CN108621128A - A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly - Google Patents
A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly Download PDFInfo
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- CN108621128A CN108621128A CN201810320745.4A CN201810320745A CN108621128A CN 108621128 A CN108621128 A CN 108621128A CN 201810320745 A CN201810320745 A CN 201810320745A CN 108621128 A CN108621128 A CN 108621128A
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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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
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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
- 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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Abstract
The invention discloses the mobile machining robots that a kind of a wide range of positioning and posture are adjusted flexibly, including：Locomotive, track, five degree of freedom terminal angle adjusting apparatus and two degrees of freedom telescopic mechanism, level-one parallelogram sturcutre is mounted on the base in two degrees of freedom telescopic mechanism, two parallelogram sturcutres are coupled by middle triangle plate and are linked, and five degree of freedom terminal angle adjusting apparatus is connected to two degrees of freedom telescopic mechanism end.Track is located on locomotive, and movement can be achieved in the cooperation of two degrees of freedom telescopic mechanism in orbit.The machining robot of the present invention, by two parallelogram sturcutres of coupling loaded on track, track installation is on locomotive, the space large-range movement of five degree of freedom terminal angle adjusting apparatus can be achieved and position, cope with big working space demand of the large-sized structural parts to process unit, it easily realizes a wide range of positioning and the part flexibly functions such as pose adjustment, the digital control processing of large-sized structural parts complex free curved surface can be completed.
Description
Technical field
The invention belongs to machine design and manufacture fields, in particular to a kind of big model applied to digital control processing field
Enclose positioning and mobile machining robot that posture is adjusted flexibly.
Background technology
In machine design and manufacture field, with the development of industrial level, the service demand and design water of component of machine
Flat to be continuously improved, process for machining and manufacturing also becomes more harsh and complicated, new challenge is proposed to modern process unit.It is adjoint
The implementation of national major project and engineering, Large Complicated Structural Component and large scale equipment have been widely used in each key area, such as
Aerospace, ship naval vessels, electric power facility etc., the demand for such structural member to super large working space, " big " machine tooling
The traditional thinking mode of " small " workpiece is obviously no longer applicable in.
For use above demand, a rail mounted large span telescopic Multi-axis simultaneous machining device is designed, satisfaction is become
A kind of effective way of the demand.In terms of large-sized structural parts move processing, German KUKA Moiros are moved using OmniMove
Moving platform carries KMR QUANTEC mechanical arms and constitutes mobile machining robot system, illustrates it and processes neck in large-sized structural parts
The application prospect in domain.However, its mechanical arm using cascade realize, there are the accumulation of error, moving component inertia is big the problems such as.
Different from serial mechanism, parallel institution is the closed loop being made of two or more kinematics branches and being capable of control terminal realization one
The mechanism of fixed output movement, with compact-sized, heavy moving parts are small, rigidity is high, dynamic response characteristic is good, on Unit Weight
Large carrying capacity is easily achieved the advantages that high-speed motion, therefore as the ideal chose of process unit innovative design.
Invention content
The purpose of the present invention is providing better principle configuration and solution for large parts processing, propose a kind of big
The mobile machining robot that range positions and posture is adjusted flexibly, new mobile type machining robot proposed by the present invention, profit
With two parallelogram sturcutres and track, locomotive of coupling, in a wide range of interior movement and five degree of freedom end can be positioned
Device for adjusting posture, reply large-sized structural parts easily realize a wide range of positioning and part to the big working space demand of process unit
The functions such as flexible pose adjustment.
The mobile machining robot that a kind of a wide range of positioning according to the ... of the embodiment of the present invention and posture are adjusted flexibly, packet
It includes：Locomotive, track, five degree of freedom terminal angle adjusting apparatus and two degrees of freedom telescopic mechanism, the two degrees of freedom can roll over
Opening up mechanism includes：Pedestal, level-one parallelogram sturcutre, two level parallelogram sturcutre, middle triangle plate, the first drive component
With the second drive component, the level-one parallelogram sturcutre is mounted on the base, the level-one parallelogram sturcutre and institute
It states two level parallelogram sturcutre and link is coupled by the middle triangle plate, the track is located on the locomotive, described
Coordinate to pedestal movable on the track, the pedestal has the first hinge spaced apart, the second hinge, the middle triangle
Plate has third hinge, the 4th hinge and the 5th hinge in angular distribution, and the level-one parallelogram sturcutre includes：First
The both ends of connecting rod, second connecting rod, the first connecting rod are hingedly connected on first hinge and the 4th hinge, institute
The both ends for stating second connecting rod are hingedly connected on second hinge and the third hinge, first hinge and described
The distance of 4th hinge is equal at a distance from the second hinge and the third hinge, first hinge and the 4th hinge
The line of line and the second hinge and the third hinge is mutually parallel；The two level parallelogram sturcutre includes：Third connects
Bar, fourth link and the 5th connecting rod, the third connecting rod are hingedly connected on the 4th hinge, and the fourth link hingedly connects
It is connected on the 5th hinge, the both ends of the 5th connecting rod are hingedly connected to by the 6th hinge and the 7th hinge described respectively
On third connecting rod and the fourth link, the distance of the 4th hinge and the 6th hinge and the 5th hinge and described the
The distance of seven hinges is equal, line and the 5th hinge and the 7th hinge of the 4th hinge and the 6th hinge
Line be mutually parallel；First drive component be used to drive one in the first connecting rod and the second connecting rod it is opposite
The base rotation, second drive component are used to drive one in the third connecting rod and the fourth link opposite institute
State the rotation of middle triangle plate, first drive component and second drive component be two degrees of freedom telescopic mechanism only
Two active drive pairs having, the five degree of freedom terminal angle adjusting apparatus connect the 5th connecting rod；The five degree of freedom
Terminal angle adjusting apparatus includes：Fixed platform, moving platform, the first branch, the second branch and third branch, the fixed platform are fixed
It is connected on the 5th connecting rod, the moving platform is for installing actuator, first branch, the second branch and third branch
It around setting and is connected between the fixed platform and the moving platform, there are three rotational freedom and two for the moving platform tool
One-movement-freedom-degree.
The mobile machining robot that a kind of a wide range of positioning according to the ... of the embodiment of the present invention and posture are adjusted flexibly, passes through
Three branched structures of setting form five degree of freedom terminal angle adjusting apparatus, realize three rotational freedoms and two freedoms of movement
Degree, is the distinguishing feature that the mechanism is different from other similar mechanisms, moving platform can realize larger rotation fan-out capability；Using
The two degrees of freedom telescopic mechanism of twin-stage parallelogram sturcutre drives two degrees of freedom telescopic machine by controlling two inputs
Structure moves, and realizes two one-movement-freedom-degrees in plane, it is ensured that higher machined surface normal stiffness, this be common manipulator not
It can realize.Two degrees of freedom telescopic mechanism can move in orbit, it can be achieved that three one-movement-freedom-degrees in plane.By locomotive
Mobile two degrees of freedom telescopic mechanism is, it can be achieved that moving freely in larger scope.Such a wide range of positioning and posture are flexible
The mobile machining robot of adjustment can cope with working space demand of the large-sized structural parts to process unit, easily realize a wide range of
The functions such as the flexible pose adjustment of positioning and part, can complete the digital control processing of large-sized structural parts complex free curved surface.
