CN108621114B - Mobile robot for processing large-scale structural member - Google Patents
Mobile robot for processing large-scale structural member Download PDFInfo
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- CN108621114B CN108621114B CN201810320741.6A CN201810320741A CN108621114B CN 108621114 B CN108621114 B CN 108621114B CN 201810320741 A CN201810320741 A CN 201810320741A CN 108621114 B CN108621114 B CN 108621114B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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Abstract
The invention discloses a mobile robot for processing large-scale structural members, which comprises: the robot comprises a moving vehicle, a five-degree-of-freedom tail end posture adjusting device and a two-degree-of-freedom foldable mechanism, wherein in the two-degree-of-freedom foldable mechanism, a first-level parallelogram structure is installed on a base, two parallelogram structures are coupled through a middle triangular plate, the five-degree-of-freedom tail end posture adjusting device is connected to the tail end of the two-degree-of-freedom foldable mechanism, and the base is arranged on the moving vehicle, so that the large-range movement of a processing robot. According to the mobile robot for processing the large-scale structural member, the two coupled parallelogram structures are arranged on the mobile vehicle, so that the large-scale mobile adjustment and positioning of the position of the five-freedom-degree tail end attitude adjusting device can be realized, the large-scale positioning and local flexible attitude adjustment functions and the like can be easily realized by meeting the large working space requirement of the large-scale structural member on processing equipment, and the numerical control processing of the complex free-form surface of the large-scale structural member can be completed.
Description
Technical Field
The invention belongs to the field of mechanical design and manufacture, and particularly relates to a mobile robot for processing large-scale structural members.
Background
In the field of mechanical design and manufacturing, with the development of industrial level, the service requirements and design level of mechanical parts are continuously improved, and the machining and manufacturing process of the mechanical parts is also more severe and complex, thereby providing new challenges for modern machining equipment. Along with the implementation of national major projects and engineering, large-scale complex structural components and large-scale equipment are widely applied to various key fields, such as aerospace, ships and naval vessels, electric power facilities and the like, and the traditional thinking mode of processing small workpieces by a large machine tool is obviously not applicable to the requirements of the structural components on an oversized working space.
Aiming at the application requirements, a track type large-span foldable and unfoldable multi-shaft linkage processing device is designed, and an effective way for meeting the requirements is provided. In the aspect of large structural member moving machining, the German KUKA Moiros adopts an Omnimove moving platform, carries a KMR QUANTEC mechanical arm to form a moving machining robot system, and shows the application prospect of the moving machining robot system in the field of large structural member machining. However, the mechanical arm is realized in a serial mode, and the problems of error accumulation, large inertia of moving parts and the like exist. Different from the serial mechanism, the parallel mechanism is a closed loop formed by two or more kinematic branched chains and can control the terminal to realize certain output motion, and has the advantages of compact structure, small mass of moving parts, high rigidity, good dynamic response characteristic, large bearing capacity in unit weight, easy realization of high-speed motion and the like, thereby becoming an ideal choice for innovative design of processing equipment.
Disclosure of Invention
The invention aims to provide a better principle configuration and a better solution for processing large-scale parts, and provides a mobile robot for processing large-scale structural members.
According to the embodiment of the invention, the mobile robot for processing the large-scale structural part comprises: the mobile vehicle, five-degree-of-freedom tail end attitude adjusting device and two-degree-of-freedom foldable mechanism, the two-degree-of-freedom foldable mechanism comprises: base, one-level parallelogram structure, second grade parallelogram structure, middle set-square, first drive assembly and second drive assembly, one-level parallelogram structure installs on the base, one-level parallelogram structure with second grade parallelogram structure passes through the coupling of middle set-square is linked, the base is connected on the locomotive, the base has spaced apart first hinge point, second hinge point, middle set-square has third hinge point, fourth hinge point and the fifth hinge point that is triangular distribution, one-level parallelogram structure includes: the two ends of the first connecting rod are respectively hinged to the first hinge point and the fourth hinge point, the two ends of the second connecting rod are respectively hinged to the second hinge point and the third hinge point, the distance between the first hinge point and the fourth hinge point is equal to the distance between the second hinge point and the third hinge point, and the connecting line between the first hinge point and the fourth hinge point is parallel to the connecting line between the second hinge point and the third hinge point; the secondary parallelogram structure includes: the third connecting rod is hinged to the fourth hinge point, the fourth connecting rod is hinged to the fifth hinge point, two ends of the fifth connecting rod are respectively hinged to the third connecting rod and the fourth connecting rod through a sixth hinge point and a seventh hinge point, the distance between the fourth hinge point and the sixth hinge point is equal to the distance between the fifth hinge point and the seventh hinge point, and the connecting line between the fourth hinge point and the sixth hinge point is parallel to the connecting line between the fifth hinge point and the seventh hinge point; the first driving assembly is used for driving one of the first connecting rod and the second connecting rod to rotate relative to the base, the second driving assembly is used for driving one of the third connecting rod and the fourth connecting rod to rotate relative to the middle triangular plate, the first driving assembly and the second driving assembly are only two driving pairs of the two-degree-of-freedom foldable and expandable mechanism, and the five-degree-of-freedom end posture adjusting device is connected with the fifth connecting rod; the five-degree-of-freedom tail end attitude adjusting device comprises: the fixed platform is fixedly connected to the fifth connecting rod, the movable platform is used for installing an actuator, the first branched chain, the second branched chain and the third branched chain are arranged in a surrounding mode and connected between the fixed platform and the movable platform, and the movable platform has three rotational degrees of freedom and two degrees of freedom of movement.
According to the mobile robot for processing the large-scale structural part, the three branched chain structures are arranged to form the five-degree-of-freedom tail end attitude adjusting device, three rotational degrees of freedom and two moving degrees of freedom are realized, and the movable platform can realize larger rotational output capacity; the two-degree-of-freedom foldable and unfoldable mechanism with the double-stage parallelogram structure is adopted, and the two-degree-of-freedom foldable and unfoldable mechanism is driven to move by controlling two inputs, so that two moving degrees of freedom in a plane are realized, and higher normal rigidity of a processing surface can be ensured, which cannot be realized by a common manipulator. The two-degree-of-freedom foldable and expandable mechanism is moved by the moving vehicle, so that two or three moving degrees of freedom can be realized. The movable robot for processing the large structural member can meet the working space requirement of the large structural member on processing equipment, is easy to realize the functions of large-scale positioning, local flexible posture adjustment and the like, and can complete numerical control processing of the complex free-form surface of the large structural member.
