional force sensors 608-1 and one IMU sensor 608-2. The IMU sensor 608-2 is mounted at the center of the module, and the four six-dimensional force sensors are equidistantly distributed at the four positions of the IMU sensor. The IMU sensor 608-2 is used to detect the change data of the center of mass of the end effector, and the four six-dimensional force sensors are used to detect the vibration torque data.

[0039] To more clearly illustrate the embodiments, the workflow of the actuator vibration suppression module 6 is briefly described below: 1) When the sensor module 608 detects that the end effector generates an abnormal vibration, it transmits the data back to the control center. The control center, as a data processing module, generates the execution information of each component in the actuator vibration suppression module 6 based on the preset vibration suppression mathematical model and the vibration data. 2) In the four sets of pendulum vibration damping mechanisms, the servo drive motor drives the pendulum to rotate, and in the four sets of counterweight center of mass adjustment mechanisms, the servo drive motor drives the counterweight to move, respectively compensating for the vibration torque and changes in the center of mass, and ensuring the stability of the end effector.

[0040] like Figure 13As shown, the actuator external frame 7 in this embodiment includes a lower frame 701, several second 90-degree connecting brackets 702, four identical second vertical columns 703, anti-interference pulleys 704, eight identical fourth guide rails 705, four identical first lifting rings 706, a second connecting plate 707, an upper frame 708, four identical bearing mounting plates 709, eight identical third guide rail baffles 710, eight identical second thrust ball bearings 711, four identical second elastic couplings 712, a fifth lead screw 713, and a sixth servo drive motor 714. The actuator external frame 7 and the actuator vibration suppression module 6 are connected through a parallel robot vibration isolation module 5. The parallel robot platform base is connected to the second connecting plate 707 in the actuator external frame 7 by bolts, and the platform of the parallel robot platform is connected to the second connecting plate 607 in the actuator vibration suppression module 6 by bolts. The lower frame 701 and the upper frame 708 are connected by a second vertical column 703 and several second 90-degree connecting brackets 702. An anti-interference pulley 704 is bolted to the boss of the upper frame 708. A fourth guide rail is bolted to the corner of the upper and lower frames, with guide rails installed on both sides of the corner to ensure the sliding stability of the slider. The first lifting ring 706 is screwed into the threaded hole of the boss of the upper frame 708 to complete the connection. The second connecting plate 707 is installed in the corresponding positions of the upper and lower frames through several 135° connecting brackets. The bearing mounting plate 709 is bolted to the upper and lower frames. In the corresponding groove, the third guide rail baffle 710 is installed on the two end faces of the guide rail and is bolted to the corner surface of the upper frame. The third guide rail baffle 710 is provided with bearing mounting holes. The second thrust ball bearing 711 is installed in the bearing mounting holes of the guide rail baffle. The fifth lead screw 713 is installed through the inner holes of the two second thrust ball bearings 711. The sixth servo drive motor 714 is connected to the fifth lead screw 713 through the second elastic coupling 712 and is bolted to the corresponding groove of the upper frame 708 to drive the fifth lead screw 713 to rotate, thereby realizing the movement of the planetary gear drive mechanism 903 along the fourth guide rail 705.

[0041] like Figure 14As shown, the end effector rope drive module 8 in this embodiment includes a second rope drum 801, a fifth rigid coupling 802, a first step drive motor 803, a rope tensioning mechanism 804, three identical horizontal wiring pulleys 805, and a vertical wiring pulley 806. The first step drive motor 803 is fixedly connected to the upper surface of the steel structure column base by bolts, with the end face of the motor base fitting against the end face of the steel structure column base. The second rope drum 801 is connected to the output shaft of the first step drive motor 803 through the fifth rigid coupling 802 and is bolted to the upper surface of the steel structure column base to drive the second rope drum 801 to wind and unwind the rope. The rope tensioning mechanism 804 is fixedly installed on the upper surface of the steel structure column base by bolts, parallel to the first step drive motor 803, and has a fixed interval distance. Three horizontal wiring pulleys 805 are bolted to the upper surface of the steel structure column base according to the rope path. The vertical wiring pulley 806 is bolted directly below the adaptive rope angle adjustment mechanism 304 of the cable exit point position adjustment module 3, and is tangent to the projection circle of the hollow column of the angle adjustment mechanism mounting base 304-1 on the upper surface of the steel structure column base. All the same components are symmetrically installed about the center face of the steel structure column at the other end of the upper surface of the steel structure column base. The rope is drawn out from the second rope drum 801, passes sequentially through the horizontal wiring pulley, the rope tensioning mechanism, two horizontal wiring pulleys, and the vertical wiring pulley, passes through the hollow column of the angle adjustment mechanism mounting base 304-1, the vertical rope through hole inside the circumferential rotating base 304-3, goes around the wiring fixed pulley 304-9, passes through the gap between two identical first fixed pulleys 304-5, and connects to the second lifting ring 904-11 of the actuator bistable support mechanism 9.