Wherein, in two degrees of freedom telescopic mechanism, level-one parallelogram sturcutre and two level parallelogram sturcutre are equal
For parallelogram, two parallelogram are coupled by middle triangle plate, therefore pass through two parallelogram of control
The unique positions of five degree of freedom terminal angle adjusting apparatus can be obtained in two angles between side and pedestal, to realize end
The a wide range of mobile and positioning of five degree of freedom terminal angle adjusting apparatus.The installation of two degrees of freedom telescopic mechanism is in orbit,
Two degrees of freedom telescopic mechanism is set to realize that position freely adjusts along track, by track installation on locomotive, locomotive can carry
Two degrees of freedom telescopic mechanism and five degree of freedom terminal angle adjusting apparatus move on the ground, make five degree of freedom terminal angle tune
Engagement positions have comprehensive adjustment capability when macro position adjusts.
In some embodiments, positioning on a large scale and the mobile machining robot that is adjusted flexibly of posture further include：Conversion
Parallelogram sturcutre, the converted parallel quadrilateral structure include six-bar linkage and seven-link assembly, the one of the six-bar linkage
End is hingedly connected on first hinge, and the other end of the six-bar linkage is hingedly connected to one end of the seven-link assembly
On, the other end of the seven-link assembly is hingedly connected on the third connecting rod, the first connecting rod, the six-bar linkage, institute
The segment section for stating seven-link assembly and the third connecting rod constitutes quadrangle, and second drive component is connected by driving the described 6th
Bar rotates and the third connecting rod is driven to rotate.
In some embodiments, positioning on a large scale and the mobile machining robot that is adjusted flexibly of posture further include：Conversion
Parallelogram sturcutre, the converted parallel quadrilateral structure include six-bar linkage and seven-link assembly, the one of the six-bar linkage
End is hingedly connected on first hinge, and the other end of the six-bar linkage is hingedly connected to one end of the seven-link assembly
On, the other end of the seven-link assembly is hingedly connected on the third connecting rod, the first connecting rod, the six-bar linkage, institute
The segment section for stating seven-link assembly and the third connecting rod constitutes quadrangle, and second drive component is connected by driving the described 6th
Bar rotates and the third connecting rod is driven to rotate.
In some embodiments, the track includes two disposed in parallel, and the bottom of the pedestal is coordinated by sliding block
On two tracks, multiple sliding blocks are provided on every track.
In some embodiments, first drive component and the second drive component are respectively cylinder body driving mechanism.
In some embodiments, first drive component and the second drive component are respectively motor-driven mechanism.
In some embodiments, first drive component includes：First jacking block, first jacking block are rotatably coupled
On the first connecting rod；First bearing piece, first bearing piece are rotatably connected on the pedestal；First drive rod, institute
The one end for stating the first drive rod is connected with first jacking block, the other end of first drive rod and the first bearing piece phase
Even, first drive rod, the segment section of the first connecting rod, the pedestal are triangle；First driver, described first
Driver is flexible for driving relatively described first jacking block of first drive rod or first bearing piece.
In some embodiments, second drive component includes：Second jacking block, second jacking block are rotatably coupled
On the third connecting rod；Second bearing piece, second bearing piece are rotatably connected on the middle triangle plate；Second driving
Bar, one end of second drive rod are connected with second jacking block, the other end of second drive rod with described second
Block is connected, and second drive rod, the segment section of the third connecting rod, the middle triangle plate are triangle；Second driving
Device, second driver are flexible for driving relatively described second jacking block of second drive rod or second bearing piece.
In further embodiments, second drive component includes：Third jacking block, the third jacking block rotationally connect
It is connected on the six-bar linkage；Third bearing piece, the third bearing piece are rotatably connected on the pedestal；Third drive rod,
One end of the third drive rod is connected with the third jacking block, the other end of the third drive rod and the third bearing piece phase
Even, the third drive rod, the segment section of the six-bar linkage, the pedestal are triangle；Third driver, the third
Driver is flexible for driving the relatively described third jacking block of the third drive rod or the third bearing piece.
In some embodiments, the middle triangle plate is two disposed in parallel, two middle triangle plate sandwicheds
In the both sides of the first connecting rod, the third connecting rod, the second connecting rod is two disposed in parallel, and the fourth link is
Two disposed in parallel, two second connecting rods are hinged with two middle triangle plates respectively, two fourth links
It is hinged with two middle triangle plates respectively.
Specifically, the pedestal includes bottom plate and boss, and the floor level setting, the sole shape is as rear open
Frame shape, the boss is two and is respectively provided at the left and right sides of bottom plate, and the level-one parallelogram sturcutre is connected to institute
It states on two boss.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is a kind of a wide range of positioning according to the ... of the embodiment of the present invention and the mobile machining robot that posture is adjusted flexibly
A stereogram；
Fig. 2 is the vertical view for the mobile machining robot that positioning and posture are adjusted flexibly on a large scale shown in Fig. 1；
Fig. 3 is the front view of two degrees of freedom telescopic shown in FIG. 1 mechanism；
Fig. 4 is the principle configuration picture of two degrees of freedom telescopic shown in Fig. 3 mechanism；
Fig. 5 is another a wide range of positioning according to the ... of the embodiment of the present invention and the mobile processing machine that posture is adjusted flexibly
The stereogram of people；
Fig. 6 is the vertical view for the mobile machining robot that positioning and posture are adjusted flexibly on a large scale shown in Fig. 5；
Fig. 7 is the front view of two degrees of freedom telescopic shown in fig. 5 mechanism；
Fig. 8 is the principle configuration picture of two degrees of freedom telescopic shown in Fig. 7 mechanism；
Fig. 9 is the vertical view of five degree of freedom terminal angle adjusting apparatus according to the ... of the embodiment of the present invention；
Figure 10 is the stereogram of five degree of freedom terminal angle adjusting apparatus according to the ... of the embodiment of the present invention.