In the two-degree-of-freedom foldable and unfoldable mechanism, the first-level parallelogram structure and the second-level parallelogram structure are both parallelograms, and the two parallelograms are coupled through the middle triangular plate, so that the only position of the five-degree-of-freedom tail end attitude adjusting device can be obtained by controlling the angles between the two edges of the two parallelograms and the base, and the large-scale movement and positioning of the tail end five-degree-of-freedom tail end attitude adjusting device can be realized. The two-degree-of-freedom foldable and expandable mechanism is arranged on the mobile vehicle, the mobile vehicle can bear the two-degree-of-freedom foldable and expandable mechanism, and the five-degree-of-freedom tail end attitude adjusting device moves on the ground, so that the five-degree-of-freedom tail end attitude adjusting device has omnibearing adjusting capability in macroscopic position adjustment.
In some embodiments, the mobile robot for large structure processing further comprises: the conversion parallelogram structure comprises a sixth connecting rod and a seventh connecting rod, one end of the sixth connecting rod is hinged to the first hinge point, the other end of the sixth connecting rod is hinged to one end of the seventh connecting rod, the other end of the seventh connecting rod is hinged to the third connecting rod, partial sections of the first connecting rod, the sixth connecting rod, the seventh connecting rod and the third connecting rod form a quadrangle, and the second driving assembly drives the sixth connecting rod to rotate so as to drive the third connecting rod to rotate.
In some embodiments, the mobile cart is a four-wheeled cart.
In some embodiments, the first and second drive assemblies are each cylinder drive mechanisms.
In some embodiments, the first drive assembly and the second drive assembly are each a motor drive mechanism.
In some embodiments, the first drive assembly comprises: the first ejector block is rotatably connected to the first connecting rod; the first supporting block is rotatably connected to the base; one end of the first driving rod is connected with the first ejecting block, the other end of the first driving rod is connected with the first supporting block, and the first driving rod, a partial section of the first connecting rod and the base form a triangle; the first driver is used for driving the first driving rod to stretch relative to the first top block or the first supporting block.
In some embodiments, the second drive assembly comprises: the second ejector block is rotatably connected to the third connecting rod; the second supporting block is rotatably connected to the middle triangular plate; one end of the second driving rod is connected with the second jacking block, the other end of the second driving rod is connected with the second supporting block, and the second driving rod, the partial section of the third connecting rod and the middle triangular plate form a triangle; and the second driver is used for driving the second driving rod to stretch relative to the second jacking block or the second support block.
In other embodiments, the second drive assembly comprises: the third ejector block is rotatably connected to the sixth connecting rod; the third supporting block is rotatably connected to the base; one end of the third driving rod is connected with the third ejecting block, the other end of the third driving rod is connected with the third supporting block, and the third driving rod, a partial section of the sixth connecting rod and the base form a triangle; and the third driver is used for driving the third driving rod to stretch and retract relative to the third top block or the third branch block.
In some embodiments, the middle triangular plates are two in parallel, the two middle triangular plates are clamped on two sides of the first connecting rod and the third connecting rod, the second connecting rods are two in parallel, the fourth connecting rods are two in parallel, the two second connecting rods are hinged to the two middle triangular plates respectively, and the two fourth connecting rods are hinged to the two middle triangular plates respectively.
Specifically, the base includes bottom plate and boss, the bottom plate level sets up, the bottom plate forms into the open frame shape of rear side, the boss is two and establishes respectively in the left and right sides of bottom plate, one-level parallelogram structural connection is in on two bosses.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a perspective view of a mobile robot for large structure fabrication according to an embodiment of the present invention;
FIG. 2 is a top view of the mobile robot of FIG. 1 oriented for large structure fabrication;
FIG. 3 is a front view of the two degree-of-freedom foldable mechanism shown in FIG. 1;
FIG. 4 is a schematic configuration diagram of the two-degree-of-freedom foldable mechanism shown in FIG. 3;
fig. 5 is a perspective view of another mobile robot for large structure fabrication according to an embodiment of the present invention;
FIG. 6 is another perspective view of the mobile robot of FIG. 5 oriented for large structure fabrication;
FIG. 7 is a top view of the two degree-of-freedom foldable mechanism shown in FIG. 5;
FIG. 8 is a schematic configuration diagram of the two degree-of-freedom foldable mechanism shown in FIG. 7;
FIG. 9 is a top view of a five degree-of-freedom end pose adjustment apparatus according to an embodiment of the present invention;
fig. 10 is a perspective view of a five-degree-of-freedom end pose adjustment apparatus according to an embodiment of the present invention.
Reference numerals:
a mobile robot 100 for processing large structural members,
A two-degree-of-freedom foldable mechanism 1,
A base 11, a bottom plate 111, a boss 112,
A first-stage parallelogram structure 12, a first link 121, a strut 1211, a second link 122,
A two-stage parallelogram structure 13, a third connecting rod 131, a fourth connecting rod 132, a fifth connecting rod 133,
A switching parallelogram 14, a sixth link 141, a rotary slot 1411, a seventh link 142,
A middle triangle 15,
A first driving assembly 16, a first top block 161, a first supporting block 162, a first driving rod 163,
A second driving assembly 17, a second top block 171, a second branch block 172, a second driving rod 173, a third top block 175, a third branch block 176, a third driving rod 177,
A first hinge point j1, a second hinge point j2, a third hinge point j3, a fourth hinge point j4, a fifth hinge point j5,
A sixth hinge point j6, a seventh hinge point j7, an eighth hinge point j8, a ninth hinge point j9,
A five-degree-of-freedom tail end attitude adjusting device 2,
A fixed platform 21, a movable platform 22, a first branched chain 23, a second branched chain 24, a third branched chain 25,
An upper connecting piece 201, a lower connecting piece 202, an upper sliding block 203, a lower sliding block 204, an upper connecting rod 205, a lower connecting rod 206, a U-shaped piece 207, a connecting block 208, a connecting piece 251, a sliding block 252, a connecting rod 253, a connecting rod,
A moving vehicle 4 and an actuator 6.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A mobile robot 100 for large structural member fabrication according to an embodiment of the present invention will be described with reference to fig. 1 to 10.