[0042] like Figure 15As shown, the rope tensioning mechanism 804 in this embodiment includes a rail base 804-1, a tensioning wheel sliding base 804-2, a fourth guide rail baffle 804-3, a tensioning wheel 804-4, and five identical springs 804-5. In the rope tensioning mechanism 804, the rail-integrated base 804-1 is fixedly installed on the upper surface of the steel structure column base by bolts, and the tensioning wheel sliding base 804-2 is installed on the guide rail of the rail-integrated base and can move along the guide rail of the rail-integrated base; the fourth guide rail baffle 804-3 is fixedly installed on the upper surface of the steel structure column base by bolts, and the end face of the guide rail baffle is in contact with the end face of the rail-integrated base 804-1 to prevent the tensioning wheel sliding base 804-2 from detaching from the guide rail; the upper surface of the tensioning wheel sliding base 804-2 is provided with a cylindrical boss, and the tensioning wheel 804-4 is installed on the cylindrical boss of the tensioning wheel sliding base 804-2; one end of the five springs 804-5 is connected to the connecting column of the tensioning wheel sliding base 804-2, and the other end is connected to the connecting column of the rail-integrated base 804-1. During operation, spring 804-5 remains taut at all times. When the ropes become slack, the tension wheel sliding base 804-2 will move along the guide rail due to the unbalanced force, entering another stable tension balance state, ensuring that all eight ropes remain taut at all times.

[0043] like Figure 16 As shown, in this embodiment, the actuator bistable support mechanism 9 is symmetrically mounted on both ends of the actuator's outer frame 7 via second double-row angular contact ball bearings 902. The actuator bistable support mechanism 9 in this embodiment includes four identical gear drive mechanisms 901, two identical second double-row angular contact ball bearings 902, four identical planetary gear drive mechanisms 903, two identical mechanism support bodies 904, eight identical set screws 905, and four identical servo electric cylinders 906. Figure 17 , Figure 18As shown, the main support mechanism 904 is divided into inner and outer parts by the main support plate 904-1. The inner part includes a bearing support slider 904-2, four identical inner guide rail blocks 904-3, and two identical inner mounting guide rails 904-4. The outer part includes four identical outer mounting guide rails 904-5, an outer lead screw 904-6, two identical third elastic couplings 904-7, two identical seventh servo drive motors 904-8, four identical fourth thrust ball bearings 904-9, and four identical outer guide rail baffles 904-10. In the main support mechanism 904, two inner mounting guide rails 904-4 are symmetrically mounted vertically and centered laterally on the inner side of the main support plate 904-1. The bearing support slider 904-2 is mounted on the guide rails, forming a slider-guide rail combination. Inner guide rail stops 904-3 are installed at both ends of the guide rails to prevent the bearing support slider 904-2 from detaching from the guide rails 904-4. The outer mounting guide rails 904-5 are symmetrically mounted vertically and centered laterally on the outer side of the main support plate 904-1 by bolts. The outer guide rail baffle 904... -10 is installed at both ends of the guide rail and fits against the end face of the guide rail. The outer guide rail baffle 904-10 is provided with bearing mounting holes. The fourth thrust ball bearing 904-9 is installed in the bearing mounting holes. The outer lead screw 904-6 is installed through the inner holes of the two fourth thrust ball bearings 904-9. The seventh servo drive motor 904-8 is connected to the outer lead screw 904-6 through the third elastic coupling 904-7 and is installed in the groove on the outside of the main bearing plate 904-1 by bolts. It is used to drive the outer lead screw 904-6 to rotate and realize the movement of the gear drive mechanism 901.

[0044] like Figure 21As shown, the gear drive mechanism 901 includes a slider base 901-1 with guide rail groove, a second thrust ball bearing 901-2, a motor base gear 901-3, a gear fixing plate 901-4, a gear 901-5, a second brake drive motor 901-6, and a motor base 901-3-1. In the gear drive mechanism 901, the second brake drive motor 901-6 is bolted to the lower surface of the slider base 901-1 with guide rail groove. The gear 901-5 is connected to the output shaft of the second brake drive motor 901-6 and its circumferential rotation is restricted by a key. The gear fixing plate 901-4 is bolted to the output shaft of the second brake drive motor 901-6 to prevent the gear from disengaging. The second thrust ball bearing 901-2 is mounted on the cylinder of the slider base 901-1 with guide rail groove. The motor base 901-3-1 is fixedly connected to the motor base gear 901-3. The bottom of the motor base gear 901-3 is provided with a bearing mounting hole. The motor base gear 901-3 is mounted on the second thrust ball bearing 901-2. At the same time, the motor base gear and the gear 901-5 mesh. Driven by the second brake drive motor 901-6, the gear 901-5 rotates, which meshes and drives the motor base gear 901-3 to rotate, thereby driving the motor base 901-3-1 to rotate.

[0045] In the actuator bistable support mechanism 9, the second double-row angular contact ball bearing 902 is mounted on the bearing mounting plate 709, and the bearing support slider 904-2 in the mechanism bearing body 904 is mounted on the second double-row angular contact ball bearing 902; the planetary gear drive mechanism 903 is mounted on the guide rail 705 of the actuator outer frame 7. The base of this mechanism has a guide rail groove and a lead screw mating hole. Driven by the sixth servo drive motor 714, the planetary gear drive mechanism 903 can move along the guide rail; the gear drive mechanism 901 is mounted on the guide rail 904-5 on the outside of the main bearing plate 904-1 in the mechanism bearing body 904. The base of this mechanism has a guide rail groove and a lead screw mating hole. Driven by the seventh servo drive motor 904-8, the gear drive mechanism 901 can move along the guide rail; see also Figure 22 as well as Figure 25 The motor end of the servo electric cylinder 906 is bolted to the motor base gear 901-3 of the gear drive mechanism 901, and the other end is bolted to the second part of the clutch 906-1. In operation, the second part of the clutch 906-1 remains connected to the first part of the clutch 903-7. During mode transitions, the master and slave parts of the clutch (i.e., the second part of the clutch 906-1 and the first part of the clutch 903-7) are disconnected to prevent mechanism lock-up.