Reference numeral：
Mobile machining robot 100 that a wide range of positioning and posture are adjusted flexibly,
Two degrees of freedom telescopic mechanism 1,
Pedestal 11, bottom plate 111, boss 112,
Level-one parallelogram sturcutre 12, first connecting rod 121, strut 1211, second connecting rod 122,
Two level parallelogram sturcutre 13, third connecting rod 131, fourth link 132, the 5th connecting rod 133,
Converted parallel quadrilateral structure 14, six-bar linkage 141, rotation slot 1411, seven-link assembly 142,
Middle triangle plate 15,
First drive component 16, the first jacking block 161, the first bearing piece 162, the first drive rod 163,
Second drive component 17, the second jacking block 171, the second bearing piece 172, the second drive rod 173, third jacking block 175, third
Bearing piece 176, third drive rod 177,
First hinge j1, the second hinge j2, third hinge j3, the 4th hinge j4, the 5th hinge j5,
6th hinge j6, the 7th hinge j7, the 8th hinge j8, the 9th hinge j9,
Five degree of freedom terminal angle adjusting apparatus 2,
Fixed platform 21, moving platform 22, the first branch 23, the second branch 24, third branch 25,
Upper connector 201, lower connector 202, top shoe 203, glide fast 204, upper connecting rod 205, lower link 206, U-shaped part
207, link block 208, connector 251, sliding block 252, connecting rod 253,
Track 30, sliding block 31,
Locomotive 4,
Actuator 6.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", "upper", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom" "inner", "outside", " circumferential direction " is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated
Device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to the present invention's
Limitation.In addition, defining " first ", the feature of " second " can explicitly or implicitly include one or more spy
Sign.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of a wide range of positioning according to the ... of the embodiment of the present invention is described below with reference to Fig. 1-Figure 10 and posture is adjusted flexibly
Mobile machining robot 100.
The mobile machining robot 100 that a kind of a wide range of positioning according to the ... of the embodiment of the present invention and posture are adjusted flexibly,
As shown in Figure 1 and Figure 5, including：Locomotive 4, track 30, five degree of freedom terminal angle adjusting apparatus 2 and two degrees of freedom telescopic
Mechanism 1.
Five degree of freedom terminal angle adjusting apparatus 2 is used to adjust the posture of actuator 6, and actuator 6 is holding for process equipment
Row terminal, such as actuator 6 can be cutter, laser emitter, nozzle etc., not limit specifically the type of actuator 6 here
System.
Five degree of freedom terminal angle adjusting apparatus 2 makes the tool of actuator 6 in itself, and there are five the directions of degree of freedom can adjust, specifically
To make the tool of actuator 6, there are three the rotational freedom in direction and the one-movement-freedom-degrees of both direction.But five degree of freedom end appearance
State adjusting apparatus 2 can only be adjusted the posture of actuator 6 in a small range, when being processed to large-sized structural parts,
The processing space of actuator 6 is limited big if only five degree of freedom terminal angle adjusting apparatus 2 being leaned on to adjust, or even cannot achieve large size
The processing operation of structural member.
To solve this problem, in the embodiment of the present invention, five degree of freedom terminal angle adjusting apparatus 2 is mounted on two freely
It spends in telescopic mechanism 1, two degrees of freedom telescopic mechanism 1 is similar to the structure of industry mechanical arm, can significantly move five freely
Spend terminal angle adjusting apparatus 2.Two degrees of freedom telescopic mechanism 1 is arranged on track 30, and two degrees of freedom telescopic mechanism 1 can edge
Track 30 moves, and 1 matching track 30 of two degrees of freedom telescopic mechanism can have there are three one-movement-freedom-degree.Two degrees of freedom telescopic machine
Structure 1 is mounted on locomotive 4, and locomotive 4 can carry two degrees of freedom telescopic mechanism 1, five degree of freedom terminal angle adjusting apparatus 2
It travels in a wider context, realizes wider positioning.And it is adjusted and is filled by five degree of freedom terminal angle again after a wide range of positioning
Set 2 carry out local pose adjustment.The combination of the two is equivalent to and is combined the Macro orientation of processing and micro-positioning, increases
Macro orientation range, while also ensureing micro-positioning precision.
Referring to Fig.1 and Fig. 5, two degrees of freedom telescopic mechanism 1 include：Pedestal 11, level-one parallelogram sturcutre 12, two level
Parallelogram sturcutre 13, middle triangle plate 15, the first drive component 16 and the second drive component 17, level-one parallelogram knot
Structure 12 is installed on the pedestal 11, and level-one parallelogram sturcutre 12 and two level parallelogram sturcutre 13 pass through middle triangle plate 15
Coupling link.Track 30 is mounted on locomotive 4, and pedestal 11 is mounted on track 30.
Specifically as shown in Fig. 3 and Fig. 4, Fig. 7 and Fig. 8, pedestal 11 has the first hinge j1, the second hinge j2 spaced apart,
Middle triangle plate 15 has third hinge j3, the 4th hinge j4 and the 5th hinge j5 in angular distribution.
Level-one parallelogram sturcutre 12 includes：First connecting rod 121, second connecting rod 122, the both ends point of first connecting rod 121
It is not hingedly connected on the first hinge j1 and the 4th hinge j4, the both ends of second connecting rod 122 are hingedly connected in the second hinge
On j2 and third hinge j3.The distance of first hinge j1 and the 4th hinge j4 phase at a distance from the second hinge j2 and third hinge j3
Deng the line of the line and the second hinge j2 and third hinge j3 of the first hinge j1 and the 4th hinge j4 is mutually parallel.As a result,
One connecting rod 121, pedestal 11, second connecting rod 122 and middle triangle plate 15 constitute a parallelogram.
Two level parallelogram sturcutre 13 includes：Third connecting rod 131, fourth link 132 and the 5th connecting rod 133, third connect
Bar 131 is hingedly connected on the 4th hinge j4, and fourth link 132 is hingedly connected on the 5th hinge j5, and the two of the 5th connecting rod 133
End is by the 6th hinge j6, the 7th hinge j7 and is connected on third connecting rod 131 and fourth link 132.4th hinge j4 and
The distance of six hinge j6 is equal at a distance from the 5th hinge j5 and the 7th hinge j7, the line of the 4th hinge j4 and the 6th hinge j6
It is mutually parallel with the line of the 5th hinge j5 and the 7th hinge j7.
It is parallel to constitute another for third connecting rod 131, fourth link 132, the 5th connecting rod 133 and middle triangle plate 15 as a result,
Quadrangle.
Wherein, intermediate triangle is collectively forming for level-one parallelogram sturcutre 12 and two level parallelogram sturcutre 13
Part, therefore the action of level-one parallelogram sturcutre 12 chain can be transferred to two level parallelogram sturcutre 13.
First drive component 16 is used to drive one in first connecting rod 121 and second connecting rod 122 to be rotated relative to pedestal 11,
Second drive component 17 is used to drive one in third connecting rod 131 and fourth link 132 to be rotated relative to middle triangle plate 15, and five
The adjustment load of degree of freedom terminal angle connects the 5th connecting rod 133.
As shown in figure 9, five degree of freedom terminal angle adjusting apparatus 2 includes：Fixed platform 21, moving platform 22, the first branch 23,
Second branch 24 and third branch 25, fixed platform 21 are fixedly connected on the 5th connecting rod 133, and moving platform 22 is for installing actuator
6, the first branch 23, the second branch 24 and third branch 25 are around setting and are connected between fixed platform 21 and moving platform 22, move
There are three rotational freedom and two one-movement-freedom-degrees for the tool of platform 22.
In five degree of freedom terminal angle adjusting apparatus 2, first branch 23,24 structure of the second branch are identical, contain two
The kinematic pair of a active drive, third branch 25 contain the kinematic pair there are one active drive；First branch 23,24 and of the second branch
Third branch 25 is connect with fixed platform 21 and moving platform 22 respectively forms a Spatial Parallel close loop mechanism, which closes
Ring mechanism drives moving platform movement by five input motions, realizes three rotational freedoms and two one-movement-freedom-degrees.
