CN108544475A - A kind of big stroke force control machining robot based on plane two-freedom series-parallel mechanical arm - Google Patents
A kind of big stroke force control machining robot based on plane two-freedom series-parallel mechanical arm Download PDFInfo
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- CN108544475A CN108544475A CN201810581019.8A CN201810581019A CN108544475A CN 108544475 A CN108544475 A CN 108544475A CN 201810581019 A CN201810581019 A CN 201810581019A CN 108544475 A CN108544475 A CN 108544475A
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention discloses a kind of big stroke force control machining robots based on plane two-freedom series-parallel mechanical arm, including：Automatic guided vehicle, the big shift motion for ensureing robot；Plane two-freedom series-parallel mechanical arm, for two-freedom movement in control plane；Three Degree Of Freedom power control parallel connection processing module for controlling an one-movement-freedom-degree and two rotational freedoms, and controls normal pressure on end effector.Three Degree Of Freedom power control parallel connection processing module is mounted on plane two-freedom series-parallel mechanical arm end and coordinates automatic guided vehicle by the robot, increase robot good quality work spatial dimension, the processing operation to large-sized structural parts or wind turbine blade whole type face can be completed under the premise of being once loaded, promoting processing operating efficiency, Three Degree Of Freedom power control parallel connection processing module can realize the control to normal pressure on end effector when processing operation simultaneously, can effectively ensure that processing quality.
Description
Technical field
The present invention relates to numerical control device manufacturing technology fields, more particularly to a kind of to be based on plane two-freedom series-parallel mechanical arm
Big stroke force control machining robot.
Background technology
Under the background of aerospace, gas turbine and shipbuilding industry high speed development, large-sized structural parts, large-scale turbine leaf
The integrated process requirements of piece and large scale propeller are increasingly prominent, in order to give full play to the advantage of integrated design, how
The efficiently high-precision processing for completing large-sized structural parts is just particularly important.The back of the body prevailing in current global low-carbon development model simultaneously
Under scape, the demand to clean energy resource increasingly increases.Wind energy containing abundant, widely distributed clean reproducible energy just as a kind of
Widely paid attention to.With the fast development of wind energy utilization, the demand of Wind turbines also increasingly increases, and blade is as wind
Critical component in power generator group, how permanent working life is effectively maintains just to receive significant attention, due to blade inlet edge
It being highly prone to pollute and become coarse during being actually on active service, this can greatly reduce the generating efficiency of wind power generating set, because
This carries out polishing in time to wind electricity blade is just particularly important.But wind turbine blade enormous size, and bruting process is produced
Raw a large amount of dust, therefore it is to ensure essence to replace the processing operation for manually carrying out wind turbine blade and large-sized structural parts with robot
The best mode of degree and efficiency.
Large-sized structural parts and wind turbine blade enormous size, it is desirable that robot system has larger stroke simultaneously outside it
Shape face is mostly free form surface, and Curvature varying situation is complicated, it is desirable that robot system can realize that five-axle linkage is processed.Traditional string
Connection robot is formed by joint, connecting rod assembly, be the advantage is that structure type is simple, working space is big and is more flexibly still deposited
The problems such as joint is accumulated, end poing rigidity is poor.Parallel institution is then by forming multiple fortune between fixed platform and moving platform
Dynamic branch of learning constitutes closed loop configuration to ensure the high rigidity of end moving platform and ensure compact-sized, but its working space is general
It is smaller, it would be highly desirable to solve.Parallel institution and serial mechanism, which are organically combined composition hybrid mechanism, then can effectively promote overall performance,
In conjunction with the advantage of two kinds of mechanism forms.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, it is an object of the invention to propose that a kind of big stroke force control based on plane two-freedom series-parallel mechanical arm adds
Work robot, which, which has to increase robot good quality work spatial dimension, promotion processing operating efficiency and be effectively ensured, adds
The advantages of working medium amount.