[0046] According to the above structure, the actuator bistable support mechanism 9 of the present invention can drive the actuator outer frame 7 to move, so that the overall structure formed by the actuator outer frame 7, the actuator vibration suppression module 6 and the robot module 10 is moved to a position close to the left side of the left system frame 2-1 (e.g., Figure 2 (As shown) or near the right side of the right system frame 2-2, to further increase the range of motion of the robot module 10. Figure 2 Taking the scenario shown as an example, the process by which the bistable support mechanism 9 of the actuator can drive the external frame 7 of the actuator to move is described as follows: When the main bearing board 904 When the actuator's outer frame 7 rotates to a preset angle and remains stable under the action of the actuator's bistable support mechanism 9, the first brake drive motor 901-6 in the gear drive mechanism 901 connected to the first telescopic mechanism and the second brake drive motor 903-2 in the planetary gear drive mechanism 903 act simultaneously, ensuring that the motor base 901-3-1 and the clutch base 903-6 do not rotate. The motor in the upper frame screw nut structure 708-1 stops driving, ensuring that the planetary gear drive mechanism 903 connected to the first telescopic mechanism does not move along the guide rail. The motor in the upper screw nut structure 904-1-1 drives, causing the gear drive mechanism 901 connected to the first telescopic mechanism to move along the guide rail. The track movement provides driving force for the overall forward movement of the actuator's external frame 7, the actuator vibration suppression module 6 connected to it, and the robot module 10. Simultaneously, the gear drive mechanism 901 connected to the second telescopic mechanism and the brake drive motor base 901-3-1 and clutch base 903-6 in the planetary gear drive mechanism 903 rotate to prevent structural jamming during forward movement. During this process, the clutch 903-10 connected to the second telescopic mechanism disengages, and the motor in the lower screw nut structure 904-1-2 drives the gear drive mechanism 901 connected to the second telescopic mechanism to move along the guide rail to the target position. Then, the clutch 903-10 connected to the second telescopic mechanism engages, completing the forward movement. In the aforementioned control process, the cable exit point position adjustment modules and the end effector flipping module work together to adaptively extend and retract the rope.

[0047] like Figure 23 As shown, the robot module 10 is installed directly below the actuator vibration suppression module 6 and is bolted to the lower surface of the lower base plate 601 in the actuator vibration suppression module. This direct connection to the actuator vibration suppression module ensures the stability of the multi-robot system during welding operations.

[0048] like Figure 24As shown, the robot module 10 in this embodiment includes four identical fourth thrust ball bearings 1001, a sixth lead screw 1002, an eighth servo drive motor 1003, a six-degree-of-freedom welding robot 1004, a fifth rigid coupling 1005, a movable slider 1008, and eight identical fifth guide rails 1006 and fifth guide rail baffles 1007. The fifth guide rail baffles 1007 are bolted to the lower surface of the lower base plate 601. The end face of the outer guide rail baffle is flush with the end face of the lower base plate. Two fifth guide rails 1006 are symmetrically installed, with the axis of symmetry being the center line of the outer guide rail baffle. The end face of the inner guide rail baffle is flush with the inner surface of the outer guide rail baffle. The inner guide rail baffle is flush with the other end face of the two fifth guide rails 1006 and bolted to the lower surface of the lower base plate 601. The six-degree-of-freedom welding robot 1004 is bolted to the upper surface of the movable slider 1008 and moves with the movable slider 1008. Bearings are installed within the fifth guide rail baffles 1007. Two fourth thrust ball bearings 1001 are installed in the mounting holes of the fifth guide rail baffle 1007 to support the rotation of the lead screw. The sixth lead screw 1002 is installed through the inner holes of the two fourth thrust ball bearings 1001. The eighth servo drive motor 1003 is connected to the sixth lead screw 1002 through the fifth rigid coupling 1005 and is bolted to the lower surface of the lower base plate 601 to drive the lead screw to rotate, thereby realizing the movement of the six-degree-of-freedom welding robot 1004. Driven by four sets of ball screw modules, the working space coverage area of ​​multiple robots can be arbitrarily changed, improving the working robustness of the system.

[0049] In summary, this invention designs a multi-mode reconfigurable rigid-flexible coupling welding robot system, which can flexibly switch between two modes, significantly improving the system's adaptability to complex weldments; the reconfigurable rigid-flexible coupling structure significantly improves the dynamic performance of the welding robot system and the flexibility of workspace adjustment; the adjustable multi-robot system enriches the welding operation methods of the system and significantly improves the system's work efficiency.

[0050] This embodiment discloses a working method for the above-mentioned multi-mode reconfigurable rigid-flexible coupling welding robot system, such as... Figure 27 As shown, the process is as follows: S1, Initialize the welding robot system and test the sensor system; S2, the cloud-deployed welding system sends the structural model and pose information of the weldment to the system control center; S3, the system control center extracts weld seams based on the model of the weldment using a weld seam extraction algorithm, and filters out the actual weld seams according to the welding process information; S4. Based on the structure of the weldment, the actual weld is divided into "side-welding type" weld group and "overhead welding type" weld group. S5, the system control center determines the current weld group type; S6, for "side-welded" weld seams, the ball screw module in the guide rail module drives the system frame to move longitudinally, realizing the shape transformation of the system frame. The end effector flipping module drives the end effector to flip 90 degrees. After the flip is completed, the actuator bistable support mechanism drives the actuator to move forward to the front surface of the frame, while ensuring the stability of the actuator structure; for "top-welded" weld seams, this step is skipped. S6, Based on the spatial distribution of the weld seams, the weld seams are evenly distributed into several working areas; S7, combining the different weld seam welding area location distributions with the initial position of the welding robot, uses an optimization algorithm to generate the optimal welding sequence; S8, the end effector rope drive module drives eight ropes, and the ball screw module in the end effector flip drive module drives them synchronously, moving the end effector to the vicinity of the first welding area. During the movement, the position distribution of the eight ropes is adjusted by the rope point adjustment module to ensure that the ropes do not interfere with the weldment; S9, based on the area of ​​the target welding area, adjusts the working area coverage of four six-degree-of-freedom welding robots by driving the ball screw module in the multi-robot system module, so that the working area coverage of the welding robots is greater than or equal to the area of ​​the target welding area. S10, combining the weld seam location distribution within the welding area with the base position information of the four six-degree-of-freedom welding robots, the weld seam is assigned to the four six-degree-of-freedom welding robots using a multi-robot task allocation algorithm. S11, based on the structural features of the weldment, the distribution of weld seam positions, and the kinematic model of the six-degree-of-freedom welding robot, generates the motion trajectory of each robot through trajectory planning and obstacle avoidance algorithm. During the welding operation, the actuator vibration suppression module performs real-time vibration suppression through the system vibration suppression method. S12, the welding operation is completed and the system returns to its initial zero state.