Parallel institution is the closed loop being made of two or more kinematics branches and being capable of the certain output of control terminal realization
The mechanism of movement, with compact-sized, heavy moving parts are small, rigidity is high, dynamic response characteristic is good, carry energy on Unit Weight
Power is big, is easily achieved the advantages that high-speed motion.Therefore five degree of freedom terminal angle adjusting apparatus 2 becomes process unit innovative design
Ideal chose.
In two degrees of freedom telescopic mechanism 1, level-one parallelogram sturcutre 12 and two level parallelogram sturcutre 13 are equal
For parallelogram, two parallelogram are coupled by middle triangle plate 15.
Since level-one parallelogram sturcutre 12 is parallelogram, relative edge's equal length, therefore the first company of control
As soon as in bar 121 and second connecting rod 122 swing angle, the pose of middle triangle plate 15 can be uniquely determined.
Likewise, since two level parallelogram sturcutre 13 is parallelogram, relative edge's equal length, therefore in
Between set square 15 pose uniquely determine in the case of, control one angle of oscillation in third connecting rod 131 and fourth link 132
Degree, can uniquely determine the position of five degree of freedom terminal angle adjusting apparatus 2.
As can be seen that the protrusion effect that level-one parallelogram sturcutre 12 and two level parallelogram sturcutre 13 are coupled
Fruit is the variation of position to be realized by the control of two bar swing angles, effect is double superposition so that five degree of freedom end appearance
State adjusting apparatus 2 planar significantly can be moved and be positioned in parallelogram.
Two degrees of freedom telescopic mechanism 1 is mounted on track 30, two degrees of freedom telescopic mechanism 1 is made also to have in Y direction
There are the possibility with the movement of two degrees of freedom telescopic mechanism 1 same span, the two combination that can realize the comprehensive a wide range of of position
Adjustment.
Two degrees of freedom telescopic mechanism 1 is mounted on locomotive 4, it, can since the traveling and working range of locomotive 4 are wide
More to expand the position adjustment capability of five degree of freedom terminal angle adjusting apparatus 2.
The mobile machining robot 100 that a kind of a wide range of positioning according to the ... of the embodiment of the present invention and posture are adjusted flexibly,
Five degree of freedom terminal angle adjusting apparatus 2 is formed by the way that three branched structures are arranged, realizes three rotational freedoms and two shiftings
Dynamic degree of freedom, is the distinguishing feature that the mechanism is different from other similar mechanisms, and moving platform 22 can realize larger rotation output
Ability；Using the two degrees of freedom telescopic mechanism 1 of twin-stage parallelogram sturcutre, two freedom are driven by controlling two inputs
It spends telescopic mechanism 1 to move, realizes two one-movement-freedom-degrees in plane, and two degrees of freedom telescopic mechanism 1 is moved up in track 30
It is dynamic, it can be achieved that three one-movement-freedom-degrees in plane.Two degrees of freedom telescopic mechanism 1 is moved by locomotive 4, is realized in larger scope
Move freely.Such robot, it is ensured that machined surface normal stiffness is higher, this is that common manipulator is irrealizable.
The mobile machining robot 100 that such a wide range of positioning and posture are adjusted flexibly, can cope with large-sized structural parts and be filled to processing
Standby working space demand easily realizes a wide range of positioning and the part flexibly functions such as pose adjustment, it is multiple can to complete large-sized structural parts
The digital control processing of miscellaneous free form surface.
In some embodiments, as shown in Figure 10, in five degree of freedom terminal angle adjusting apparatus 2, the first branch 23 and
Two branches, 24 structure is identical, contains the kinematic pair there are two active drive, and third branch 25 contains the movement there are one active drive
It is secondary.
First branch 23, the second branch 24 and third branch 25 connect formation one with fixed platform 21 and moving platform 22 respectively
A Spatial Parallel close loop mechanism, the Spatial Parallel close loop mechanism drive moving platform 22 to move by five input motions, realize three
A rotational freedom and two one-movement-freedom-degrees.
Optionally, the first branch 23, the second branch 24 are symmetrical arranged relative to the mobile face of two degrees of freedom telescopic mechanism 1.
I.e. in the example of fig. 1, two degrees of freedom telescopic mechanism 1 has the plane of symmetry, the first branch 23, the second branch 24 in left and right directions
The opposite plane of symmetry is arranged, and can keep left-right balance in the quiescent state, and permanent place is stablized.
In a specific embodiment shown in Fig. 10, five degree of freedom terminal angle adjusting apparatus 2 includes：Fixed platform 21,
Moving platform 22 and the first branch 23, the second branch 24, third branch 25, three branches are connected to fixed platform 21 and moving platform
Between 22, and with 22 Special composition close loop mechanism of the fixed platform 21 and moving platform.
First branch 23, the second branch 24 include：Upper connector 201, top shoe 203, glides soon at lower connector 202
204, upper connecting rod 205, lower link 206, U-shaped part 207, link block 208 and kinematic pair.Kinematic pair has ten, and one is connection
Revolute pair between fixed platform 21 and lower connector 202, one is connected between lower connector 202 and sliding block 110
Revolute pair, one is the prismatic pair being connected between sliding block 110 and lower link 206, and one is to be connected to fixed platform 21 and upper
Revolute pair between connector 201, one is the revolute pair being connected between upper connector 201 and top shoe 203, and one is to connect
The prismatic pair being connected between top shoe 203 and upper connecting rod 205, one is to be connected between upper connecting rod 205 and lower link 206 to turn
Dynamic pair, one is the revolute pair being connected between upper connecting rod 205 and U-shaped part 207, and one is to be connected to U-shaped part 207 and link block
Revolute pair between 208, the other is being connected to the revolute pair between link block 208 and moving platform 22.Wherein, it is connected to cunning
Prismatic pair between block 203 and upper connecting rod 205 and the prismatic pair being connected between sliding block 110 and lower link 206 are to be driven
Dynamic；Two for being connected between fixed platform 21 and upper connector 201 and being connected between upper connector 201 and top shoe 203
A revolute pair can be replaced by a Hooke's hinge or a flexural pivot；It is connected between fixed platform 21 and lower connector 202 and connects
Being connected to two revolute pairs between lower connector 202 and sliding block 110 can be replaced by a Hooke's hinge or a flexural pivot；Connection
Between upper connecting rod 205 and U-shaped part 207, it is connected between U-shaped part 207 and link block 208 and is connected to 208 and of link block
Three revolute pairs between moving platform 22 can be replaced by a flexural pivot；The branch is space six degree of freedom without constrained branched chain.