In order to achieve the above objectives, the embodiment of the present invention proposes a kind of big row based on plane two-freedom series-parallel mechanical arm
Cheng Li controls machining robot, including：Automatic guided vehicle, the big shift motion for ensureing robot；Plane two-freedom series-parallel connection
Mechanical arm, for two-freedom movement in control plane；Three Degree Of Freedom power control parallel connection processing module, for controlling a movement certainly
By degree and two rotational freedoms, and control normal pressure on end effector.
The big stroke force control machining robot based on plane two-freedom series-parallel mechanical arm of the embodiment of the present invention, pass through by
Three Degree Of Freedom power control parallel connection processing module is mounted on plane two-freedom series-parallel mechanical arm end and coordinates automatic guided vehicle, increases
Robot good quality work spatial dimension can be completed complete to large-sized structural parts or wind turbine blade under the premise of primary be loaded
The processing operation in portion type face, Three Degree Of Freedom power control parallel connection processing module can be made in processing while promoting processing operating efficiency
The control to normal pressure on end effector is realized when industry, can effectively ensure that processing quality.
In addition, the big stroke force control processing according to the above embodiment of the present invention based on plane two-freedom series-parallel mechanical arm
Robot can also have following additional technical characteristic：
Further, in one embodiment of the invention, the plane two-freedom series-parallel mechanical arm includes：Large arm,
First connecting rod group and the mechanical arm large arm constitute parallelogram mechanism, to realize the straight-line feed inputted by large arm drive rod
Move the rotational motion of driving；Forearm, second connecting rod group and the mechanical arm forearm constitute parallelogram mechanism, with realize by
The rotational motion of the straight-line feed movement driving of forearm drive rod input.
Further, in one embodiment of the invention, the Three Degree Of Freedom power control parallel connection processing module includes：It is in parallel
Module fixed platform；Parallel module moving platform；End effector；Power control unit；First branch, first branch pass through two
The mutually perpendicular revolute pair of axis is connect with the parallel module moving platform, is allocated with the parallel module by a revolute pair
Platform connects, and first branch includes a feed screw nut kinematic pair by input driving, with realize leading screw and nut axis it
Between rotational freedom and leading screw along branch one-movement-freedom-degree；Second branch and third branch, second branch and institute
It is identical as first branched structure to state third branch.
Further, in one embodiment of the invention, the feature of the Three Degree Of Freedom power control parallel connection processing module is also
Including:First branch, second branch and the third branch are connected to the parallel module fixed platform and institute
Between stating parallel module moving platform, closed loop parallel-connection structure is constituted, to ensure that the parallel module moving platform is solid with end effector
There are one one-movement-freedom-degree and two rotational freedoms after fixed connection.
Further, in one embodiment of the invention, the Three Degree Of Freedom power control parallel connection processing module is mounted on institute
It states plane two-freedom series-parallel mechanical arm end and coordinates the automatic guided vehicle, to increase robot good quality work spatial dimension.
Further, in one embodiment of the invention, first branch includes：First motor, first electricity
One end of machine is connected by a revolute pair with the Three Degree Of Freedom power control parallel connection processing module fixed platform；First feed screw nut
Pair, nut and the first motor concrete mutually in first screw pair realize that leading screw is opposite to constitute cylindrical movement pair
Pass through a Hooke with degree of freedom, the leading screw in first screw pair is relatively rotated in the straight-line feed degree of freedom of nut
Hinge or the mutually perpendicular revolute pair realization of two axis are connected with the parallel module moving platform.
Further, in one embodiment of the invention, the power control unit includes：Power controls spring, the power
Control spring realizes the control of end normal pressure in operation process by controlling position；Damping shock absorber, the damping
Damper can realize the vibration suppression under power control condition by the coordination with power control spring；Cell enclosure, the control
Cell enclosure processed can be then combined with processing module body construction in parallel overcomes the problems, such as that the unit cannot bear torque.