[0051] This embodiment discloses a vibration suppression method for the aforementioned multi-mode reconfigurable rigid-flexible coupling welding robot system, such as... Figure 27 As shown, the process is as follows: S1, The IMU sensor in the sensor module detects the actuator's attitude angle, angular velocity, and angular acceleration. ,in The angle of rotation of the actuator around the X-axis is called the roll angle. The angle of rotation of the actuator around the Y-axis is called the pitch angle, which can be used to determine the degree of tilt around the X and Y axes; These represent the angular velocities of the actuator as a whole around the X and Y axes, respectively, which can be used to determine the speed of vibration around the X and Y axes; These represent the angular accelerations of the actuator as a whole around the X-axis and Y-axis, respectively.

[0052] S2, based on the data transmitted back from the sensors, the system control center generates the execution information of the counterweight center of mass adjustment mechanism and the single pendulum vibration suppression mechanism in the actuator vibration suppression module 6 through a preset vibration suppression mathematical model; specifically, based on the data transmitted back from the sensors, the system control center calculates the current resultant torque acting on the center point of the platform as follows:

[0053] The position vector of the six-dimensional force sensor relative to the center:

[0054] in, This represents the installation coordinates of the i-th (i=1,2,3,4) six-dimensional force sensor in the X direction. This represents the installation coordinates of the i-th (i=1,2,3,4) six-dimensional force sensor in the Y direction. This represents the installation coordinates of the i-th (i=1,2,3,4) six-dimensional force sensor in the Z direction.

[0055] The triaxial force detected by the i-th (i=1,2,3,4) six-dimensional force sensor:

[0056] in, This represents the force in the X direction detected by the i-th (i=1,2,3,4) six-dimensional force sensor. This represents the force in the Y direction detected by the i-th (i=1,2,3,4) six-dimensional force sensor. This represents the Z-direction force detected by the i-th (i=1,2,3,4) six-dimensional force sensor.

[0057] The triaxial torque detected by the i-th (i=1,2,3,4) six-dimensional force sensor:

[0058] in, This represents the torque around the X-axis detected by the i-th (i=1,2,3,4) six-dimensional force sensor. This represents the torque around the Y-axis detected by the i-th (i=1,2,3,4) six-dimensional force sensor. This represents the torque around the Z-axis detected by the i-th (i=1,2,3,4) six-dimensional force sensor.

[0059] in,

[0060] After unfolding:

[0061]

[0062]

[0063] Since the four six-dimensional force sensors are roughly mounted in the same plane, we can approximate it as follows:

[0064] Then there is

[0065]

[0066] The platform mainly needs to suppress vibrations around the X-axis and Y-axis, therefore, we take:

[0067] The initial torque of the system when it is at rest is:

[0068] The real-time torque during the motion is:

[0069] Therefore, the net disturbance torque detected by the four six-dimensional force sensors is:

[0070] Right now:

[0071]

[0072] Combined with angular acceleration detected by IMU sensor This allows for further dynamic correction of the disturbance torque. Let the equivalent moments of inertia of the system about the X and Y axes be:

[0073] The disturbance torque is obtained as follows:

[0074] Based on the data transmitted back by the sensors, the system control center further calculates the centroid offset: The vertical force detected by the four six-dimensional force sensors is (i=1, 2, 3, 4), then the resultant force in the vertical direction is:

[0075] Since the vertical dynamic acceleration is very small and can be ignored, the coordinates of the actuator pressure center can be approximated as:

[0076]

[0077] During the welding process, the vibration amplitude of the actuator platform is relatively small, therefore it can be approximated as follows:

[0078]

[0079] Therefore, the position of the centroid can be estimated as follows:

[0080]

[0081] Assume the initial equilibrium position of the system's center of mass is:

[0082] The centroid offset is then:

[0083]

[0084] The corresponding centroid shift moment is:

[0085]

[0086] Where M is the total mass of the entire device.

[0087] Therefore, to counteract the centroid shift, the required reverse compensation torque is:

[0088]

[0089] Written in matrix form:

[0090] The dynamic model of the overall actuator structure's swaying about the X and Y axes can be written as:

[0091] In the formula, on the left side:

[0092]

[0093]

[0094] The right side of the formula: The disturbance torque caused by the robot's motion, The compensating torque generated by the counterweight The compensating torque generated by the pendulum, where .