A mobile robot 100 for processing a large structural member according to an embodiment of the present invention, as shown in fig. 1 and 5, includes: a moving vehicle 4, a five-degree-of-freedom tail end posture adjusting device 2 and a two-degree-of-freedom foldable mechanism 1.
The five-degree-of-freedom end pose adjustment device 2 is used for adjusting the pose of an actuator 6, the actuator 6 is an execution terminal of a processing device, for example, the actuator 6 may be a tool, a laser emitter, a nozzle, etc., and the type of the actuator 6 is not particularly limited.
The five-degree-of-freedom end posture adjustment device 2 itself enables the actuator 6 to have direction adjustability with five degrees of freedom, specifically, enables the actuator 6 to have rotational degrees of freedom in three directions and translational degrees of freedom in two directions. However, the posture of the actuator 6 can be adjusted only within a small range by the five-degree-of-freedom end posture adjustment device 2, and when a large structural member is machined, the machining space of the actuator 6 is limited by adjusting only by the five-degree-of-freedom end posture adjustment device 2, and even the machining operation of the large structural member cannot be realized.
In order to solve the problem, in the embodiment of the invention, the five-degree-of-freedom tail end attitude adjusting device 2 is arranged on the two-degree-of-freedom foldable and expandable mechanism 1, and the two-degree-of-freedom foldable and expandable mechanism 1 is similar to the structure of an industrial manipulator and can greatly move the five-degree-of-freedom tail end attitude adjusting device 2. And the two-degree-of-freedom foldable and expandable mechanism 1 is arranged on the moving vehicle 4, and the moving vehicle 4 can carry the two-degree-of-freedom foldable and expandable mechanism 1 and the five-degree-of-freedom tail end attitude adjusting device 2 to run in a larger range, so that the positioning in a larger range is realized. And after the large-range positioning, the five-degree-of-freedom tail end attitude adjusting device 2 is used for carrying out local attitude adjustment. The combination of the two is equivalent to the combination of the macroscopic positioning and the microscopic positioning of the processing, thereby increasing the macroscopic positioning range and simultaneously ensuring the microscopic positioning precision.
Referring to fig. 1 and 5, the two-degree-of-freedom foldable and expandable mechanism 1 includes: base 11, one-level parallelogram structure 12, second grade parallelogram structure 13, middle set square 15, first drive assembly 16 and second drive assembly 17, one-level parallelogram structure 12 are installed on base 11, and one-level parallelogram structure 12 and second grade parallelogram structure 13 are linked through middle set square 15 coupling, and base 11 installs on locomotive 4.
As shown particularly in fig. 3 and 4, 7 and 8, the base 11 has a first hinge point j1, a second hinge point j2 spaced apart, and the intermediate triangle 15 has a third hinge point j3, a fourth hinge point j4 and a fifth hinge point j5 in a triangular arrangement.
The primary parallelogram structure 12 includes: the first connecting rod 121 and the second connecting rod 122, two ends of the first connecting rod 121 are respectively hinged to the first hinge point j1 and the fourth hinge point j4, and two ends of the second connecting rod 122 are respectively hinged to the second hinge point j2 and the third hinge point j 3. The distance between the first hinge point j1 and the fourth hinge point j4 is equal to the distance between the second hinge point j2 and the third hinge point j3, and the connecting line between the first hinge point j1 and the fourth hinge point j4 is parallel to the connecting line between the second hinge point j2 and the third hinge point j 3. Thus, the first link 121, the base 11, the second link 122 and the intermediate triangle 15 constitute a parallelogram.
The secondary parallelogram structure 13 includes: the third connecting rod 131 is hinged to a fourth hinge point j4, the fourth connecting rod 132 is hinged to a fifth hinge point j5, and two ends of the fifth connecting rod 133 are respectively connected to the third connecting rod 131 and the fourth connecting rod 132 through a sixth hinge point j6 and a seventh hinge point j 7. The distance between the fourth hinge point j4 and the sixth hinge point j6 is equal to the distance between the fifth hinge point j5 and the seventh hinge point j7, and the connecting line between the fourth hinge point j4 and the sixth hinge point j6 is parallel to the connecting line between the fifth hinge point j5 and the seventh hinge point j 7.
Thus, the third link 131, the fourth link 132, the fifth link 133 and the intermediate triangle 15 constitute another parallelogram.
Wherein the middle triangle is a common component of the primary parallelogram structure 12 and the secondary parallelogram structure 13, so that the motion of the primary parallelogram structure 12 is transmitted to the secondary parallelogram structure 13 in a chain manner.
The first driving assembly 16 is used for driving one of the first connecting rod 121 and the second connecting rod 122 to rotate relative to the base 11, the second driving assembly 17 is used for driving one of the third connecting rod 131 and the fourth connecting rod 132 to rotate relative to the middle triangular plate 15, and the five-degree-of-freedom end posture adjusting assembly is connected with the fifth connecting rod 133.
As shown in fig. 9, the five-degree-of-freedom tip attitude adjusting apparatus 2 includes: the fixed platform 21 is fixedly connected to the fifth connecting rod 133, the movable platform 22 is used for installing the actuator 6, the first branched chain 23, the second branched chain 24 and the third branched chain 25 are arranged in a surrounding mode and connected between the fixed platform 21 and the movable platform 22, and the movable platform 22 has three rotational degrees of freedom and two moving degrees of freedom.
In the five-degree-of-freedom tail end attitude adjusting device 2, the first branched chain 23 and the second branched chain 24 have the same structure and respectively comprise two actively driven kinematic pairs, and the third branched chain 25 comprises one actively driven kinematic pair; the first branched chain 23, the second branched chain 24 and the third branched chain 25 are respectively connected with the fixed platform 21 and the movable platform 22 to form a space parallel closed-loop mechanism, and the space parallel closed-loop mechanism drives the movable platform to move through five input motions, so that three rotational degrees of freedom and two moving degrees of freedom are realized.
The parallel mechanism is a closed loop formed by two or more kinematic branched chains and can control the terminal to realize certain output motion, and has the advantages of compact structure, small mass of moving parts, high rigidity, good dynamic response characteristic, large bearing capacity on unit weight, easy realization of high-speed motion and the like. Therefore, the five-degree-of-freedom end posture adjusting device 2 becomes an ideal choice for the innovative design of the processing equipment.