Third branch 25 includes：Connector 251, sliding block 252, connecting rod 253 and kinematic pair.There are four kinematic pairs, one
It is the revolute pair being connected between fixed platform 21 and connector 251, one is connected between connector 251 and sliding block 252
Revolute pair, one is the cylindrical pair being connected between sliding block 252 and connecting rod 253, the other is being connected to connecting rod 253 and moving platform
Revolute pair between 22.Wherein, the stretching motion between sliding block 252 and connecting rod 253 along bar length direction is driven；It is connected to
Between fixed platform 21 and connector 251 and two revolute pairs being connected between connector 251 and sliding block 252 can be by a tiger
Gram hinge or flexural pivot replace；Being connected to the cylindrical pair between sliding block 252 and connecting rod 253 can be turned by a prismatic pair and one
Dynamic secondary replacement, and the prismatic pair is driven；The branch is that there are one the space five-freedom branches of rotational restraint for tool.
The five degree of freedom terminal angle adjusting apparatus 2 can realize five axis of three rotational freedoms and two one-movement-freedom-degrees
Coordinated signals.
In other embodiments of the invention, third branch can also include connector, sliding block, connecting rod, U-shaped part and fortune
Dynamic pair.There are three kinematic pairs, and one is the revolute pair being connected between connector and sliding block, and one is to be connected to sliding block and connecting rod
Between prismatic pair, the other is being connected to the revolute pair between connecting rod and U-shaped part.Wherein, it is connected between sliding block and connecting rod
Prismatic pair be driven.
In some embodiments, as shown in Figure 1, track 30 includes two disposed in parallel, the bottom of pedestal 11 passes through cunning
Block 31 coordinates on two tracks 30, and multiple sliding blocks 31 are provided on every track 30.Setting can increase in this way slides along track 30
Capable stationarity.
Optionally, track 30 is the straight rail that horizontal direction extends, certainly, in the embodiment having, the extension of track 30
Direction can also be arc or other curve shapes, not be restricted here.
Optionally, locomotive 4 selects carriage, to operate steadily.
In some embodiments, as shown in Fig. 1 and Fig. 2, Fig. 5 and Fig. 6, middle triangle plate 15 is two disposed in parallel,
Two middle triangle plates 15 are folded in the both sides of first connecting rod 121, third connecting rod 131, and second connecting rod 122 is disposed in parallel two
A, fourth link 132 is two disposed in parallel, and two second connecting rods 122 are hinged with two middle triangle plates 15 respectively, two
Fourth link 132 is hinged with two middle triangle plates 15 respectively.
Here, first connecting rod 121, third connecting rod 131 are arranged more thick and heavy, then connect middle triangle plate 15, second
Bar 122, fourth link 132 are arranged flat, can make full use of space, reduce the size of two degrees of freedom telescopic mechanism 1.And incite somebody to action
Middle triangle plate 15, second connecting rod 122, fourth link 132 are arranged to parallel two and connect positioned at first connecting rod 121, third
The both sides of bar 131 make the both sides uniform force of first connecting rod 121, third connecting rod 131 in the lateral direction, avoid two degrees of freedom
Telescopic mechanism 1 is swung left and right shaking, the dynamic characteristic of further hoisting mechanism.
Specifically, as shown in Fig. 1 and Fig. 2, Fig. 5 and Fig. 6, pedestal 11 includes bottom plate 111 and boss 112, and bottom plate 111 is horizontal
Setting, bottom plate 111 are formed as the frame shape of rear open, and boss 112 is two and is respectively provided at the left and right sides of bottom plate 111, and one
Grade parallelogram sturcutre 12 is connected on two boss 112.In this way by level-one parallelogram sturcutre 12 or other knot
When structure is articulated and connected on the pedestal 11, hinged shaft is arranged between two boss 112, broadens bottom or so width in this way, improves
Structural stability, also improves installation convenience.
In some embodiments, the first drive component 16 and the second drive component 17 are respectively cylinder body driving mechanism, for example,
Electric cylinders driving mechanism, cylinder driving mechanism or Driven by Hydraulic Cylinder may be used in first drive component 16 and the second drive component 17
Mechanism, this driving mechanism driving moment is big, and cost is opposite to want low.
In some embodiments, the first drive component 16 and the second drive component 17 are respectively motor-driven mechanism, are used
Motor-driven mechanism, on the one hand can utilize motor characteristic improve control accuracy, another aspect motor vibrate in the running it is smaller,
The stationarity of integrated model when can improve driving.
In embodiments of the present invention, the type of drive of two degrees of freedom telescopic mechanism 1 can be divided into two kinds, a kind of such as Fig. 5-figure
Shown in 8, i.e., the kinematic pair of two active drives is separately positioned on level-one parallelogram sturcutre 12 and two level parallelogram knot
In structure 13, the interference between kinematic pair to reduce active drive, the working space of hoisting mechanism；Another kind is such as Fig. 1-Fig. 4 institutes
Showing, i.e., the kinematic pair of two active drives is arranged in level-one parallelogram sturcutre 12, to realize end lightweight demand,
The dynamic characteristic of hoisting mechanism.
Here, the kinematic pair of two active drives, which is arranged in level-one parallelogram sturcutre 12, refers to two masters
The kinematic pair of dynamic driving is respectively positioned at level-one parallelogram sturcutre 12, i.e., is set adjacent to the bottom of two degrees of freedom telescopic mechanism 1
It sets, therefore stationarity will be got well.And the second drive component for being wherein used to that third connecting rod 131 or fourth link 132 to be driven to rotate
17, it is that driving is realized indirectly using converted parallel quadrilateral structure 14, without referring to that the second drive component 17 is parallel with level-one
Quadrilateral structure 12 is connected directly driving.
Referring to Fig. 1-Fig. 8, positioning and appearance on a large scale in two specific embodiments in description according to embodiments of the present invention
The structure for the mobile machining robot 100 that state is adjusted flexibly introduces two degrees of freedom telescopic mechanism 1 in two embodiments
Structure.
Embodiment one
Fig. 1-Fig. 4 shows the mobile machining robot that a wide range of positioning of embodiment one and posture are adjusted flexibly
100。
In embodiment one, the mobile machining robot 100 that positioning and posture are adjusted flexibly on a large scale includes：Five freely
Spend terminal angle adjusting apparatus 2 and two degrees of freedom telescopic mechanism 1.
Two degrees of freedom telescopic mechanism 1 includes：Pedestal 11, level-one parallelogram sturcutre 12, two level parallelogram knot
Structure 13, middle triangle plate 15, the first drive component 16 and the second drive component 17.
Pedestal 11 includes bottom plate 111 and boss 112, and bottom plate 111 is horizontally disposed, and boss 112 is equipped with first be spaced apart
Hinge j1, the second hinge j2, the first hinge j1 are preceding, and the second hinge j2 is rear, and the second hinge j2 is higher than the first hinge j1.Tool
Body, bottom plate 111 is formed as the frame shape of rear open, and boss 112 is two and is respectively provided at the left and right sides of bottom plate 111, and two
Hinge on a boss 112 is identical.
Middle triangle plate 15 is located at the top of pedestal 11, middle triangle plate 15 have the third hinge j3 in angular distribution,
4th hinge j4 and the 5th hinge j5.