[0095] Assume the target compensation torque that the system needs to generate is ,but

[0096] The target compensation torque can be composed of four parts:

[0097] The first part is the disturbance torque cancellation term:

[0098] The second part is the posture recovery item:

[0099] The third part is the angular velocity damping term:

[0100] The fourth part is the centroid offset correction term:

[0101] In conclusion,

[0102] in, The attitude recovery control gain matrix is ​​represented by the following formula, where... This represents the attitude recovery gain around the X-axis. This represents the attitude recovery gain around the Y-axis.

[0103]

[0104] This represents the angular velocity damping control gain matrix. The calculation formula is as follows, where... This represents the angular velocity damping gain around the X-axis. This represents the angular velocity damping gain around the Y-axis.

[0105]

[0106] The counterweight moves relatively slowly, making it suitable for compensating for low-frequency, slowly changing, and large-amplitude center-of-mass shifts; the pendulum responds quickly, making it suitable for compensating for high-frequency, rapidly changing swaying torques. Therefore, the target compensation torque is decomposed into:

[0107] in, To distribute the target compensation torque to the four counterweights, The target compensation torque is allocated to the four pendulums.

[0108] Low-pass filtering is used for allocation here:

[0109] k is the number of the discrete control time, indicating the nth time. The allocation coefficient is calculated as follows:

[0110] in, The time constant for counterweight compensation. The control cycle represents the time interval between one "detection-calculation-execution" cycle completed by the control system.

[0111] Assume the position of the j-th counterweight is:

[0112] Its gravity is:

[0113] Then the gravitational torque of the j-th counterweight is:

[0114] Expanded to:

[0115]

[0116] The total compensating torque of the four counterweights is:

[0117]

[0118] In order to generate the target torque in the counterweight:

[0119]

[0120] in, and for The amount.

[0121] The four counterweights are designated as counterweights 1, 2, 3, and 4. Counterweights 1 and 2 move along the X-axis, primarily generating a compensating force around the Y-axis. Counterweights 3 and 4 move along the Y-axis, primarily generating a compensating force around the X-axis. and The X-axis displacement of counterweights 1 and 2. and If the Y-axis displacement of counterweights 3 and 4 is given, then:

[0122]

[0123] By using symmetrical cooperative movement, that is, when two counterweights in the same direction move the same distance, then:

[0124]

[0125] Therefore, the displacement of each counterweight in the counterweight center-of-mass adjustment mechanism for:

[0126]

[0127]

[0128]

[0129] The four pendulums are labeled pendulum 1, 2, 3, and 4, and each pendulum has the same mass. The pendulums are the same length, and all are... The angle of the k-th pendulum is (k=1, 2, 3, 4).

[0130] When a simple pendulum oscillates, the horizontal displacement of its center of mass relative to the hinge point is approximately:

[0131] When the angle is small, there is .

[0132] Let the unit vector representing the direction of the swing of the k-th pendulum be:

[0133] in This represents the component of the k-th pendulum's oscillation direction on the X-axis. This represents the component of the oscillation direction of the k-th pendulum along the Y-axis.

[0134] The horizontal displacement of the k-th pendulum's center of mass is:

[0135]

[0136] The gravity of a simple pendulum is:

[0137] Therefore, the incremental compensation torque generated by the swing angle of the k-th pendulum is:

[0138]

[0139] Right now:

[0140] The resultant compensating torque of the four simple pendulums is:

[0141] Therefore, the swing angle of each pendulum in the simple pendulum damping mechanism for:

[0142]

[0143]

[0144]

[0145] in, This represents the equivalent length of a simple pendulum.

[0146] S3, the counterweight center of gravity adjustment mechanism and the pendulum damping mechanism adjust according to the counterweight displacement. , , , With the swing angle of a simple pendulum The corresponding driver is then activated.

[0147] S4, the counterweight center of mass adjustment mechanism and the pendulum vibration damping mechanism are driven according to the execution information.

[0148] As can be seen from the above scheme, the present invention has the following characteristics: 1. This invention employs a parallel cable-driven rigid-flexible coupling robot mechanism, achieving six degrees of freedom motion of the end effector through cable actuation. The rigid-flexible coupling structure combines the positioning stability of a rigid mechanism with the wide-range adjustability of a flexible cable drive, enabling it to meet the workspace requirements of large weldments while improving the end-effector's welding posture adjustment capability. Compared to traditional three-axis gantry robot mechanisms, it features lower moment of inertia, faster dynamic response, and higher workspace adjustment flexibility. 2. This invention is designed as a reconfigurable mechanism, capable of flexibly adjusting the position of the cable outlet and the overall frame configuration according to the size, structural form, and obstacles in the workspace. Compared to mechanisms with fixed structures, this invention enables the robot to actively adapt to different welding scenarios, reduce spatial interference between the flexible cable and the workpiece, and improve the accessibility of the end effector, the ability to adjust welding posture, and the flexibility of motion path planning.

[0149] 3. The welding robot system designed in this invention can adapt to two welding modes. The end effector flipping module drives the end effector to flip, and the auxiliary system realizes the switching between overhead welding and side welding working modes. The bistable support mechanism of the actuator ensures the stability of the system structure after the mode conversion. Compared with the traditional single-mode welding structure, it can adapt to a variety of complex welds and effectively improve the efficiency of complex structure production and manufacturing.

[0150] 4. The end effector of this invention adopts a nested configuration. The inner layer is equipped with a counterweight center-of-gravity adjustment device and a pendulum vibration damping mechanism. The former changes the center of gravity of the end effector by adjusting the distribution of the counterweights, while the latter suppresses undesirable vibrations of the end effector through the rotation of the pendulum. The two work together to compensate for vibrations caused by movement, start-stop, and load changes during the welding robot's operation. Vibration is actively isolated between the inner and outer layers through a parallel robot platform. This effectively reduces vibration during the welding process and improves the motion stability of the end effector, the accuracy of welding trajectory tracking, and the quality of welding operations.