Further, in one embodiment of the invention, the power control unit may be provided at first branch, institute
The position that leading screw is connected with the revolute pair described in the second branch and the third branch is stated, to realize to described first
The power of branch, second branch and the third branch controls.
Further, in one embodiment of the invention, the power control unit can also be provided at the Three Degree Of Freedom
The position that power control parallel connection processing module moving platform is connected with the end effector, to realize to making on the end effector
Control firmly.
Further, in one embodiment of the invention, the Three Degree Of Freedom power control parallel connection processing module power control is single
Member further includes：Force snesor, the force snesor feed back acted on normal pressure in operation process, and pass through power/position
Hybrid algo-rithm, according to the data of force snesor feedback to Three Degree Of Freedom power control parallel module end effector reality
Existing power/position mixing control.
Further, in one embodiment of the invention, the Three Degree Of Freedom power control parallel connection processing module also can be used
The structure type of powerless control unit.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is a kind of big stroke force control based on plane two-freedom series-parallel mechanical arm according to an embodiment of the invention
The structural schematic diagram of machining robot；
Fig. 2 is a kind of big stroke force control based on plane two-freedom series-parallel mechanical arm according to an embodiment of the invention
The structural schematic diagram of machining robot；
Fig. 3 is a kind of big stroke force control based on plane two-freedom series-parallel mechanical arm according to an embodiment of the invention
The structural schematic diagram of machining robot；
Fig. 4 is the structural schematic diagram of plane two-freedom series-parallel mechanical arm according to an embodiment of the invention；
Fig. 5 is the structural schematic diagram of Three Degree Of Freedom power control parallel connection processing module according to an embodiment of the invention；
Fig. 6 is the first branch of Three Degree Of Freedom power control parallel connection processing module according to an embodiment of the invention, allocates
The exploded perspective view of platform and moving platform；
Fig. 7 is the first branch of Three Degree Of Freedom power control parallel connection processing module according to another embodiment of the invention, determines
The exploded perspective view of platform and moving platform.
Reference numeral：
In Fig. 1：Three Degree Of Freedom power control parallel connection processing module I；Plane two-freedom series-parallel mechanical arm II；Automatic guided vehicle
III-1；
In fig. 2：Three Degree Of Freedom power control parallel connection processing module I；Plane two-freedom series-parallel mechanical arm II；Automatic guided vehicle
III-21；The linear guide III-22；
In figure 3：Three Degree Of Freedom power control parallel connection processing module I；Plane two-freedom series-parallel mechanical arm II；The linear guide
III-3；
Mechanical arm pedestal 21；Mechanical arm large arm 22；Large arm drive rod 23；First connecting rod group 24；Attitude regulation component 25；It is small
Arm drive rod 26；Mechanical arm forearm 27；Second connecting rod group 28；End effector 29；
First branch 31；Second branch 32；Third branch 33；Processing module fixed platform 34 in parallel；Processing module in parallel is dynamic
Platform 35；Electric grinding head 36；
First motor 411；First leading screw 412；First power control unit 413；First U-shaped rotating member 414；First spherical turn
Moving part 415；Parallel module fixed platform 44；Parallel module moving platform 45；End electric grinding head 46；
First motor 511；First leading screw 512；First U-shaped rotating member 513；First spherical rotating member 514；Parallel module is fixed
Platform 54；Parallel module moving platform 55；Polishing motor 561；Moving platform power control unit 562；End effector mounting flange
563；End effector 564.
Specific implementation mode
The embodiment of the present invention is described below in detail, the example of embodiment is shown in the accompanying drawings, wherein identical from beginning to end
Or similar label indicates same or similar element or element with the same or similar functions.It is retouched below with reference to attached drawing
The embodiment stated is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Describe to propose according to embodiments of the present invention with reference to the accompanying drawings based on the big of plane two-freedom series-parallel mechanical arm
Stroke force control machining robot.
In a kind of big stroke force control processing based on plane two-freedom series-parallel mechanical arm of one embodiment of the present of invention
In robot, for end effector by taking electric grinding head as an example, electro spindle clamping cutter or welding operation end can be used in specific implementation
Hold actuator etc..