In the two-degree-of-freedom foldable mechanism 1, the primary parallelogram structure 12 and the secondary parallelogram structure 13 are both parallelograms, and the two parallelograms are coupled through a middle set square 15.
Since the primary parallelogram structure 12 is a parallelogram, and the lengths of the opposite sides thereof are equal, the pose of the intermediate triangle 15 can be uniquely determined by controlling the swing angle of one of the first link 121 and the second link 122.
Likewise, since the two-stage parallelogram structure 13 is a parallelogram, the lengths of the opposite sides thereof are equal, and therefore, in the case where the attitude of the intermediate triangle 15 is uniquely determined, the position of the five-degree-of-freedom end attitude adjusting apparatus 2 can be uniquely determined by controlling the swing angle of one of the third link 131 and the fourth link 132.
It can be seen that one outstanding effect of coupling the primary parallelogram structure 12 and the secondary parallelogram structure 13 is that the change of position is realized by controlling the swing angle of the two rods, and the effect is double-superimposed, so that the five-degree-of-freedom end attitude adjusting device 2 can be moved and positioned greatly in the plane of the parallelogram.
The two-degree-of-freedom foldable and unfoldable mechanism 1 is arranged on the moving vehicle 4, and the position adjusting capability of the five-degree-of-freedom tail end attitude adjusting device 2 can be greatly improved due to the wide driving and working range of the moving vehicle 4.
According to the mobile robot 100 for processing large-scale structural parts, the five-degree-of-freedom tail end attitude adjusting device 2 is formed by arranging three branched chain structures, three rotational degrees of freedom and two moving degrees of freedom are realized, the mechanism is distinguished from other similar mechanisms, and the movable platform 22 can realize larger rotational output capacity; the two-degree-of-freedom foldable and unfoldable mechanism 1 with a double-stage parallelogram structure is adopted, the two-degree-of-freedom foldable and unfoldable mechanism 1 is driven to move by controlling two inputs, two moving degrees of freedom in a plane are realized, and the two-degree-of-freedom foldable and unfoldable mechanism 1 is moved by a moving vehicle 4, so that the multi-degree-of-freedom movement of a robot can be realized. The robot can ensure higher normal rigidity of a processing surface, which cannot be realized by a common manipulator. The mobile robot 100 for processing the large-scale structural member can meet the working space requirement of the large-scale structural member on processing equipment, is easy to realize the functions of large-scale positioning, local flexible posture adjustment and the like, and can complete numerical control processing of the complex free-form surface of the large-scale structural member.
The degree of freedom of the traveling vehicle 4 traveling on the ground is at least one, and for example, when the traveling vehicle 4 is a railcar, the degree of freedom of the traveling vehicle 4 is one, and when the traveling vehicle 4 can freely travel on the ground, the degree of freedom of the traveling vehicle 4 is two.
Alternatively, the carriage 4 is a four-wheel vehicle, so that the operation is smooth.
In some embodiments, as shown in fig. 10, in the five-degree-of-freedom terminal attitude adjusting device 2, the first branch chain 23 and the second branch chain 24 have the same structure and both comprise two actively driven kinematic pairs, and the third branch chain 25 comprises one actively driven kinematic pair.
The first branched chain 23, the second branched chain 24 and the third branched chain 25 are respectively connected with the fixed platform 21 and the movable platform 22 to form a space parallel closed-loop mechanism, and the space parallel closed-loop mechanism drives the movable platform 22 to move through five input motions, so that three rotational degrees of freedom and two moving degrees of freedom are realized. .
Optionally, the first branched chain 23 and the second branched chain 24 are symmetrically arranged with respect to the moving plane of the two-degree-of-freedom foldable mechanism 1. That is, in the example of fig. 1, the two-degree-of-freedom foldable and unfoldable mechanism 1 has a symmetry plane in the left-right direction, and the first branched chain 23 and the second branched chain 24 are arranged relative to the symmetry plane, so that left-right balance can be maintained in a static state, and the two-degree-of-freedom foldable and unfoldable mechanism is stable for long time placement.
In one embodiment shown in fig. 10, the five-degree-of-freedom end posture adjustment apparatus 2 includes: the three branched chains are respectively connected between the fixed platform 21 and the movable platform 22 and form a space closed-loop mechanism with the fixed platform 21 and the movable platform 22.
The first branch 23 and the second branch 24 each include: an upper connecting piece 201, a lower connecting piece 202, an upper sliding block 203, a lower sliding block 204, an upper connecting rod 205, a lower connecting rod 206, a U-shaped piece 207, a connecting block 208 and a kinematic pair. The kinematic pair is ten, one is a revolute pair connected between the fixed platform 21 and the lower connecting member 202, one is a revolute pair connected between the lower connecting member 202 and the lower sliding member 110, one is a revolute pair connected between the lower sliding member 110 and the lower connecting rod 206, one is a revolute pair connected between the fixed platform 21 and the upper connecting member 201, one is a revolute pair connected between the upper connecting member 201 and the upper sliding member 203, one is a revolute pair connected between the upper sliding member 203 and the upper connecting rod 205, one is a revolute pair connected between the upper connecting rod 205 and the lower connecting rod 206, one is a revolute pair connected between the upper connecting rod 205 and the U-shaped member 207, one is a revolute pair connected between the U-shaped member 207 and the connecting block 208, and the other is a revolute pair connected between the connecting block 208 and the movable platform 22. Wherein, a sliding pair connected between the upper block 203 and the upper link 205 and a sliding pair connected between the lower block 110 and the lower link 206 are driven; the two revolute pairs connected between the fixed platform 21 and the upper connecting piece 201 and between the upper connecting piece 201 and the upper sliding block 203 can be replaced by a hook joint or a spherical joint; the two revolute pairs connected between the fixed platform 21 and the lower connecting member 202 and between the lower connecting member 202 and the lower slider 110 can be replaced by a hook joint or a spherical joint; the three revolute pairs connected between the upper connecting rod 205 and the U-shaped member 207, between the U-shaped member 207 and the connecting block 208 and between the connecting block 208 and the movable platform 22 can be replaced by a spherical hinge; the branched chain is a spatial six-degree-of-freedom unconstrained branched chain.