[0151] In summary, this invention reduces undesirable vibrations generated by the welding robot during welding operations by using a vibration suppression device and method, thereby improving the stability of the welding robot during operation. By using a multi-mode conversion device to enable welding of complex weldment structures and complex welds in different modes, the invention improves the adaptability of the welding robot to complex weldments and also increases the efficiency of welding operations.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A multi-mode reconfigurable rigid-flexible coupling welding robot system, characterized in that, The system includes a robot module (10) for welding and a robot drive system for driving the robot module (10) to a preset position. The robot drive system includes an actuator outer frame (7), an actuator bistable support mechanism (9), and a flexible cable control system. The inner frame of the actuator outer frame (7) is connected to an actuator vibration suppression module (6) via a parallel robot vibration isolation module (5). The robot module (10) is located on the lower surface of the actuator vibration suppression module (6). The actuator bistable support mechanism (9) is provided on both the front and rear sides of the parallel robot vibration isolation module (5) outside the actuator outer frame (7). The actuator bistable support mechanism (9) includes a main bearing plate (904-1). The main support plate (904-1) is slidably connected to a support slider, which is rotatably connected to the actuator outer frame (7). The angle control device is connected to the main support plate (904-1) and the actuator outer frame (7) and is used to keep the main support plate (904-1) and the actuator outer frame (7) at a preset angle. The flexible cable control system is connected to the actuator outer frame (7) and the main support plate (904-1) through a flexible cable. It is used to drive the overall structure formed by the actuator outer frame (7) and the actuator bistable support mechanism (9) to move to a preset position and to drive the actuator outer frame (7) and the main support plate (904-1) to rotate relative to each other.

2. The multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 1, characterized in that, The flexible cable control system includes a left system frame (2-1) and a right system frame (2-2) that can move left and right. Both the left system frame (2-1) and the right system frame (2-2) are beam-column structures and their planes are parallel to each other. The rotation axis of the support slider is perpendicular to the columns of the left system frame and the right system frame. The left system frame (2-1) front column (2-1-1) is equipped with a first left cable outlet position adjustment module and a first right cable outlet position adjustment module that can move up and down. The left system frame (2-1-2) rear column (2-1-2) is equipped with a second left cable outlet position adjustment module and a second right cable outlet position adjustment module that can move up and down. The left system frame (2-1-3) crossbeam (2-1-3) of the left system frame (2-1) is equipped with a movable left end effector flipping module. The right system frame (2-2) has a third left cable outlet position adjustment module and a third right cable outlet position adjustment module that can move up and down on the front column (2-2-1) of the right system frame (2-2). The right system frame (2-2) has a fourth left cable outlet position adjustment module and a fourth right cable outlet position adjustment module that can move up and down on the rear column (2-2-2) of the right system frame (2-2). The right system frame (2-2) has a movable right end effector flipping module on the crossbeam (2-2-3) of the right system frame (2-2). Specifically, the upper left, lower left, upper right, and lower right corners of the main bearing plate of the front actuator bistable support mechanism are respectively connected to the first left cable outlet position adjustment module, the first right cable outlet position adjustment module, the third right cable outlet position adjustment module, and the third left cable outlet position adjustment module via ropes; the upper left, lower left, upper right, and lower right corners of the main bearing plate of the rear actuator bistable support mechanism are respectively connected to the second left cable outlet position adjustment module, the second right cable outlet position adjustment module, the fourth right cable outlet position adjustment module, and the fourth left cable outlet position adjustment module via ropes. The left end actuator flipping module is connected to the right front corner and right rear corner of the upper side of the actuator outer frame (7) by ropes, and the right end actuator flipping module is connected to the left front corner and left rear corner of the left side of the actuator outer frame (7) by ropes. The first left cable exit point position adjustment module, the first right cable exit point position adjustment module, the second left cable exit point position adjustment module, the second right cable exit point position adjustment module, the third left cable exit point position adjustment module, the third right cable exit point position adjustment module, the fourth right cable exit point position adjustment module, the fourth left cable exit point position adjustment module, the left end actuator flipping module, and the right end actuator flipping module can all retract or release their respective connected ropes.

3. The multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 2, characterized in that, The first left cable outlet position adjustment module, the first right cable outlet position adjustment module, the second left cable outlet position adjustment module, the second right cable outlet position adjustment module, the third left cable outlet position adjustment module, the third right cable outlet position adjustment module, the fourth right cable outlet position adjustment module, and the fourth left cable outlet position adjustment module all have the same structure, including a screw nut structure, a servo drive motor, an adaptive rope angle adjustment mechanism (304), and an end effector rope drive module (8). The screw nut structure is set along the height direction of the column and connected to the column. The output shaft of the servo drive motor is connected to the screw of the screw nut structure. The adaptive rope angle adjustment mechanism (304) is connected to the nut of the screw nut structure. The adaptive rope angle adjustment mechanism (304) includes an angle adjustment mechanism mounting base (304-1), a circumferential rotation base (304-3), a pitch rotation base (304-4), a guide pulley, a circumferential rotation angle encoder (304-6), a pitch rotation shaft (304-7), a pitch rotation angle encoder (304-8), and a wiring pulley (304-9). The angle adjustment mechanism mounting base (304-1) is connected to the nut of the screw nut structure. The circumferential rotation base (304-3) is rotatably connected to the angle adjustment mechanism mounting base (304-1), and the rotation shaft is set in the vertical direction. The circumferential rotation base (304-3) has a vertical rope through hole inside. The pitch rotation base (304-4) and the wiring pulley (304-9) are rotatably connected to the circumferential rotation base (304-3) through the pitch rotation shaft (304-7). The circumferential rotation base (304-3) is set horizontally. The wiring pulley (304-9) is located at the upper end of the rope through hole. The guide pulley includes two first pulleys and is rotatably connected to the pitch rotation base (304-4). The rotation axis of the guide pulley is perpendicular to the pitch rotation axis (304-7). The end effector rope drive module (8) is connected to a rope and is used to release and retrieve the rope. One end of the rope connected to the end effector rope drive module (8) passes through the rope through hole inside the circumferential rotation base (304-3), around the wiring pulley (304-9), through the gap between the two first pulleys, and finally connects to the main bearing plate of the bistable support mechanism of the actuator. The pitch rotation angle encoder (304-8) is installed on the support pitch rotation base (304-4) and is used to measure the pitch angle of the rope. The circumferential rotation angle encoder (304-6) is installed on the circumferential rotation base (304-3) and is used to measure the circumferential deflection angle of the rope.

