CN108971882A - Mobile progressive molding prosthetic device and method based on parallel robot - Google Patents
Mobile progressive molding prosthetic device and method based on parallel robot Download PDFInfo
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- CN108971882A CN108971882A CN201810985049.5A CN201810985049A CN108971882A CN 108971882 A CN108971882 A CN 108971882A CN 201810985049 A CN201810985049 A CN 201810985049A CN 108971882 A CN108971882 A CN 108971882A
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- 238000000465 moulding Methods 0.000 title claims abstract description 43
- 230000000750 progressive effect Effects 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000011159 matrix material Substances 0.000 claims abstract description 23
- 230000009194 climbing Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 16
- 230000008439 repair process Effects 0.000 claims abstract description 10
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000005021 gait Effects 0.000 claims description 7
- 230000001939 inductive effect Effects 0.000 claims description 7
- 239000000523 sample Substances 0.000 claims description 7
- 239000002223 garnet Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 42
- 230000008569 process Effects 0.000 description 9
- 230000007797 corrosion Effects 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000009418 renovation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006557 surface reaction Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
Abstract
The invention discloses a kind of mobile progressive molding prosthetic device and method based on parallel robot, wherein the mobile progressive molding prosthetic device based on parallel robot, including parallel robot as carrier and are connected with manipulator as processing；The parallel robot includes matrix and at least two legs portion, and the structure of all legs is all the same；The sufficient end of leg and lower protection board are provided with electromagnet, are used to be bonded in robot climbing sports with working face to reach designated position, so that manipulator reaches its operating distance range to complete progressive molding or the repair of workpiece surface.
Description
Technical field
The invention belongs to robot field more particularly to a kind of mobile progressive molding reparation dresses based on parallel robot
It sets and method.
Background technique
Progressive molding technique as a kind of novel flexible mould-free forming technology, " is divided based on RP technique
What the thought of layer manufacture " developed rapidly.Compared to traditional technique that shapes, progressive molding does not need mold, can be with
Huge mold producing cost is saved, has the field of particular/special requirement, small lot production to have very in aerospace, new automobile etc.
Big potentiality and good application prospect；Meanwhile digitlization, controllable layering processing may be implemented, by complicated 3D shape
It is divided into a series of X-Y scheme to be processed, can greatly simplifies the thinking and process of forming.
With the fast development of modern industry transport, large-scale high level equipment such as marine worker, naval vessel, aerospace parts carry, by force in height
It is on active service under the complex environments such as corrosion, generates housing distortion or damage is inevitable, often need field repair.Although presently, there are
The processing prosthetic device of some packaged types, but most of is all to be transported to the equipment of processing by means of transports such as automobiles
Scene repairs, but such device is limited to the working space of processing unit (plant) in specified Working position excessive height, can not
It is processed, therefore there are certain limitations.
Existing progressive molding device has the following problems:
(1) existing progressive molding device is improved by traditional vertical knee-type milling machine, so the work of processing
Part is merely able to place in the horizontal plane, when the process equipment for needing the plane processed to have certain gradient traditional can not just work,
Therefore it is unable to satisfy the individual requirement of user's workpiece various for processing, there is certain limitation；
(2) the universal volume of traditional process equipment, quality are all very big, are merely able to carry out work in the fixed station of factory
Make, when the workpiece for needing to process is mobile difficult, traditional process equipment can not similarly work, and be unable to satisfy for large-scale work
The process requirements of part.
Therefore, it needs to carry out the progressive molding prosthetic device of packaged type new research and design.
Summary of the invention
In order to solve the deficiencies in the prior art, the first object of the present invention is to provide a kind of movement based on parallel robot
Formula progressive molding prosthetic device has the effect of that operating accuracy is high and working space is big.
A kind of mobile progressive molding prosthetic device based on parallel robot of the invention, comprising:
Parallel robot as carrier and is connected with manipulator as processing；
The parallel robot includes matrix and at least two legs portion, and the structure of all legs is all the same；
Leg foot end is provided with electromagnet, is used in robot climbing sports be bonded with working face specified to reach
Position, so that manipulator reaches its operating distance range to complete progressive molding or the repair of workpiece surface.