In the embodiment of the present invention 1, as shown in Figure 1, a kind of big stroke based on plane two-freedom series-parallel mechanical arm
Power control machining robot includes Three Degree Of Freedom power control parallel connection processing module I；Plane two-freedom series-parallel mechanical arm II；It is unmanned to carry
Vehicle III-1.
In the embodiment of the present invention 2, as shown in Fig. 2, a kind of big stroke based on plane two-freedom series-parallel mechanical arm
Power control machining robot can also include Three Degree Of Freedom power control parallel connection processing module I；Plane two-freedom series-parallel mechanical arm II；Nothing
People's carrier III-21；The linear guide III-22.
In the embodiment of the present invention 3, as shown in figure 3, a kind of big stroke based on plane two-freedom series-parallel mechanical arm
Power control machining robot can also include Three Degree Of Freedom power control parallel connection processing module I；Plane two-freedom series-parallel mechanical arm II；Directly
Line guide rail III-3.
Automatic guided vehicle and mating the linear guide are ripe commercially produced product, can be chosen according to actual operation requirements or
Customization, does not repeat herein.
Further, as shown in figure 3, plane two-freedom series-parallel mechanical arm includes mechanical arm pedestal 21, mechanical arm large arm
22, mechanical arm forearm 27, end effector 29, connection rod set 24, large arm drive rod 23, forearm drive rod 26, attitude regulation component
25 and connection rod set 28, Three Degree Of Freedom power control parallel connection processing module be fixedly connected on two-freedom plane-parallel type machinery arm end and hold
Row device 29, connection rod set 24 constitute parallelogram mechanism with mechanical arm large arm 22, and connection rod set 28 constitutes flat with mechanical arm forearm 27
Row quadrangular mechanism, mechanical arm large arm 22 and mechanical arm forearm 27 are driven by large arm drive rod 23 and forearm drive rod 26 respectively,
Type of drive is used to be driven for straight-line feed.
As shown in figure 5, Three Degree Of Freedom power control parallel connection processing module III includes the first branch 31, the second branch 32, third branch
Chain 33, processing module fixed platform 34 in parallel, processing module moving platform 35 in parallel and electric grinding head 36.
First branch 31 is connected by a revolute pair with processing module fixed platform 34 in parallel, is mutually hung down by two axis
Straight revolute pair or a Hooke's hinge are connect with processing module moving platform 35 in parallel, processing module moving platform 35 in parallel and electronic are beaten
Bistrique 36；Second branch, third branch is identical as the first branched structure, and three branches are both connected between fixed platform and moving platform
Form closed loop configuration, the final translational degree of freedom and two rotational freedoms for realizing moving platform and electric grinding head.
Specifically, as shown in fig. 6, the first branch includes first motor 411, the first leading screw 412, the first power control unit
413, first the 414, first spherical rotating member 415 of U-shaped rotating member.First motor 411 is installed on parallel module fixed platform 44, shape
At a revolute pair, the rotor of first motor is fixedly connected with the nut in the first ball screw assembly, so that the first leading screw 412 has
There are the rotational freedom and linear movement degree of freedom in the axial direction around nut axis, constitutes cylindrical pair；First leading screw 412
End is fixedly connected with the first power control unit 413, and the first power control unit is embedded in the first U-shaped rotating member 414 solid therewith
Fixed connection, realizes the control to the first branch internal force；First U-shaped rotating member 414 connect formation one with the first spherical rotating member 415
A revolute pair, the first spherical rotating member 415 is connected with moving platform constitutes a revolute pair, the two mutually orthogonal formation of revolute pair axis
One Hooke's hinge；Second branch, third branch are identical as the first branched structure, realize the control of respective branch internal force and constitute simultaneously
Join closed loop configuration.Moving platform is fixedly connected with end electric grinding head 46.