4. The multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 2, characterized in that, The left end effector flipping module and the right end effector flipping module have the same structure, both including a screw and nut structure, a servo drive motor, and an end effector flipping rope drive module (407). The screw and nut structure is set along the length of the system frame beam and connected to the system frame beam. The output shaft of the servo drive motor is connected to the screw of the screw and nut structure. The end effector flipping rope drive module (407) is connected to the nut of the screw and nut structure. The end effector flipping rope drive module (407) includes a module component support platform (407-4). Vertical wiring pulleys (407-1), a rope drum (407-2), and a stepper drive motor (407-5) are installed on both the front and rear sides of the module component support platform (407-4). The rope drum (407-2) is rotatably mounted on either the front or rear side of the module component support platform (407-4). The rotation axis of the rope drum (407-2) is set along the length of the system frame beam. The output shaft of the machine (407-5) is connected to the rotating shaft of the rope drum (407-2). The vertical wire rope pulley (407-1) is located on the side of the rope drum (407-2) near the actuator outer frame (7). The rope led out from the rope drum (407-2) passes around the vertical wire rope pulley (407-1) and connects to the actuator outer frame (7). The rope led out from the front rope drum (407-2) is connected to the front corner of the actuator outer frame (7), and the rope led out from the rear rope drum (407-2) is connected to the rear corner of the actuator outer frame (7).

5. The multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 1, characterized in that, The angle control device includes a first telescopic mechanism, a second telescopic mechanism, and, from top to bottom, an upper frame screw and nut structure (708-1), an upper screw and nut structure (904-1-1), a lower screw and nut structure (904-1-2), and a lower frame screw and nut structure (701-1). The upper screw and nut structures (904-1-1) and the lower screw and nut structure (904-1-2) are mounted on the main bearing plate (904-1) of the actuator bistable support mechanism. The upper frame screw nut structure (708-1) and the lower frame screw nut structure (701-1) are set on the outer frame (7) of the actuator. The upper end of the first telescopic mechanism is rotatably connected to the nut of the upper frame screw nut structure (708-1) and the lower end is rotatably connected to the nut of the upper screw nut structure (904-1-1). The upper end of the second telescopic mechanism is rotatably connected to the nut of the lower screw nut structure (904-1-2) and the lower end is rotatably connected to the nut of the frame screw nut structure (701-1).

6. A multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 5, characterized in that, Both the first telescopic mechanism and the second telescopic mechanism adopt servo electric cylinders (906). The piston end of the first telescopic mechanism is rotatably connected to the nut of the upper frame lead screw nut structure (708-1) through a planetary gear drive mechanism (903), and the motor end is rotatably connected to the nut of the upper lead screw nut structure (904-1-1) through a gear drive mechanism (901). The motor end of the second telescopic mechanism is rotatably connected to the nut of the lower lead screw nut structure (904-1-2) through a gear drive mechanism (901), and the piston end is rotatably connected to the nut of the frame lead screw nut structure (701-1) through a planetary gear drive mechanism (903). The gear drive mechanism (901) includes a guide rail groove slider base (901-1), a motor base (901-3-1), a motor base gear (901-3), a gear (901-5), and a first brake drive motor (901-6). The guide rail groove slider base (901-1) is connected to the nut of the upper lead screw nut structure (904-1-1) or the nut of the lower lead screw nut structure (904-1-2), and the first brake drive motor (901-6) is fixed to the guide rail groove slider base (901-1). The output shaft of the first brake drive motor (901-6) is connected to the gear (901-5), the motor base (901-3-1) is fixedly connected to the motor end of the first telescopic mechanism or the motor end of the second telescopic mechanism, one side of the motor base gear (901-3) is fixedly connected to the motor base (901-3-1), and the other side of the motor base gear (901-3) is rotatably connected to the guide rail groove slider base (901-1). The motor base gear (901-3) and the gear (901-5) are externally meshed. The planetary gear drive mechanism (903) includes a guide rail grooved gear ring slider base (903-1), a second brake drive motor (903-2), a central gear (903-3), a clutch base (903-6), a clutch first part (903-7), and several planetary gears (903-9). The guide rail grooved gear ring slider base (903-1) is connected to the nut of the upper frame lead screw nut structure (708-1) or the nut of the lower frame lead screw nut structure (701-1). The second brake drive motor (903-2) is installed in the guide rail grooved gear ring slider base (903-1). The central gear (903-3) is connected to the output shaft of the second brake drive motor (903-2). The several planetary gears (903-9) The outer periphery of the central gear (903-3) is uniformly meshed with the inner ring of the gear ring slider base (903-1) containing the guide rail groove. Several planetary gears (903-9) are rotatably connected to the clutch base (903-6). The first part of the clutch (903-7) is fixedly connected to the clutch base (903-6). The second part of the clutch (906-1) is fixedly connected to the end of the telescopic rod of the first telescopic mechanism or the end of the telescopic rod of the second telescopic mechanism. The first part of the clutch (903-7) and / or the second part of the clutch (906-1) are provided with electromagnets for attracting and coaxially fixing the two. The first part of the clutch (903-7) and the second part of the clutch (906-1) are provided with meshing teeth that mesh with each other at the engagement end.