Further, tool heads are installed on the manipulator, pass through matching for each joint difference rotation direction of manipulator
It closes, so that tool heads have the multiple freedom degrees in space, with the working efficiency of hoisting tool head.
Further, described matrix includes upper protection board, intermediate protective and lower protection board, the upper protection board, centre
Protective and lower protection board are linked together by main shaft.
Further, battery pack and core controller are installed in the intermediate protective, are responsible for the entire movable type
The energy supply of progressive molding prosthetic device and whole control.
Further, every leg is coupled by three branches with matrix, and every branch by connected first bar and
Second bar is constituted.
Further, a branch setting in the top and is active branched chain in three branches, is used to drive lower section
Two branches move in space；Two branched structures of lower section are identical, positional symmetry and are located in the same plane.
Further, first bar positioned at the branch of the top is connected by revolute pair and matrix, two of lower section from
First bar of dynamic branch is connected by cross-garnet butt and matrix, and second bar of three branches passes through revolute pair and sufficient end phase
Connection and three tie points one isosceles triangles of composition.
Further, the outer surface at leg foot end is provided with the inductive probe for detection sensor face condition.
The second object of the present invention is to provide a kind of work of mobile progressive molding prosthetic device based on parallel robot
Make method.
A kind of working method of mobile progressive molding prosthetic device based on parallel robot of the invention, comprising:
Horizontal movement state: parallel robot is mobile using diagonal gait, positioned at the two of diagonal positions when advancing every time
Leg moves simultaneously；
Climbing sports state: parallel robot is bonded using the electromagnet at its leg foot end with working face, and climbing, which reaches, to be referred to
Positioning is set, so that manipulator reaches its operating distance range to complete progressive molding or the repair of workpiece surface.
Further, in climbing sports state, parallel robot using diagonal gait it is mobile make two adjacent legs to
Inner rotation keeps thigh motor work, so that predetermined angle is lifted in leg, the bottom surface of the electromagnet at leg foot end at the same time
Parallel with workpiece surface, electromagnet energization at this time is allowed to be adsorbed on workpiece surface；
Later, the two electromagnet alternating power on/off adsorbed on the surface of the workpiece, one of energization is responsible for the guarantor of existing position
It holds, one of power-off makes leg raise certain height again by motor, in this manner, until entire matrix and workpiece surface
In parallel；
After entire matrix and workpiece surface are substantially parallel, the electromagnet of lower section leg is gone to parallel with workpiece surface
Position, the electromagnet of lower section leg is powered again at this time, at this moment whole device is just adsorbed on workpiece surface completely, is completed
It is converted from level ground to the position of vertical working surface；
After whole device is adsorbed on workpiece surface completely, the assigned work position to hoist continues to climb, and two is diagonal
The electromagnet of leg end needs alternating power on/off to realize the fixation of position and the rotation forward of leg on line, passes through this side
Formula makes device climbing work to specified Working position.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention employs parallel robots as carrier, which has very big stiffness and strength, parallel manipulator
The end effector operating accuracy of people is very high, can accurately reach the position for needing to process；
(2) present invention is provided with electromagnet at the leg foot end of parallel robot, so that this device has stronger climb
Ability is climbed, the workpiece surface of higher position can be formed or be repaired.
(3) manipulator of the invention has multiple degrees of freedom so that the working space of whole device is very big, can greatly compared with
The movement of few lower end robot, improves work efficiency.
(4) the packaged type progressive molding processing unit (plant) based on parallel robot, for the surface of large-scale workpiece and machine
Forming and reparation have a very big significance.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the mobile progressive molding prosthetic device structural schematic diagram of the invention based on parallel robot；
Fig. 2 is mobile progressive molding prosthetic device A working state figure of the invention；
Fig. 3 is mobile progressive molding prosthetic device B working state figure of the invention；
Fig. 4 is mobile progressive molding prosthetic device C working state figure of the invention；
Fig. 5 is mobile progressive molding prosthetic device D working state figure of the invention.
