CN110962115A - Five-degree-of-freedom parallel robot for polishing ship bulkhead - Google Patents
Five-degree-of-freedom parallel robot for polishing ship bulkhead Download PDFInfo
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- CN110962115A CN110962115A CN201911230937.7A CN201911230937A CN110962115A CN 110962115 A CN110962115 A CN 110962115A CN 201911230937 A CN201911230937 A CN 201911230937A CN 110962115 A CN110962115 A CN 110962115A
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- 238000005498 polishing Methods 0.000 title claims abstract description 20
- 239000002131 composite material Substances 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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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
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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
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to the technical field of robots. The technical scheme is as follows: a five-degree-of-freedom parallel robot for polishing a ship bulkhead comprises a rack, a movable platform provided with a composite hinge, four first branches and a second branch, wherein the four first branches and the second branch are connected between the rack and the movable platform in parallel; the method is characterized in that: the first branch comprises a first cylindrical auxiliary guide rail, a first cylindrical auxiliary sliding block, a first hooke hinge, a first connecting rod and a first rotating pair which are sequentially connected between the rack and the composite hinge, and the first cylindrical auxiliary guide rail and the first cylindrical auxiliary sliding block are matched to form a first cylindrical pair; the second branch comprises a second cylindrical auxiliary guide rail, a second cylindrical auxiliary sliding block, a second hook hinge, a second connecting rod and a second revolute pair which are sequentially connected between the rack and the movable platform, and the second cylindrical auxiliary guide rail and the second cylindrical auxiliary sliding block are matched to form a second cylindrical pair. The parallel robot has the advantages of compact structure, good rigidity, high precision and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a five-degree-of-freedom parallel robot for polishing a cabin wall of a ship.
Background
The hull of a large vessel is usually manufactured in sections and then welded together to form a whole. There is material accumulation at the joints of the sections, which affects surface flatness and aesthetics. The weld joint is typically ground and polished to facilitate subsequent painting operations. At present, the polishing operation of the ship bulkhead is usually completed manually, and the following problems exist: (1) the working environment is severe, and sparks and dust harm the health of workers; (2) the workers have different technical proficiency and uneven polishing quality; (3) the automation degree is low, and the production efficiency is low.
With the development of the robot technology, the robot grinding technology is introduced into the grinding operation of the ship cabin. The robot has the advantages of good repeatability, high efficiency, good environmental adaptability and the like, and can well complete the repetitive work in severe working environment. Most of the robots used for polishing the ship cabin are of a serial structure at present. The rigidity of the series mechanism is poor, the precision is low, and high-precision polishing cannot be realized. Compared with a series mechanism, the parallel mechanism is compact in structure, good in rigidity and high in precision, and is suitable for being used as a polishing robot body. The grinding operation needs the grinding head to move in five degrees of freedom relative to the surface of the workpiece, so that the grinding task of the free-form surface is completed. Therefore, it is necessary to provide a five-degree-of-freedom parallel robot for polishing the bulkhead of a ship.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide a five-degree-of-freedom parallel robot for polishing the bulkhead of a ship, and the parallel robot has the advantages of compact structure, good rigidity, high precision and the like.
The technical scheme of the invention is as follows:
a five-degree-of-freedom parallel robot for polishing a ship bulkhead comprises a rack, a movable platform provided with a composite hinge, four first branches and a second branch, wherein the four first branches and the second branch are connected between the rack and the movable platform in parallel; the method is characterized in that:
the first branch comprises a first cylindrical auxiliary guide rail, a first cylindrical auxiliary sliding block, a first hooke hinge, a first connecting rod and a first rotating pair which are sequentially connected between the rack and the composite hinge, and the first cylindrical auxiliary guide rail and the first cylindrical auxiliary sliding block are matched to form a first cylindrical pair;
the second branch comprises a second cylindrical auxiliary guide rail, a second cylindrical auxiliary sliding block, a second hook hinge, a second connecting rod and a second revolute pair which are sequentially connected between the rack and the movable platform, and the second cylindrical auxiliary guide rail and the second cylindrical auxiliary sliding block are matched to form a second cylindrical pair;
the first cylindrical auxiliary guide rail in the first branch and the second cylindrical auxiliary guide rail in the second branch have the same structure and are fixed on the frame;
the movable platform is a cylindrical component, a pin shaft of the composite hinge is fixed with the movable platform, and the axis of the pin shaft is coaxial with the axis of the movable platform; the first revolute pair of each first branch is connected with one shaft sleeve in the composite hinge, and the axis of the first revolute pair is perpendicular to the axis of the movable platform; the second branch is connected with the movable platform through a second revolute pair, and the axis of the second revolute pair is perpendicular to the axis of the movable platform;
in the working process of the robot, the rack is adsorbed on the cabin wall of the ship through the adsorption device, and the grinding head is arranged on the movable platform.