The third branch 25 comprises: link 251, slider 252, link 253, and kinematic pair. The kinematic pair has four, one is a revolute pair connected between the fixed platform 21 and the connecting member 251, one is a revolute pair connected between the connecting member 251 and the sliding block 252, one is a cylindrical pair connected between the sliding block 252 and the connecting rod 253, and the other is a revolute pair connected between the connecting rod 253 and the movable platform 22. Wherein the telescopic movement between the slider 252 and the link 253 in the rod length direction is driven; the two revolute pairs connected between the fixed platform 21 and the connecting member 251 and between the connecting member 251 and the sliding block 252 can be replaced by a hook joint or a spherical joint; the cylindrical pair connected between the slider 252 and the link 253 can be replaced by a moving pair and a rotating pair, and the moving pair is driven; the branched chain is a spatial five-degree-of-freedom branched chain with one rotation constraint.
The five-degree-of-freedom tail end attitude adjusting device 2 can realize five-axis linkage control of three rotational degrees of freedom and two translational degrees of freedom.
In other embodiments of the present invention, the third branch chain may also include a connecting member, a slider, a connecting rod, a U-shaped member, and a kinematic pair. The number of the kinematic pairs is three, one is a revolute pair connected between the connecting piece and the sliding block, the other is a revolute pair connected between the sliding block and the connecting rod, and the other is a revolute pair connected between the connecting rod and the U-shaped member. Wherein a sliding pair connected between the slider and the link is driven.
In some embodiments, as shown in fig. 1 and 2, 5 and 6, the intermediate triangular plates 15 are two parallel triangular plates, two intermediate triangular plates 15 are sandwiched between the first connecting rod 121 and the third connecting rod 131, two second connecting rods 122 are parallel triangular plates, two fourth connecting rods 132 are parallel triangular plates, two second connecting rods 122 are respectively hinged to the two intermediate triangular plates 15, and two fourth connecting rods 132 are respectively hinged to the two intermediate triangular plates 15.
Here, the first link 121 and the third link 131 are provided to be thick and heavy, and then the intermediate triangle 15, the second link 122, and the fourth link 132 are provided to be flat, so that the space can be sufficiently utilized and the size of the two-degree-of-freedom foldable and expandable mechanism 1 can be reduced. The middle triangle 15, the second connecting rod 122 and the fourth connecting rod 132 are arranged in parallel and located at two sides of the first connecting rod 121 and the third connecting rod 131, so that the two sides of the first connecting rod 121 and the third connecting rod 131 are stressed uniformly in the left-right direction, the two-degree-of-freedom foldable mechanism 1 is prevented from swinging left and right, and the dynamic characteristics of the mechanism are further improved.
Specifically, as shown in fig. 1 and 2, and fig. 5 and 6, the base 11 includes a bottom plate 111 and bosses 112, the bottom plate 111 is horizontally disposed, the bottom plate 111 is formed in a frame shape with an open rear side, the bosses 112 are two and respectively disposed on the left and right sides of the bottom plate 111, and the primary parallelogram structures 12 are connected to the two bosses 112. When the first-level parallelogram structure 12 or other structures are hinged on the base 11, the hinge shaft is arranged between the two bosses 112, so that the left-right width of the bottom is widened, the structural stability is improved, and the installation convenience is also improved.
In some embodiments, the first and second drive assemblies 16 and 17 are cylinder-type drive mechanisms, respectively, for example, the first and second drive assemblies 16 and 17 may employ electric cylinder drive mechanisms, air cylinder drive mechanisms, or hydraulic cylinder drive mechanisms, which have a large drive torque and are relatively low cost.
In some embodiments, the first driving assembly 16 and the second driving assembly 17 are respectively motor driving mechanisms, and by using the motor driving mechanisms, on one hand, the control accuracy can be improved by using the characteristics of the motor, and on the other hand, the motor has less vibration during operation, so that the stability of the whole mechanism during driving can be improved.
In the embodiment of the invention, the driving modes of the two-degree-of-freedom foldable and expandable mechanism 1 can be divided into two modes, one mode is shown in fig. 5-8, namely, two actively-driven kinematic pairs are respectively arranged in the primary parallelogram structure 12 and the secondary parallelogram structure 13, so that the interference between the actively-driven kinematic pairs is reduced, and the working space of the mechanism is improved; another is shown in fig. 1-4, that is, two actively driven kinematic pairs are both disposed in the first-stage parallelogram structure 12 to achieve the end lightweight requirement and improve the dynamic characteristics of the mechanism.
Here, the two actively driven kinematic pairs are both arranged in the primary parallelogram structure 12 means that the two actively driven kinematic pairs are both arranged at the primary parallelogram structure 12, namely, are arranged near the bottom of the two-degree-of-freedom foldable mechanism 1, so that the stability is good. And the second driving component 17 for driving the third connecting rod 131 or the fourth connecting rod 132 to rotate is realized by using the indirect driving of the switching parallelogram 14, and does not mean that the second driving component 17 is directly connected with the first-stage parallelogram 12 for driving.
Referring to fig. 1 to 8, the structure of a mobile robot 100 for processing a large structural member according to two embodiments of the present invention will be described, focusing on the structure of a two-degree-of-freedom foldable mechanism 1 in the two embodiments.
Example one
Fig. 1-4 show a mobile robot 100 for large structural member machining according to a first embodiment.
In an embodiment, the mobile robot 100 for processing large structural members includes: a five-degree-of-freedom tail end posture adjusting device 2 and a two-degree-of-freedom foldable mechanism 1.
The two-degree-of-freedom foldable and expandable mechanism 1 comprises: the device comprises a base 11, a primary parallelogram structure 12, a secondary parallelogram structure 13, an intermediate triangular plate 15, a first driving assembly 16 and a second driving assembly 17.
The base 11 comprises a bottom plate 111 and a boss 112, wherein the bottom plate 111 is horizontally arranged, the boss 112 is provided with a first hinge point j1 and a second hinge point j2 which are spaced apart, the first hinge point j1 is in front, the second hinge point j2 is behind, and the second hinge point j2 is higher than the first hinge point j 1. Specifically, the base plate 111 is formed in a frame shape with an open rear side, two bosses 112 are provided on the left and right sides of the base plate 111, respectively, and hinge points on the two bosses 112 are the same.
The middle triangle 15 is located above the base 11, and the middle triangle 15 has a third hinge point j3, a fourth hinge point j4 and a fifth hinge point j5 which are distributed in a triangular shape.