Wherein: 1- tool heads connector；2- No.1 servo motor；3- manipulator No.1 arm；No. bis- servo motors of 4-；5- tri-
Servo motor；No. two arms of 6- manipulator；No. tetra- servo motors of 7-；8- robot base；No. five servo motors of 9-；10- is actively propped up
The first revolute pair of chain；11- active branched chain No.1 bar；No. two revolute pairs of 12- active branched chain；No. two bars of 13- active branched chain；14- master
Dynamic No. three revolute pairs of branch；15- foot end bottom plate；16- No. two revolute pairs of driven branch；17- electromagnet；18- electromagnet shaft；
19- No. two bars of driven branch；The driven branch No.1 revolute pair of 20-；The driven branch No.1 bar of 21-；The driven branch cross hinge of 22-
Chain；23- main shaft；Protection board under 24-；The upper protection board of 25-；Protective among 26-；27- inductive probe；28- matrix.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The present invention will be further described for working example in reference to the accompanying drawing:
It is of the invention based on parallel robot packaged type progressive molding prosthetic device by parallel robot, be used as carrier
And it is connected with the manipulator composition as processing.
Wherein, parallel robot includes matrix and at least two legs portion, and the structure of all legs is all the same.
It is described in detail by taking the parallel robot of four legs as an example below:
Four leg structures are identical, and every leg has three branches to couple with matrix, very due to such structure
Similar to the parallel circuit in circuit, such mechanism is known as leg mechanism in parallel.
Wherein, universal joint or U pair can be used to replace in cross-garnet butt.
As shown in Figure 1, matrix 28 passes through main shaft 23 for upper protection board 25, intermediate protective 26 and 24 connection group of lower protection board
At；Main shaft 23 can rotate in direction about the z axis, and convex block with holes is machined on main shaft 23 and is driven by revolute pair 10 and is actively propped up
Chain No.1 bar 11 rotates, and active branched chain No.1 bar 11 drives No. two bars 13 of active branched chain further through No. two revolute pairs 12 of active branched chain
Power and movement are transferred to sufficient end bottom plate 15 by No. three revolute pairs 14 of active branched chain later by rotation.
The two sides of 24 4 jiaos of lower protection board are symmetrily processed with hole and pass through driven branch cross-garnet butt 22 for matrix 28 and leg
Driven branch No.1 bar 21 be connected, driven branch No.1 bar 21 is further through driven branch No.1 revolute pair 20 and driven branch two
Number bar 19 is connected, and No. two bars 19 of driven branch are connected by No. two revolute pairs 16 of driven branch and sufficient end bottom plate 15 again.
Electromagnet 17 is also equipped on lower protection board 24.
Similarly, matrix 28 and sufficient end bottom plate 15 are also connected using identical structure by another driven branch.
Battery pack and core controller are installed in intermediate protective 26, are responsible for the entire mobile progressive molding reparation
The energy supply of device and whole control.
In addition, being machined with the inductive probe 27 for detection sensor surface conditions in the outer surface of sufficient end bottom plate 15, significantly
Improve the road surface adaptability and handling capacity of the present apparatus.Wherein, the core control in inductive probe 27 and intermediate protective 26
Device processed is connected.
The robot base 8 of installation manipulator arm on upper protection board 25 is equipped with No. five servo electricity inside robot base 8
Machine 9 realizes the rotation in the whole direction about the z axis of manipulator, and different angle can be processed not the robot for moving lower section by realizing
Workpiece, so that processing is more convenient and quick.No. three servo motors 5 can be rotated with driving manipulator No.1 arm 6 around Y-axis；No. four are watched
Taking motor 7 can be rotated with No. two arms 6 of driving manipulator around Y-axis, No. two servo motors 4 can driving manipulator No.1 arm 3 around X-axis
Rotation, 3 head of manipulator No.1 arm inside can be rotated upwardly and downwardly equipped with No.1 servo motor 2 with driving instrument head connector 1.
Below by by Fig. 2-Fig. 4 detailed description when in face of volume biggish workpiece the structure of each section of the present invention
Working condition:
The core processor of device passes through the feedback of inductive probe 27, judges that the position height processed is needed to have exceeded machine
The working range of tool hand needs to reach designated position by climbing.