A five-degree-of-freedom parallel robot for polishing a ship bulkhead comprises a rack, a movable platform provided with a composite hinge, four third branches and a fourth branch, wherein the four third branches and the fourth branch are connected between the rack and the movable platform in parallel; the method is characterized in that:
the third branch comprises a first moving pair guide rail, a first moving pair sliding block, a first ball pair, a third connecting rod and a third rotating pair which are sequentially connected between the rack and the composite hinge, and the first moving pair guide rail and the first moving pair sliding block are matched to form a first moving pair;
the fourth branch comprises a second moving pair guide rail, a second moving pair sliding block, a second ball pair, a fourth connecting rod and a fourth rotating pair which are sequentially connected between the rack and the moving platform, and the second moving pair guide rail and the second moving pair sliding block are matched to form a second moving pair;
the first moving auxiliary guide rail in the third branch and the second moving auxiliary guide rail in the fourth branch have the same structure and are fixed on the rack;
the movable platform is a cylindrical component, and a pin shaft of the composite hinge is fixed with the movable platform and is coaxial with the axis of the movable platform; the third revolute pair of each third branch is connected with one shaft sleeve in the composite hinge, and the axis of the third revolute pair is perpendicular to the axis of the movable platform; the fourth branch is connected with the movable platform through a fourth rotating pair, and the axis of the fourth rotating pair is perpendicular to the axis of the movable platform;
in the working process of the robot, the rack is adsorbed on the cabin wall of the ship through the adsorption device, and the grinding head is arranged on the movable platform.
The invention has the beneficial effects that:
the parallel robot provided by the invention can execute five-degree-of-freedom motion, has the advantages of fixed driving, compact structure, good rigidity, high precision and the like, and can be used for surface grinding, polishing and derusting operation of large curved surfaces such as ship cabins and the like.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present invention.
Fig. 2 is a schematic perspective view of a second embodiment of the present invention.
Fig. 3 is a schematic perspective view of the first branch.
Fig. 4 is a schematic perspective view of the second branch.
Fig. 5 is a schematic perspective view of the third branch.
Fig. 6 is a schematic perspective view of a fourth branch.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.
Example one
As shown in fig. 1, 3 and 4, the five-degree-of-freedom parallel robot for polishing the bulkheads of the ships comprises a frame 1, a movable platform 2 provided with a compound hinge, and four first branches and a second branch which are connected between the frame and the movable platform in parallel.
The first branch comprises a first cylindrical auxiliary guide rail 11, a first cylindrical auxiliary sliding block 12, a first hook hinge 13, a first connecting rod 14 and a first revolute pair 15 which are sequentially connected between the rack and the composite hinge, and the first cylindrical auxiliary guide rail and the first cylindrical auxiliary sliding block are matched to form a first cylindrical pair. The first cylinder pair sliding block can slide along the axis of the first cylinder pair guide rail and can rotate around the axis of the first cylinder pair guide rail. The composite hinge comprises a pin shaft and a plurality of shaft sleeves hinged with the pin shaft.
The second branch comprises a second cylindrical auxiliary guide rail 21, a second cylindrical auxiliary sliding block 22, a second hook hinge 23, a second connecting rod 24 and a second revolute pair 25 which are sequentially connected between the rack and the movable platform, and the second cylindrical auxiliary guide rail and the second cylindrical auxiliary sliding block are matched to form a second cylindrical pair.
The first cylindrical auxiliary guide rail and the second cylindrical auxiliary guide rail are identical in structure and are fixed on the rack, and the axes of all the cylindrical auxiliary guide rails are intersected at one point and are located on the same plane.