The primary parallelogram structure 12 includes: the first connecting rod 121 and the second connecting rod 122, the upper and lower ends of the first connecting rod 121 are respectively hinged to the fourth hinge point j4 and the first hinge point j1, the upper and lower ends of the second connecting rod 122 are respectively hinged to the third hinge point j3 and the second hinge point j2, and the first connecting rod 121 is located at the front side of the second connecting rod 122.
The secondary parallelogram structure 13 includes: the third link 131, the fourth link 132, and the fifth link 133, and normally, the fifth link 133 is located in front of the middle triangle 15, and the fourth link 132 is located above the third link 131. The two ends of the fifth link 133 are respectively a sixth hinge point j6 and a seventh hinge point j7, the middle position of the third link 131 is hinged to the fourth hinge point j4, the front end of the third link 131 is hinged to the sixth hinge point j6, the front end of the fourth link 132 is hinged to the seventh hinge point j7, and the rear end of the fourth link 132 is hinged to the fifth hinge point j 5. The five-degree-of-freedom end attitude adjusting device 2 is fixed to the fifth link 133.
In the first embodiment, the mobile robot 100 for processing large structural members further includes: the switching parallelogram 14, the switching parallelogram 14 includes a sixth link 141 and a seventh link 142, one end of the sixth link 141 is hinged to the first hinge point j1, the other end of the sixth link 141 is hinged to one end of the seventh link 142, and the other end of the seventh link 142 is hinged to the third link 131. For convenience of understanding the present embodiment with reference to fig. 4, a hinge point at which the sixth link 141 is connected to the seventh link 142 is referred to as an eighth hinge point j8, and a hinge point at which the seventh link 142 is connected to the third link 131 is referred to as a ninth hinge point j 9.
The first link 121, the sixth link 141, the seventh link 142 and the third link 131 are partially formed in a quadrilateral shape, and the second driving assembly 17 drives the sixth link 141 to rotate so as to drive the third link 131 to rotate.
Here, one end of the sixth link 141 is hingedly connected to the first hinge point j1, so that the first link 121 and the sixth link 141 can be simultaneously connected to the same hinge point on the base 11, the number of hinge points on the base 11 is reduced, and the reduction of rigidity caused by too many hinge points is avoided. Of course, if the conditions allow, one end of the sixth link 141 can be hinged to other positions of the base 11, and the converted parallelogram 14 is changed into a five-rod structure, and one of the rods is a fixed rod (i.e. the base 11).
Specifically, in the first embodiment, the seventh link 142 has an upper end at a ninth hinge point j9 and a lower end at an eighth hinge point j8, the seventh link 142 is located at the rear side of the first link 121, the front end of the sixth link 141 is hinged to the first hinge point j1, the rear end of the sixth link 141 is hinged to the eighth hinge point j8, and the rear end of the third link 131 is hinged to the ninth hinge point j 9.
In one embodiment, as shown in fig. 3, the first driving assembly 16 includes: first top block 161, first supporting block 162, first driving rod 163 and a first driver (not shown in the figure), first top block 161 is rotatably connected to first connecting rod 121, first supporting block 162 is rotatably connected to base 11, one end of first driving rod 163 is connected to first top block 161, the other end of first driving rod 163 is connected to first supporting block 162, first driving rod 163, partial section of first connecting rod 121 and base 11 form a triangle, and first driver is used for driving first driving rod 163 to stretch and contract relative to first top block 161 or first supporting block 162.
For convenience, referring to fig. 3, the rotation connection point of the first top block 161 on the first link 121 is referred to as q1, the rotation connection point of the first branch block 162 on the base 11 is referred to as q2, and three points identified as j1, q1 and q2 in fig. 3 are distributed in a triangular shape. When the first driving rod 163 extends and retracts relative to the first pushing block 161 or the first supporting block 162, that is, the distance between the point q1 and the point q2 of the first driving rod 163 changes, so as to drive the angle of the triangle to change, and further drive the first link 121 to rotate relative to the first hinge point j 1.
In one embodiment, as shown in fig. 3, the second driving assembly 17 includes: the third ejecting block 175 is rotatably connected to the sixth connecting rod 141, the third branch block 176 is rotatably connected to the base 11, one end of the third driving rod 177 is connected to the third ejecting block 175, the other end of the third driving rod 177 is connected to the third branch block 176, the third driving rod 177, a partial section of the sixth connecting rod 141 and the base 11 form a triangle, and the third driver is used for driving the third driving rod 177 to extend and retract relative to the third ejecting block 175 or the third branch block 176.
For convenience, referring to fig. 3, the rotation connection point of the third top block 175 on the sixth link 141 is referred to as q3, the rotation connection point of the third branch block 176 on the base 11 is referred to as q4, and three points identified as j1, q3 and q4 in fig. 3 are distributed in a triangular shape. When the third driving rod 177 extends and retracts relative to the third top block 175 or the third branch block 176, that is, the distance between the point q3 and the point q4 of the third driving rod 177 changes, so as to drive the angle of the triangle to change, and further drive the sixth link 141 to rotate relative to the first hinge point j 1.
In the first embodiment, as shown in fig. 1 and 3, the lower half of the first connecting rod 121 is divided into two parallel struts 1211, the two struts 1211 are hinged to the two bosses 112 to form first hinge points j1, the two first hinge points j1 are coaxially arranged, and the first ejector block 161 is connected between the two struts 1211 through a rotating shaft.
As shown in fig. 1 and 3, the sixth link 141 is provided with a rotation groove 1411, and the third top block 175 is connected in the rotation groove 1411 through a rotation shaft. Since the lower half of the first link 121 is divided into the two spaced apart struts 1211, the sixth link 141 and the third driving lever 177 are rotated or extended and contracted without interfering with the first link 121.
In the first embodiment, the two intermediate triangular plates 15 are arranged in parallel in the left-right direction, and the two intermediate triangular plates 15 are interposed between the first link 121 and the third link 131. The second links 122 are two horizontally parallel links, and the two second links 122 are interposed between the sixth link 141 and the third link 131. The number of the fourth links 132 is two, and the two fourth links 132 are disposed at two sides of the fifth link 133. The two second connecting rods 122 are respectively hinged with the two middle triangular plates 15, and the two fourth connecting rods 132 are respectively hinged with the two middle triangular plates 15.
In the first embodiment, the two-degree-of-freedom foldable and expandable mechanism 1 is mounted on the moving vehicle 4.