Level-one parallelogram sturcutre 12 includes：First connecting rod 121, second connecting rod 122, up and down the two of first connecting rod 121
End is hingedly connected on the 4th hinge j4 and the first hinge j1, and the upper and lower ends of second connecting rod 122 are hingedly connected
On third hinge j3 and the second hinge j2, first connecting rod 121 is located at the front side of second connecting rod 122.
Two level parallelogram sturcutre 13 includes：Third connecting rod 131, fourth link 132 and the 5th connecting rod 133, usual feelings
Under condition, the 5th connecting rod 133 is located at the front of middle triangle plate 15, and fourth link 132 is located at the top of third connecting rod 131.5th
The both ends of connecting rod 133 are respectively the 6th hinge j6, the 7th hinge j7, and the middle position of third connecting rod 131 is hingedly connected to
On four hinge j4, the front end of third connecting rod 131 is hinged on the 6th hinge j6, and the front end of fourth link 132 is hingedly connected to
On seven hinge j7, the rear end of fourth link 132 is hingedly connected on the 5th hinge j5.Five degree of freedom terminal angle adjusting apparatus 2
It is fixed on the 5th connecting rod 133.
In embodiment one, the mobile machining robot 100 that positioning and posture are adjusted flexibly on a large scale further includes：Conversion
Parallelogram sturcutre 14, converted parallel quadrilateral structure 14 include six-bar linkage 141 and seven-link assembly 142, six-bar linkage 141
One end be hingedly connected on the first hinge j1, the other end of six-bar linkage 141 is hingedly connected to one end of seven-link assembly 142
On, the other end of seven-link assembly 142 is hingedly connected on third connecting rod 131.It can understand this programme with reference to attached drawing 4 for convenience,
The hinge that six-bar linkage 141 is connected with seven-link assembly 142 is known as the 8th hinge j8, by seven-link assembly 142 and third connecting rod 131
Connected hinge is known as the 9th hinge j9.
The segment section composition quadrangle of first connecting rod 121, six-bar linkage 141, seven-link assembly 142 and third connecting rod 131, the
Two drive components 17 drive third connecting rod 131 to rotate by driving six-bar linkage 141 to rotate.
Here, one end of six-bar linkage 141 is hingedly connected on the first hinge j1, making can at same hinge on pedestal 11
To connect first connecting rod 121 and six-bar linkage 141 simultaneously, the setting of hinge on pedestal 11 is reduced, excessive hinge is avoided to cause just
The decrease of degree.Certainly, under the premise of conditions permit, one end of six-bar linkage 141 can also be hingedly connected to its of pedestal 11
At his position, converted parallel quadrilateral structure 14, which is equivalent to, at this time becomes five rod structures, and a wherein bar is the bar that immobilizes
(i.e. pedestal 11).
Specifically, in embodiment one, the upper end of seven-link assembly 142 is the 9th hinge j9, and lower end is the 8th hinge j8, the 7th
Connecting rod 142 is located at the rear side of first connecting rod 121, and the front end of six-bar linkage 141 is hinged on the first hinge j1, six-bar linkage 141
Rear end be hinged on the 8th hinge j8, the rear end of third connecting rod 131 is hinged on the 9th hinge j9.
In embodiment one, as shown in figure 3, the first drive component 16 includes：First jacking block 161, the first bearing piece 162,
One drive rod 163 and the first driver (not shown), the first jacking block 161 are rotatably connected on first connecting rod 121, the
One bearing piece 162 is rotatably connected on pedestal 11, and one end of the first drive rod 163 is connected with the first jacking block 161, the first driving
The other end of bar 163 is connected with the first bearing piece 162, and the first drive rod 163, the segment section of first connecting rod 121, pedestal 11 constitute three
Angular, the first driver is flexible for driving 163 opposite first jacking block 161 of the first drive rod or the first bearing piece 162.
This programme can be understood with reference to attached drawing 3 for convenience, by rotation connection of first jacking block 161 on first connecting rod 121
Point is known as q1, and the rotating joint of the first bearing piece 162 on the pedestal 11 is known as q2, and 3 points of j1, q1, q2 identified in Fig. 3 is in three
Angle is distributed.When 163 opposite first jacking block 161 of the first drive rod or the first bearing piece 162 are flexible, i.e., the first drive rod 163 is in q1
The distance between point, q2 points change, and to drive the angle change of triangle, and then drive opposite first hinge of first connecting rod 121
Point j1 rotations.
In embodiment one, as shown in figure 3, the second drive component 17 includes：Third jacking block 175, third bearing piece 176,
Three drive rods 177 and third driver (not shown), third jacking block 175 are rotatably connected on six-bar linkage 141, third
Bearing piece 176 is rotatably connected on pedestal 11, and one end of third drive rod 177 is connected with third jacking block 175, third drive rod
177 other end is connected with third bearing piece 176, and third drive rod 177, the segment section of six-bar linkage 141, pedestal 11 constitute triangle
Shape, third driver is for driving third drive rod 177 flexible with respect to third jacking block 175 or third bearing piece 176.
This programme can be understood with reference to attached drawing 3 for convenience, by rotation connection of the third jacking block 175 on six-bar linkage 141
Point is known as q3, and the rotating joint of third bearing piece 176 on the pedestal 11 is known as q4, and 3 points of j1, q3, q4 identified in Fig. 3 is in three
Angle is distributed.When third drive rod 177 is flexible with respect to third jacking block 175 or third bearing piece 176, i.e., third drive rod 177 is in q3
The distance between point, q4 points change, and to drive the angle change of triangle, and then drive opposite first hinge of six-bar linkage 141
Point j1 rotations.
In embodiment one, as shown in figures 1 and 3, the lower semisection of first connecting rod 121 is divided into two parallel struts
1211, two struts 1211 are hinged coaxial to be respectively formed the first hinge j1, two the first hinge j1 with two boss 112 respectively
Setting, the first jacking block 161 are connected to by shaft between two struts 1211.
As shown in figures 1 and 3, six-bar linkage 141 is equipped with rotation slot 1411, and third jacking block 175 is connected to by shaft
In rotation slot 1411.Since the lower semisection of first connecting rod 121 is divided into two struts 1211 spaced apart, six-bar linkage 141,
Third drive rod 177 is rotated or is stretched, and will not interfere with first connecting rod 121.
In embodiment one, middle triangle plate 15 is two disposed in parallel of left and right, and two middle triangle plates 15 are folded in
The both sides of first connecting rod 121, third connecting rod 131.Second connecting rod 122 is two disposed in parallel of left and right, two second connecting rods 122
It is folded in the both sides of six-bar linkage 141, third connecting rod 131.Fourth link 132 is two disposed in parallel, two fourth links
132 are folded in the both sides of the 5th connecting rod 133.Two second connecting rods 122 are hinged with two middle triangle plates 15 respectively, two the 4th
Connecting rod 132 is hinged with two middle triangle plates 15 respectively.
In embodiment one, two degrees of freedom telescopic mechanism 1 is slidably fitted on the track 30 on locomotive 4.