The movable platform is a cylindrical component, a pin shaft of the composite hinge is fixed with the movable platform, and the axis of the pin shaft is coaxial with the axis of the movable platform (as can be seen from fig. 1, four shaft sleeves are hinged on the pin shaft of the composite hinge in the embodiment, wherein two shaft sleeves are positioned at the upper part of the movable platform and below the second revolute pair, and the other two shaft sleeves are positioned at the lower part of the movable platform); the first revolute pair of each first branch is connected with a shaft sleeve 16 (the number of the shaft sleeves is the same as that of the first branches) in the compound hinge, and the axis of the first revolute pair is perpendicular to the axis of the movable platform; the second branch is connected with the movable platform through a second revolute pair, and the axis of the second revolute pair is perpendicular to the axis of the movable platform (as shown in figure 4).
As recommendation, in the five branches, included angles between the axes of every two cylindrical auxiliary guide rails are equal.
During the operation of the robot, the frame is adsorbed on the cabin wall of the ship through an adsorption device (the existing device is omitted in the figure), and the grinding head (the existing device is omitted in the figure) is arranged on the movable platform.
In the embodiment, the movable platform can move in five degrees of freedom by driving the freedom of movement of the cylindrical pairs on each branch, a ball screw or a linear motor (the conventional device is omitted in the figure) can be selected as a driving mode, and the grinding head fixed on the movable platform grinds the cabin wall of the wheelship.
Example two
As shown in fig. 2, 5 and 6, the five-degree-of-freedom parallel robot for polishing the bulkheads of the ships comprises a frame 1, a movable platform 2 provided with a compound hinge, and four third branches and a fourth branch which are connected between the frame and the movable platform in parallel.
The third branch comprises a first sliding pair guide rail 31, a first sliding pair sliding block 32, a first ball pair 33, a third connecting rod 34 and a third rotating pair 35 which are sequentially connected between the rack and the composite hinge, and the first sliding pair guide rail and the first sliding pair sliding block are matched to form a first sliding pair. The composite hinge comprises a pin shaft and a plurality of shaft sleeves hinged with the pin shaft.
The fourth branch comprises a second sliding pair guide rail 41, a second sliding pair sliding block 42, a second ball pair 43, a fourth connecting rod 44 and a fourth rotating pair 45 which are sequentially connected between the rack and the moving platform, and the second sliding pair guide rail and the second sliding pair sliding block are matched to form a second sliding pair.
The first moving pair guide rail and the second moving pair guide rail are identical in structure and are fixed on the rack, and the axes of all the moving pair guide rails are intersected at one point and are positioned on the same plane.
The movable platform is a cylindrical component, the pin shaft of the composite hinge is fixed with the movable platform, and the axis of the pin shaft is coaxial with the axis of the movable platform (as can be seen from fig. 2, four shaft sleeves are hinged on the pin shaft of the composite hinge in the embodiment, wherein three shaft sleeves are positioned at the upper part of the movable platform, and one shaft sleeve is positioned at the lower part of the movable platform); the third revolute pair of each third branch is connected with a shaft sleeve 36 (the number of the shaft sleeves is the same as that of the third branches) in the compound hinge, and the axis of the third revolute pair is perpendicular to the axis of the movable platform; the fourth branch is connected with the movable platform through a fourth revolute pair, and the axis of the fourth revolute pair is perpendicular to the axis of the movable platform (as shown in figure 6).
As recommendation, in the five branches, included angles between the axes of every two sliding pair guide rails are equal.
During the operation of the robot, the frame is adsorbed on the cabin wall of the ship through an adsorption device (the prior device; omitted in the figure), and the grinding head (the prior device; omitted in the figure) is arranged on the movable platform.
In the embodiment, the movable platform can move in five degrees of freedom by driving the sliding pairs on the branches, the driving mode can be a ball screw or a linear motor (the conventional device; omitted in the figure), and the grinding head fixed on the movable platform grinds the cabin wall of the wheelship.