In the first embodiment, the end of the two-degree-of-freedom foldable and unfoldable mechanism 1 can realize the freedom of movement in the X-axis direction, the Y-axis direction, and the Z-axis direction. The five-degree-of-freedom tail end attitude adjusting device 2 can realize the freedom of movement along the directions of an X axis, a Y axis and a Z axis and can realize the freedom of rotation around the X axis and the Y axis.
In the two-degree-of-freedom foldable mechanism 1, the first-level parallelogram structure 12 and the second-level parallelogram structure 13 are two parallelograms coupled through a middle triangular plate 15, the five-degree-of-freedom end posture adjusting device 2 is connected to the second-level parallelogram structure 13, the swinging angle of the first connecting rod 121 is controlled through the first driving assembly 16, the swinging angle of the third connecting rod 131 is controlled through converting the parallelogram structure 14 and the second driving assembly 17, the posture of the middle triangular plate 15 can be uniquely determined, the position of the five-degree-of-freedom end posture adjusting device 2 on an XZ plane can be uniquely determined, and the large-amplitude movement and positioning of the five-degree-of-freedom end posture adjusting device 2 on the XZ plane can be realized.
The two-degree-of-freedom foldable and unfoldable mechanism 1 is arranged on the moving vehicle 4, so that the five-degree-of-freedom tail end attitude adjusting device 2 can be freely adjusted on an X axis and a Y axis, and the omnibearing adjustment of the X axis, the Y axis and the Z axis is realized.
Because the pose of the actuator 6 can be uniquely determined by the five-degree-of-freedom end pose adjusting device 2 in a small range, the mobile robot 100 facing the large structural member processing can realize the functions of large-range positioning, local flexible pose adjustment and the like when the large structural member is processed.
Example two
Fig. 5-8 show the mobile robot 100 for processing large structural members according to the second embodiment.
In the second embodiment, the mobile robot 100 for processing a large structural member has substantially the same structure as that of the first embodiment, and the description of the same parts is omitted.
In contrast, in the second embodiment, as shown in fig. 5-8, the position of the first driving assembly 16 is different from that of the first embodiment. For convenience, referring to fig. 7, the rotation connection point of the first top block 161 on the first link 121 is referred to as k1, the rotation connection point of the first support block 162 on the base 11 is a second hinge point j2, three points identified in fig. 3 as j1, j2 and k1 are distributed in a triangular manner, and k1 is located between j1 and j 4. When the first driving lever 163 extends and retracts relative to the first pushing block 161 or the first supporting block 162, that is, the distance between the points k1 and j2 of the first driving lever 163 changes, so as to drive the angle of the triangle to change, and further drive the first link 121 to rotate relative to the first hinge point j 1.
In the second embodiment, the two-degree-of-freedom foldable mechanism 1 does not include the translating parallelogram 14, and the second driving assembly 17 directly drives the third link 131 to rotate relative to the middle triangle 15.
In the second embodiment, as shown in fig. 7, the second driving assembly 17 includes: the second top block 171 is rotatably connected to the third connecting rod 131, the second branch block 172 is rotatably connected to the middle triangle 15, one end of the second driving rod 173 is connected to the second top block 171, the other end of the second driving rod 173 is connected to the second branch block 172, the second driving rod 173, a part of the third connecting rod 131 and the middle triangle 15 form a triangle, and the second driver (not shown) is used for driving the second driving rod 173 to extend and retract relative to the second top block 171 or the second branch block 172.
For convenience, referring to fig. 7, the rotation connection point of the second top block 171 on the third link 131 is referred to as k2, the rotation connection point of the second branch block 172 on the middle triangle 15 is a fifth hinge point j5, and three points k2, j4 and j5 shown in fig. 7 are distributed in a triangular shape. When the second driving rod 173 extends or contracts relative to the second top block 171 or the second branch block 172, that is, the distance between the points k2 and j5 of the second driving rod 173 changes, so as to drive the angle of the triangle to change, and further drive the third link 131 to rotate relative to the fourth hinge point j 4.
In the second embodiment, the end of the two-degree-of-freedom foldable and unfoldable mechanism 1 can realize the freedom of movement in the X-axis direction, the Y-axis direction, and the Z-axis direction. The five-degree-of-freedom tail end attitude adjusting device 2 can realize the freedom of movement along the directions of an X axis, a Y axis and a Z axis and can realize the freedom of rotation around the X axis and the Y axis.
In the two-degree-of-freedom foldable mechanism 1, the first-level parallelogram structure 12 and the second-level parallelogram structure 13 are two parallelograms coupled through the middle triangular plate 15, the five-degree-of-freedom end posture adjusting device 2 is connected to the second-level parallelogram structure 13, the posture of the middle triangular plate 15 can be uniquely determined, the position of the five-degree-of-freedom end posture adjusting device 2 on the XZ plane can be uniquely determined by controlling the swinging angle of the first connecting rod 121 and the swinging angle of the third connecting rod 131, and the five-degree-of-freedom end posture adjusting device 2 can be moved and positioned greatly in the XZ plane.
The two-degree-of-freedom foldable and unfoldable mechanism 1 is arranged on the track 30, so that the five-degree-of-freedom tail end attitude adjusting device 2 can be adjusted in a large range along the Y axis, and the X axis, the Y axis and the Z axis are adjusted in all directions.
The two-degree-of-freedom foldable and unfoldable mechanism 1 is arranged on the moving vehicle 4, so that the five-degree-of-freedom tail end attitude adjusting device 2 can be freely adjusted on an X axis and a Y axis, and the omnibearing adjustment of the X axis, the Y axis and the Z axis is realized.
Because the pose of the actuator 6 can be uniquely determined within a small range by the five-degree-of-freedom end pose adjusting device 2, the mobile robot 100 for processing large structural members can realize the functions of large-range positioning, local flexible pose adjustment and the like when the large structural members are processed.