In embodiment one, the end of two degrees of freedom telescopic mechanism 1 can be realized along X-direction, Y direction, Z-direction
One-movement-freedom-degree.Five degree of freedom terminal angle adjusting apparatus 2 can realize the one-movement-freedom-degree along X-axis, Y-axis, Z-direction, and
The rotational freedom around X-axis, Y-axis can be achieved.
In two degrees of freedom telescopic mechanism 1, level-one parallelogram sturcutre 12 and two level parallelogram sturcutre 13 are
Two parallelogram being coupled by middle triangle plate 15, it is flat that five degree of freedom terminal angle adjusting apparatus 2 is connected to two level
On row quadrilateral structure 13, the swing angle of first connecting rod 121 is controlled by the first drive component 16, passes through four side of converted parallel
The swing angle of shape structure 14, the second drive component 17 control third connecting rod 131, can not only uniquely determine middle triangle plate 15
Pose can also uniquely determine position of the five degree of freedom terminal angle adjusting apparatus 2 in XZ planes, it can be achieved that five degree of freedom end
Significantly the moving and positioning in XZ planes of device for adjusting posture 2.
By by two degrees of freedom telescopic mechanism 1 be mounted on track 30 on, track 30 be mounted on locomotive 4 on, make five from
It can be adjusted on a large scale along Y-axis by degree terminal angle adjusting apparatus 2, realize X-axis, Y-axis, the comprehensive adjustment of Z axis.
Since five degree of freedom terminal angle adjusting apparatus 2 can uniquely determine in a small range the pose of actuator 6,
The mobile machining robot 100 that a wide range of positioning and posture are adjusted flexibly is when being processed large-sized structural parts, Ke Yishi
The functions such as the flexible pose adjustment of now positioning on a large scale and part.
Embodiment two
Fig. 5-Fig. 8 shows the mobile machining robot that a wide range of positioning of embodiment two and posture are adjusted flexibly
100。
In embodiment two, a wide range of mobile machining robot 100 and embodiment one positioned and posture is adjusted flexibly
Structure it is essentially identical, same section repeats no more.
The difference is that in embodiment two, as shown in Figure 5-Figure 8, position and the embodiment one of the first drive component 16
It is different.It can understand this programme with reference to attached drawing 7 for convenience, rotating joint of first jacking block 161 on first connecting rod 121 is claimed
For k1, the rotating joint of the first bearing piece 162 on the pedestal 11 is that 3 points of j1, j2, the k1 identified in the second hinge j2, Fig. 3 is in
Angular distribution, k1 is between j1 and j4.When opposite first jacking block 161 of the first drive rod 163 or the first bearing piece 162 are flexible,
That is distance variation of the first drive rod 163 between k1 points, j2 points to drive the angle change of triangle, and then drives the
One connecting rod 121 is relative to the first hinge j1 rotations.
In embodiment two, two degrees of freedom telescopic mechanism 1 does not include converted parallel quadrilateral structure 14, in the embodiment
Second drive component 17 directly drives third connecting rod 131 and is rotated relative to middle triangle plate 15.
In embodiment two, as shown in fig. 7, the second drive component 17 includes：Second jacking block 171, the second bearing piece 172,
Two drive rods 173 and the second driver (not shown), the second jacking block 171 are rotatably connected on third connecting rod 131, and second
Bearing piece 172 is rotatably connected on middle triangle plate 15, and one end of the second drive rod 173 is connected with the second jacking block 171, and second
The other end of drive rod 173 is connected with the second bearing piece 172, the second drive rod 173, the segment section of third connecting rod 131, middle triangle
Plate 15 is triangle, and the second driver is for driving the second drive rod 173 opposite second jacking block 171 or the second bearing piece 172
It is flexible.
This programme can be understood with reference to attached drawing 7 for convenience, by rotation connection of second jacking block 171 on third connecting rod 131
Point is known as k2, and rotating joint of second bearing piece 172 on middle triangle plate 15 is the 5th hinge j5, the k2 that identifies in Fig. 7,
3 points of j4, j5 is in angular distribution.When opposite second jacking block 171 of the second drive rod 173 or the second bearing piece 172 are flexible, i.e., second
Distance variation of the drive rod 173 between k2 points, j5 points, to drive the angle change of triangle, and then drives third connecting rod
131 relative to the 4th hinge j4 rotations.
In embodiment two, the end of two degrees of freedom telescopic mechanism 1 can be realized along X-direction, Y direction, Z-direction
One-movement-freedom-degree.Five degree of freedom terminal angle adjusting apparatus 2 can realize the one-movement-freedom-degree along X-axis, Y-axis, Z-direction, and
The rotational freedom around X-axis, Y-axis can be achieved.
In two degrees of freedom telescopic mechanism 1, level-one parallelogram sturcutre 12 and two level parallelogram sturcutre 13 are
Two parallelogram being coupled by middle triangle plate 15, it is flat that five degree of freedom terminal angle adjusting apparatus 2 is connected to two level
It, can be by controlling the swing angle of first connecting rod 121 and the swing angle of third connecting rod 131, no on row quadrilateral structure 13
It is only capable of uniquely determining the pose of middle triangle plate 15, can also uniquely determine five degree of freedom terminal angle adjusting apparatus 2 in XZ planes
On position, it can be achieved that significantly the moving and positioning in XZ planes of five degree of freedom terminal angle adjusting apparatus 2.
By by two degrees of freedom telescopic mechanism 1 be mounted on track 30 on, track 30 be mounted on locomotive 4 on, make five from
It can be adjusted on a large scale along Y-axis by degree terminal angle adjusting apparatus 2, realize X-axis, Y-axis, the comprehensive adjustment of Z axis.
Since five degree of freedom terminal angle adjusting apparatus 2 can uniquely determine in a small range the pose of actuator 6,
The mobile machining robot 100 that a wide range of positioning and posture are adjusted flexibly is when being processed large-sized structural parts, Ke Yishi
The functions such as the flexible pose adjustment of now positioning on a large scale and part.
To sum up, the mobile machining robot 100 that a wide range of positioning of the embodiment of the present invention and posture are adjusted flexibly, can answer
To large-sized structural parts to the working space demand of process unit, a wide range of positioning and the part flexibly work(such as pose adjustment are easily realized
Can, the digital control processing of large-sized structural parts complex free curved surface can be completed.
In the description of this specification, the description of reference term " embodiment ", " example " etc. mean combine the embodiment or
Example particular features, structures, materials, or characteristics described are included at least one embodiment or example of the invention.At this
In specification, schematic expression of the above terms may not refer to the same embodiment or example.Moreover, description is specific
Feature, structure, material or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent.