Claims (4)
1. A five-degree-of-freedom parallel robot for polishing a ship bulkhead comprises a rack (1), a movable platform (2) provided with a composite hinge, and four first branches and one second branch which are connected in parallel between the rack and the movable platform; the method is characterized in that:
the first branch comprises a first cylindrical auxiliary guide rail (11), a first cylindrical auxiliary sliding block (12), a first hook hinge (13), a first connecting rod (14) and a first rotating pair (15) which are sequentially connected between the rack and the composite hinge;
the second branch comprises a second cylindrical auxiliary guide rail (21), a second cylindrical auxiliary sliding block (22), a second hook hinge (23), a second connecting rod (24) and a second revolute pair (25) which are sequentially connected between the rack and the movable platform;
the first cylindrical auxiliary guide rail and the second cylindrical auxiliary guide rail have the same structure and are fixed on the frame;
the movable platform is a cylindrical component, a pin shaft of the composite hinge is fixed with the movable platform, and the axis of the pin shaft is coaxial with the axis of the movable platform; the first revolute pair of each first branch is connected with one shaft sleeve in the composite hinge, and the axis of the first revolute pair is perpendicular to the axis of the movable platform; the second branch is connected with the movable platform through a second revolute pair, and the axis of the second revolute pair is perpendicular to the axis of the movable platform.
2. The five degree-of-freedom parallel robot for polishing a bulkhead of a vessel of claim 1, wherein: in the working process of the robot, the rack is adsorbed on the cabin wall of the ship through the adsorption device, and the grinding head is arranged on the movable platform.
3. A five-degree-of-freedom parallel robot for polishing the bulkheads of ships comprises a frame (1), a movable platform (2) provided with a composite hinge, and four third branches and a fourth branch which are connected in parallel between the frame and the movable platform; the method is characterized in that:
the third branch comprises a first sliding pair guide rail (31), a first sliding pair sliding block (32), a first ball pair (33), a third connecting rod (34) and a third rotating pair (35) which are sequentially connected between the rack and the composite hinge;
the fourth branch comprises a second sliding pair guide rail (41), a second sliding pair sliding block (42), a second ball pair (43), a fourth connecting rod (44) and a fourth rotating pair (45) which are sequentially connected between the rack and the movable platform;
the first moving pair guide rail and the second moving pair guide rail have the same structure and are fixed on the frame;
the movable platform is a cylindrical component, and a pin shaft of the composite hinge is fixed with the movable platform and is coaxial with the axis of the movable platform; the third revolute pair of each third branch is connected with one shaft sleeve in the composite hinge, and the axis of the third revolute pair is perpendicular to the axis of the movable platform; the fourth branch is connected with the movable platform through a fourth revolute pair, and the axis of the fourth revolute pair is perpendicular to the axis of the movable platform.
4. The five degree-of-freedom parallel robot for polishing a bulkhead of a vessel of claim 3, wherein: in the working process of the robot, the rack is adsorbed on the cabin wall of the ship through the adsorption device, and the grinding head is arranged on the movable platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911230937.7A CN110962115A (en) | 2019-12-05 | 2019-12-05 | Five-degree-of-freedom parallel robot for polishing ship bulkhead |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911230937.7A CN110962115A (en) | 2019-12-05 | 2019-12-05 | Five-degree-of-freedom parallel robot for polishing ship bulkhead |
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| Publication Number | Publication Date |
|---|---|
| CN110962115A true CN110962115A (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911230937.7A Pending CN110962115A (en) | 2019-12-05 | 2019-12-05 | Five-degree-of-freedom parallel robot for polishing ship bulkhead |
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| CN (1) | CN110962115A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352296A (en) * | 2021-05-08 | 2021-09-07 | 浙江理工大学 | Five-degree-of-freedom parallel mechanism for machining aviation structural part |
| CN116766164A (en) * | 2023-08-23 | 2023-09-19 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
-
2019
- 2019-12-05 CN CN201911230937.7A patent/CN110962115A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352296A (en) * | 2021-05-08 | 2021-09-07 | 浙江理工大学 | Five-degree-of-freedom parallel mechanism for machining aviation structural part |
| CN116766164A (en) * | 2023-08-23 | 2023-09-19 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
| CN116766164B (en) * | 2023-08-23 | 2023-10-20 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
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