7. The multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 1, characterized in that, The actuator vibration suppression module (6) includes a mounting frame, which is connected to the inner frame of the actuator outer frame (7) via a parallel robot vibration isolation module (5). The robot module (10) is located at the lower part of the mounting frame. The mounting frame is equipped with a sensor module 608, a counterweight center of mass adjustment mechanism (605) for compensating for changes in the center of mass of the entire actuator vibration suppression module (6), and a single pendulum vibration suppression mechanism (602) for compensating for changes in the vibration torque of the entire actuator vibration suppression module (6). The sensor module 608 includes a six-dimensional force sensor (608). 1) and IMU sensor (608) 2), the six-dimensional force sensor (608) 1) IMU sensor (608) 2) The counterweight center of gravity adjustment mechanism (605) and the single pendulum vibration damping mechanism (602) are both connected to a data processing module; the data processing module can adjust the data based on the six-dimensional force sensor (608). 1) and IMU sensor (608) 2) The detection data controls the movement of the counterweight center of gravity adjustment mechanism (605) and the single pendulum vibration suppression mechanism (602) so that the overall structure formed by the connection of the actuator vibration suppression module (6) and the robot module (10) remains stable.

8. A multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 7, characterized in that, The mounting frame includes an upper base plate (606), a lower base plate (601), and a vertical column (604). The upper base plate (606) and the lower base plate (601) are arranged opposite each other. The upper base plate (606) and the lower base plate (601) are connected by the vertical column (604) to form the mounting frame. The vertical column (604) is connected to the inner frame of the actuator's outer frame (7) through a parallel robot vibration isolation module (5). The robot module (10) is set on the lower surface of the lower base plate (601). The single pendulum vibration damping mechanism (602) and the sensor module (608) are installed on the upper surface of the lower base plate (601). The counterweight center of gravity adjustment mechanism (605) is set on the upper surface of the upper base plate (606). The sensor module (608) includes an IMU sensor (608). 2) and four six-dimensional force sensors (608) 1) IMU sensor (608) 2) Four six-dimensional force sensors (608) are positioned at the center of the lower base plate (601). 1) Using IMU sensor (608) 2) Arranged in a circle with a 90-degree angle around the center; On the lower base plate (601), each six-dimensional force sensor (608) 1) The single pendulum vibration damping mechanism (602) is installed at each location. The four sets of single pendulum vibration damping mechanisms (602) are arranged in a circle at a 90-degree angle around the sensor module (608) on the lower base plate (601). Each set of the single pendulum vibration damping mechanism (602) includes a fourth servo drive motor (602) installed on the lower base plate (601). 4), the fourth servo drive motor (602) 4) The output shaft is connected to a simple pendulum (602). 1); The upper base plate (606) has a fourth servo drive motor (602) on the adjacent two sets of pendulum damping mechanisms (602). 4) The counterweight center of gravity adjustment mechanism (605) is installed at the corresponding position above the angle bisector of the axis. Each counterweight center of gravity adjustment mechanism (605) includes a lead screw and nut assembly and a fifth servo drive motor (605). 2) and counterweight (605) 5) The lead screw of the lead screw and nut assembly is driven by the fourth servo drive motor (602) of the two adjacent sets of single pendulum damping mechanisms (602). 4) The corresponding position is set above the angle bisector of the axis, and the lead screw of the lead screw nut assembly is connected to the fifth servo drive motor (605). 2) The output shaft is connected, and a counterweight (605) is connected to the nut of the lead screw nut assembly. 5); Fourth servo drive motor (602) 4) and the fifth servo drive motor (605) 2) All are connected to the data processing module.

9. A multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 1, characterized in that, The parallel robot vibration isolation module (5) includes a parallel robot platform base (502) connected to the actuator external frame (7), a parallel robot platform upper platform (504) connected to the actuator vibration suppression module (6), and six identical parallel robot platform electric telescopic rods (501) disposed between the parallel robot platform base (502) and the parallel robot platform upper platform (504). Each parallel robot platform electric telescopic rod (501) is connected to a universal joint (503) at both ends. The universal joint (503) is connected to the parallel robot platform base (502) and the parallel robot platform upper platform (504) through the universal joint base. The axes of the six identical parallel robot platform electric telescopic rods (501) are along six different directions to filter the six-dimensional torque generated by the overall structure formed by connecting the actuator vibration suppression module (6) and the robot module (10).

10. A multi-mode reconfigurable rigid-flexible coupling welding robot system according to claim 1, characterized in that, The robot module includes a lead screw and nut assembly, an eighth servo drive motor (1003), and a six-degree-of-freedom welding robot (1004). The lead screw and nut assembly and the eighth servo drive motor (1003) are both mounted on the lower surface of the actuator vibration suppression module (6). The output shaft of the eighth servo drive motor (1003) is connected to the lead screw of the lead screw and nut assembly, and the six-degree-of-freedom welding robot (1004) is connected to the nut of the lead screw and nut assembly.

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