In summary, the mobile robot 100 for processing large structural members according to the embodiment of the present invention can meet the working space requirement of the large structural members on the processing equipment, easily realize the functions of large-scale positioning, local flexible posture adjustment, and the like, and can complete numerical control processing of complex free-form surfaces of large structural members.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A mobile robot for processing large-scale structural members is characterized by comprising: a mobile vehicle, a five-degree-of-freedom tail end posture adjusting device and a two-degree-of-freedom foldable mechanism,
the two-degree-of-freedom foldable and unfoldable mechanism comprises: the device comprises a base, a first-stage parallelogram structure, a second-stage parallelogram structure, a middle triangular plate, a first driving assembly and a second driving assembly, wherein the first-stage parallelogram structure is arranged on the base, the first-stage parallelogram structure and the second-stage parallelogram structure are coupled and linked through the middle triangular plate, the base is connected on the mobile vehicle,
the base is provided with a first hinge point and a second hinge point which are spaced, the middle triangular plate is provided with a third hinge point, a fourth hinge point and a fifth hinge point which are distributed in a triangular manner,
the primary parallelogram structure includes: the two ends of the first connecting rod are respectively hinged to the first hinge point and the fourth hinge point, the two ends of the second connecting rod are respectively hinged to the second hinge point and the third hinge point, the distance between the first hinge point and the fourth hinge point is equal to the distance between the second hinge point and the third hinge point, and the connecting line between the first hinge point and the fourth hinge point is parallel to the connecting line between the second hinge point and the third hinge point;
the secondary parallelogram structure includes: the third connecting rod is hinged to the fourth hinge point, the fourth connecting rod is hinged to the fifth hinge point, two ends of the fifth connecting rod are respectively hinged to the third connecting rod and the fourth connecting rod through a sixth hinge point and a seventh hinge point, the distance between the fourth hinge point and the sixth hinge point is equal to the distance between the fifth hinge point and the seventh hinge point, and the connecting line between the fourth hinge point and the sixth hinge point is parallel to the connecting line between the fifth hinge point and the seventh hinge point;
the first driving assembly is used for driving one of the first connecting rod and the second connecting rod to rotate relative to the base, the second driving assembly is used for driving one of the third connecting rod and the fourth connecting rod to rotate relative to the middle triangular plate, the first driving assembly and the second driving assembly are only two driving pairs of the two-degree-of-freedom foldable and expandable mechanism, and the five-degree-of-freedom end posture adjusting device is connected with the fifth connecting rod;
the five-degree-of-freedom tail end attitude adjusting device comprises: the fixed platform is fixedly connected to the fifth connecting rod, the movable platform is used for mounting an actuator, the first branched chain, the second branched chain and the third branched chain are arranged in a surrounding mode and connected between the fixed platform and the movable platform, the first branched chain and the second branched chain are space six-degree-of-freedom unconstrained branched chains respectively, the third branched chain is a space five-degree-of-freedom branched chain with one rotation constraint, and the movable platform has three rotation degrees of freedom and two movement degrees of freedom; the two-degree-of-freedom foldable and unfoldable mechanism is provided with a symmetrical plane in the left and right directions, and the first branched chain and the second branched chain are symmetrically arranged relative to the symmetrical plane;
the conversion parallelogram structure comprises a sixth connecting rod and a seventh connecting rod, one end of the sixth connecting rod is hinged to the first hinge point, the other end of the sixth connecting rod is hinged to one end of the seventh connecting rod, the other end of the seventh connecting rod is hinged to the third connecting rod, partial sections of the first connecting rod, the sixth connecting rod, the seventh connecting rod and the third connecting rod form a quadrangle, and the second driving assembly drives the sixth connecting rod to rotate so as to drive the third connecting rod to rotate;
the first drive assembly includes:
the first ejector block is rotatably connected to the first connecting rod;
the first supporting block is rotatably connected to the base;
one end of the first driving rod is connected with the first ejecting block, the other end of the first driving rod is connected with the first supporting block, and the first driving rod, a partial section of the first connecting rod and the base form a triangle;
the first driver is used for driving the first driving rod to stretch relative to the first top block or the first supporting block;
the second drive assembly includes:
the third ejector block is rotatably connected to the sixth connecting rod;
the third supporting block is rotatably connected to the base;
one end of the third driving rod is connected with the third ejecting block, the other end of the third driving rod is connected with the third supporting block, and the third driving rod, a partial section of the sixth connecting rod and the base form a triangle;
and the third driver is used for driving the third driving rod to stretch and retract relative to the third top block or the third branch block.
2. The mobile robot for large structure fabrication according to claim 1, wherein the mobile vehicle is a four-wheel vehicle.
3. The mobile robot for large structural member machining according to claim 1, wherein the first driving assembly and the second driving assembly are cylinder driving mechanisms, respectively.
4. The mobile robot for large structural member machining according to claim 1, wherein the first driving assembly and the second driving assembly are motor driving mechanisms, respectively.
5. The mobile robot for large structural member processing according to claim 1, wherein the intermediate triangular plates are two parallel triangular plates, the two intermediate triangular plates are sandwiched between the first connecting rod and the third connecting rod, the second connecting rod is two parallel triangular plates, the fourth connecting rod is two parallel triangular plates, the two second connecting rods are respectively hinged to the two intermediate triangular plates, and the two fourth connecting rods are respectively hinged to the two intermediate triangular plates.
6. The mobile robot for large structural member machining according to claim 1, wherein the base includes a bottom plate and two bosses, the bottom plate is horizontally disposed, the bottom plate is formed in a frame shape with an open rear side, the two bosses are respectively disposed on left and right sides of the bottom plate, and the primary parallelogram structure is connected to the two bosses.
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| CN108608401B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Rail-mounted large-span foldable machining robot |
| CN109571409A (en) * | 2018-12-29 | 2019-04-05 | 重庆大学 | A kind of mechanically moving arm assembly |
| CN110015269B (en) * | 2019-04-30 | 2024-03-22 | 重庆军通汽车有限责任公司 | Vehicle-mounted airflow generating device |
| CN110509285A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of huge revolving class component movable type machining robot |
| CN110509067B (en) * | 2019-07-31 | 2021-06-29 | 清华大学 | Large-scale complicated component normal position processing multi-robot system equips |
| CN111152240B (en) * | 2020-03-02 | 2021-07-30 | 清华大学 | Rocker arm type automatic human body temperature measuring robot and measuring method |
| CN112454417B (en) * | 2020-11-11 | 2023-11-28 | 深圳市越疆科技有限公司 | Desktop mechanical arm joint assembly, desktop mechanical arm and robot |
| CN113968363B (en) * | 2021-10-22 | 2024-05-28 | 北京卫星环境工程研究所 | Mounting base for mounting tool outside cabin |
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