Claims (10)
1. the mobile machining robot that a kind of a wide range of positioning and posture are adjusted flexibly, which is characterized in that including：Locomotive,
Track, five degree of freedom terminal angle adjusting apparatus and two degrees of freedom telescopic mechanism,
Two degrees of freedom telescopic mechanism includes：Pedestal, level-one parallelogram sturcutre, two level parallelogram sturcutre, in
Between set square, the first drive component and the second drive component, the level-one parallelogram sturcutre is mounted on the base, described one
Grade parallelogram sturcutre and the two level parallelogram sturcutre are coupled by the middle triangle plate to be linked, and the track is set
On the locomotive, coordinate on the track to the pedestal movable,
There is the pedestal the first hinge spaced apart, the second hinge, the middle triangle plate to have the third in angular distribution
Hinge, the 4th hinge and the 5th hinge,
The level-one parallelogram sturcutre includes：The both ends of first connecting rod, second connecting rod, the first connecting rod are respectively articulated with company
It is connected on first hinge and the 4th hinge, the both ends of the second connecting rod are hingedly connected in second hinge
On the third hinge, the distance of first hinge and the 4th hinge and the second hinge and the third hinge away from
From equal, the line and the line of the second hinge and the third hinge of first hinge and the 4th hinge are mutually flat
Row；
The two level parallelogram sturcutre includes：Third connecting rod, fourth link and the 5th connecting rod, the third connecting rod hingedly connect
It is connected on the 4th hinge, the fourth link is hingedly connected on the 5th hinge, the both ends point of the 5th connecting rod
Be not hingedly connected on the third connecting rod and the fourth link by the 6th hinge and the 7th hinge, the 4th hinge and
The distance of 6th hinge is equal at a distance from the 5th hinge and the 7th hinge, the 4th hinge and the 6th hinge
The line of the line and the 5th hinge and the 7th hinge of point is mutually parallel；
First drive component is for driving one in the first connecting rod and the second connecting rod relatively described pedestal to turn
Dynamic, second drive component is for driving one in the third connecting rod and the fourth link relatively described middle triangle
Plate rotates, and first drive component and second drive component are only two masters of two degrees of freedom telescopic mechanism
Dynamic driving is secondary, and the five degree of freedom terminal angle adjusting apparatus connects the 5th connecting rod；
The five degree of freedom terminal angle adjusting apparatus includes：Fixed platform, moving platform, the first branch, the second branch and third branch
Chain, the fixed platform are fixedly connected on the 5th connecting rod, the moving platform for installing actuator, first branch,
Second branch and third branch around setting and are connected between the fixed platform and the moving platform, and the moving platform has three
A rotational freedom and two one-movement-freedom-degrees.
2. the mobile machining robot that a wide range of positioning according to claim 1 and posture are adjusted flexibly, feature exist
In further including：Converted parallel quadrilateral structure, the converted parallel quadrilateral structure include six-bar linkage and seven-link assembly, institute
The one end for stating six-bar linkage is hingedly connected on first hinge, and the other end of the six-bar linkage is hingedly connected to described
On one end of seven-link assembly, the other end of the seven-link assembly is hingedly connected on the third connecting rod, the first connecting rod, described
The segment section of six-bar linkage, the seven-link assembly and the third connecting rod constitutes quadrangle, and second drive component passes through drive
The dynamic six-bar linkage rotates and the third connecting rod is driven to rotate.
3. the mobile machining robot that a wide range of positioning according to claim 1 or 2 and posture are adjusted flexibly, feature
It is, the track includes two disposed in parallel, and the bottom of the pedestal is coordinated by sliding block on two tracks, often
Multiple sliding blocks are provided on track described in item.
4. the mobile machining robot that a wide range of positioning according to claim 1 or 2 and posture are adjusted flexibly, feature
It is, first drive component and the second drive component are respectively cylinder body driving mechanism.
5. the mobile machining robot that a wide range of positioning according to claim 1 or 2 and posture are adjusted flexibly, feature
It is, first drive component and the second drive component are respectively motor-driven mechanism.
6. the mobile machining robot that a wide range of positioning according to claim 1 or 2 and posture are adjusted flexibly, feature
It is, first drive component includes：
First jacking block, first jacking block are rotatably connected on the first connecting rod；
First bearing piece, first bearing piece are rotatably connected on the pedestal；
First drive rod, one end of first drive rod are connected with first jacking block, the other end of first drive rod
It is connected with first bearing piece, first drive rod, the segment section of the first connecting rod, the pedestal are triangle；
First driver, first driver is for driving relatively described first jacking block of first drive rod or described the
One bearing piece is flexible.
7. the mobile machining robot that a wide range of positioning according to claim 1 and posture are adjusted flexibly, feature exist
In second drive component includes：
Second jacking block, second jacking block are rotatably connected on the third connecting rod；
Second bearing piece, second bearing piece are rotatably connected on the middle triangle plate；
Second drive rod, one end of second drive rod are connected with second jacking block, the other end of second drive rod
It is connected with second bearing piece, second drive rod, the segment section of the third connecting rod, the middle triangle plate constitute triangle
Shape；
Second driver, second driver is for driving relatively described second jacking block of second drive rod or described the
Two bearing pieces are flexible.
8. the mobile machining robot that a wide range of positioning according to claim 2 and posture are adjusted flexibly, feature exist
In second drive component includes：
Third jacking block, the third jacking block are rotatably connected on the six-bar linkage；
Third bearing piece, the third bearing piece are rotatably connected on the pedestal；
Third drive rod, one end of the third drive rod are connected with the third jacking block, the other end of the third drive rod
It is connected with the third bearing piece, the third drive rod, the segment section of the six-bar linkage, the pedestal are triangle；
Third driver, the third driver is for driving the relatively described third jacking block of the third drive rod or described the
Three bearing pieces are flexible.
9. the mobile machining robot that a wide range of positioning according to claim 1 or 2 and posture are adjusted flexibly, feature
It is, the middle triangle plate is two disposed in parallel, and two middle triangle plates are folded in the first connecting rod, described
The both sides of third connecting rod, the second connecting rod are two disposed in parallel, and the fourth link is two disposed in parallel, two
The second connecting rod is hinged with two middle triangle plates respectively, two fourth links respectively with two centres three
Gusset is hinged.
10. the mobile machining robot that a wide range of positioning according to claim 1 or 2 and posture are adjusted flexibly, special
Sign is that the pedestal includes bottom plate and boss, and the floor level is arranged, and the sole shape becomes the frame shape of rear open,
The boss is two and is respectively provided at the left and right sides of bottom plate, and the level-one parallelogram sturcutre is connected to described two convex
On platform.
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| CN201810320745.4A CN108621128B (en) | 2018-04-11 | 2018-04-11 | Mobile machining robot capable of achieving large-range positioning and flexible posture adjustment |
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| WO2019196398A1 (en) * | 2018-04-11 | 2019-10-17 | 清华大学 | Track-type large-span foldable and unfoldable machining robot |
| CN112171224A (en) * | 2020-09-27 | 2021-01-05 | 太仓臻溢科技有限公司 | Automatic overturning and butting device for rocket engine |
| CN112407201A (en) * | 2020-11-17 | 2021-02-26 | 清华大学深圳国际研究生院 | Pose adjusting tool |
| CN112441388A (en) * | 2020-12-21 | 2021-03-05 | 哈尔滨工程大学 | Tail end interaction device for detection and maintenance and use method thereof |
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