In another embodiment of the present invention, as shown in fig. 7, the first branch may also include first motor 511；First
Thick stick 512；First U-shaped rotating member 513；First spherical rotating member 514；End electric grinding head includes polishing motor 561；Moving platform
Power control unit 562；End effector mounting flange 563；End effector 564.It is fixed that first motor 511 is installed on parallel module
On platform 54, a revolute pair is formed, the rotor of first motor is fixedly connected with the nut in the first ball screw assembly, so that the
One leading screw 512 constitutes cylindrical pair with the rotational freedom around nut axis and linear movement degree of freedom in the axial direction；
First leading screw, 512 end is fixedly connected with the first U-shaped rotating member 513, the first U-shaped rotating member 513 and the first spherical rotating member 514
Connection forms a revolute pair, and the first spherical rotating member 514 is connected with moving platform constitutes a revolute pair, and two revolute pair axis are mutual
One Hooke's hinge of mutually orthogonal formation；Second branch, third branch are identical as the first branched structure, realize parallel module fixed platform 54 with
Connection between parallel module moving platform 55 simultaneously constitutes parallel closed loop structure.Polishing motor 561 is installed on parallel module moving platform
55, parallel module moving platform 55 is fixedly connected with realization with moving platform power control unit 562 to end electric grinding head external force action
Control, end effector mounting flange 563 realize end effector 564 and polish motor 561 between installation connect.
In an embodiment of the present invention, Three Degree Of Freedom power control parallel connection processing module angle range is big, can realize to complexity
The processing operation of curved surface.
Further, based on the big stroke force control machining robot of plane two-freedom series-parallel mechanical arm, it can be achieved that larger
Impulse stroke, the processing operation to large-sized structural parts or wind turbine blade whole type face is realized during be once loaded.
Further, Three Degree Of Freedom power control parallel connection processing module, plane two-freedom series-parallel mechanical arm can also pass through carrying
The linear guide that is installed on automatic guided vehicle is directly installed in total travel the linear guide, is realized real during being once loaded
Now to the processing operation in whole type faces.
Further, Three Degree Of Freedom power control parallel connection processing module may be implemented right in process by power control unit
End effector can effectively promote processing operation quality into line power/position mixing control.
Further, Three Degree Of Freedom power control parallel connection processing module can be completed by carrying various forms of end effectors
Such as the different types of processing operation of operation is bored in polishing operation, weld job, milling.
Further, the power control unit of Three Degree Of Freedom power control parallel connection processing module may be used controls spring including power,
The combining form or use force snesor of damping shock absorber and cell enclosure and the combining form of control algolithm or powerless control
The structure type of unit.
A kind of big stroke force control machining robot based on plane two-freedom series-parallel mechanical arm of the embodiment of the present invention leads to
It crosses and Three Degree Of Freedom power control parallel connection processing module is mounted on plane two-freedom series-parallel mechanical arm end cooperation automatic guided vehicle, increase
Great Liao robots good quality work spatial dimension can be completed under the premise of primary be loaded to large-sized structural parts or large-scale wind electricity leaf
The processing operation in piece whole type face, promoting processing operating efficiency, Three Degree Of Freedom power control parallel connection processing module can processed simultaneously
It is realized when operation and normal pressure on end effector is controlled, can effectively ensure that processing quality.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (9)
1. a kind of big stroke force control machining robot based on plane two-freedom series-parallel mechanical arm, which is characterized in that including：
Automatic guided vehicle, the big shift motion for ensureing robot；
Plane two-freedom series-parallel mechanical arm, for two-freedom movement in control plane；
Three Degree Of Freedom power control parallel connection processing module for controlling an one-movement-freedom-degree and two rotational freedoms, and controls end
Hold normal pressure on actuator.
2. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 1
People, which is characterized in that the plane two-freedom series-parallel mechanical arm includes：
Large arm, first connecting rod group and the mechanical arm large arm constitute parallelogram mechanism, are inputted by large arm drive rod with realizing
Straight-line feed movement driving rotational motion；
Forearm, second connecting rod group and the mechanical arm forearm constitute parallelogram mechanism, are inputted by forearm drive rod with realizing
Straight-line feed movement driving rotational motion.
3. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 1
People, which is characterized in that the Three Degree Of Freedom power control parallel connection processing module includes：
Parallel module fixed platform；
Parallel module moving platform；
End effector；
Power control unit；
First branch, first branch are connect by a revolute pair with the parallel module fixed platform, and two axis are passed through
Mutually perpendicular revolute pair is connect with the parallel module moving platform, and first branch includes a leading screw by input driving
Nut kinematic pair, to realize the one-movement-freedom-degree of rotational freedom between leading screw and nut axis and leading screw along branch；
Second branch and third branch, second branch and the third branch are identical as first branched structure.It is described
First branch, second branch and the third branch are connected to the parallel module fixed platform and the parallel module
Between moving platform, closed loop parallel-connection structure is constituted, to ensure to have after the parallel module moving platform is fixedly connected with end effector
One one-movement-freedom-degree and two rotational freedoms.
4. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 1
People, which is characterized in that the Three Degree Of Freedom power control parallel connection processing module is mounted on plane two-freedom series-parallel mechanical arm end
End coordinates the automatic guided vehicle, to increase robot good quality work spatial dimension；Or it is directly mounted at and is equipped on unmanned carrying
In the linear guide of vehicle or in total travel the linear guide, increase robot impulse stroke.
5. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 3
People, which is characterized in that first branch includes：
First branch includes：One end of first motor, the first motor passes through a revolute pair and the Three Degree Of Freedom
Power control parallel connection processing module fixed platform is connected；
First screw pair, nut and the first motor concrete mutually in first screw pair, to constitute cylinder fortune
Dynamic pair realizes leading screw relative to the straight-line feed degree of freedom of nut and relatively rotates degree of freedom, in first screw pair
Leading screw realized by a Hooke's hinge or the mutually perpendicular revolute pair of two axis and be connected with the parallel module moving platform.
6. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 3
People, which is characterized in that the power control unit includes：
Power controls spring, and the power controls spring in operation process by controlling position to realize the control of end normal pressure
System；
Damping shock absorber, the damping shock absorber can realize shaking under power control condition by controlling the coordination of spring with the power
It is dynamic to inhibit；
Cell enclosure, described control unit shell can be then combined with processing module body construction in parallel overcomes the unit cannot
The problem of bearing torque.
7. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 3
People, the Three Degree Of Freedom power control parallel connection processing module power control unit further include：
Force snesor, the force snesor feed back acted on normal pressure in operation process；
Power/position hybrid algo-rithm calculates the power/position mixing control using described according to the data of force snesor feedback
Method realizes power/position mixing control to Three Degree Of Freedom power control parallel module end effector.
8. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 3
People, which is characterized in that the power control unit is arranged in first branch, second branch and the third branch
The position that the leading screw is connected with the revolute pair, to realize to first branch, second branch and described the
The power of three branches controls；Or setting is connected in the Three Degree Of Freedom power control parallel connection processing module moving platform with the end effector
The position connect；Or take the structure type of powerless control unit.
9. a kind of big stroke force control processing machine based on plane two-freedom series-parallel mechanical arm according to claim 8
People, which is characterized in that Three Degree Of Freedom power control parallel connection processing module can be completed such as by carrying various forms of end effectors
The different types of processing operation of operation is bored in polishing operation, weld job, milling.
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| CN201810581019.8A CN108544475B (en) | 2018-06-05 | 2018-06-05 | Large-stroke force-control machining robot based on planar two-degree-of-freedom series-parallel mechanical arm |
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| CN201810581019.8A CN108544475B (en) | 2018-06-05 | 2018-06-05 | Large-stroke force-control machining robot based on planar two-degree-of-freedom series-parallel mechanical arm |
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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 |
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