Firstly, device is placed on level ground, according to the distance of device to workpiece to be processed, judgement is directly to climb
It climbs or needs close to workpiece, it is assumed here that need to the close a distance of workpiece.The parallel robot of lower section is using diagonal
Gait, two legs when advancing every time positioned at diagonal positions move simultaneously.
Concrete mode is as follows, and by taking the leg I in Fig. 1 as an example, the motor driving spindle 23 first inside intermediate protective 26 is around Z
Axis turns over certain angle, and then the power on main shaft and movement are transferred to sufficient end bottom plate 15 by the active branched chain of the top, power and
It moves across sufficient end bottom plate 15 and is transferred to two driven chains, to make driven chain turn over certain angle to same direction, so that entirely
Leg rotates forward over certain angle about the z axis.
Similarly, same angle is turned in the same fashion positioned at another leg of I diagonal positions of leg, later in addition
Two rotate forward in this manner, finally whole device are made to have moved forward a distance.
A kind of working method of mobile progressive molding prosthetic device based on parallel robot of the invention, comprising:
Horizontal movement state: parallel robot is mobile using diagonal gait, positioned at the two of diagonal positions when advancing every time
Leg moves simultaneously；
Climbing sports state: parallel robot is bonded using the electromagnet at its leg foot end with working face, and climbing, which reaches, to be referred to
Positioning is set, so that manipulator reaches its operating distance range to complete progressive molding or the repair of workpiece surface.
Specifically, illustrate that working method when surface conditions are bad, such working method are based on above-mentioned advance side below
A kind of improvement of formula, for overcoming obstacle:
When inductive probe 27 detect road surface have protrusion or it is sagging, controller can control the first revolute pair of active branched chain 10
Internal motor, makes it turn over certain angle counterclockwise, while the motor in No. two revolute pairs 12 of active branched chain keeps actively propping up
Angle between No. two bars 13 of chain No.1 bar 11 and active branched chain does not change, at this time No. five in the first revolute pair of active branched chain 10
Servo motor 9 will make entire leg lift certain distance by drive chain, and driven branch cross-garnet butt 22 can guarantee
The amplitude that this is lifted is bigger, can overcome most obstacles.
Another situation, when in complicated working environment, across the lesser crossing of width, at this moment device may need
Motor at the first revolute pair of active branched chain 10 and active branched chain No.1 bar 11 is simultaneously to certain angle is turned over counterclockwise, so that whole
A leg is to contract a certain distance, so that device passes through more narrow road surface.
Later, when device is close enough apart from the location of workpiece, the operating mode of climbing has been entered, below for climbing
Working method is described in detail:
Firstly, the mode of advance as described above rotates two adjacent legs internally, position as shown in Figure 2 is reached
It sets, while the guarantor with motor at active branched chain No.1 bar 11 is rotated by the motor at the first revolute pair of active branched chain 10 counterclockwise
The effect of holding, so that a lesser angle is lifted in leg, simultaneously the electromagnet 17 at sufficient end turns outward around electromagnet shaft 18
Crossing certain angle keeps the bottom surface of electromagnet parallel with workpiece surface to be repaired, and electromagnet energization at this time is allowed to be adsorbed on workpiece table
Face, state A as shown in Figure 2.
Later, the two electromagnet alternating power on/off adsorbed on workpiece surface to be repaired, one of energization are responsible for existing position
One of the holding set, power-off makes leg phase by the motor at the first revolute pair of active branched chain 10 and active branched chain No.1 bar 11
For position too high certain height again of Fig. 2, in this manner, in the state B that two legs of metope will eventually arrive in Fig. 3,
Two legs above later continue to increase, until entire matrix is parallel with metope.
Finally, after entire matrix and metope are substantially parallel, it only need to be by two electromagnet 17 of two leg of lower section around electricity
Magnet shaft 18 goes to the position parallel with metope, this two blocks of electromagnet are powered again at this time, and at this moment whole device is just inhaled completely
It is attached on workpiece surface, completes and converted from level ground to the position of workpiece surface to be repaired, reach shape as shown in the figure
State C.
After whole device is adsorbed on workpiece surface completely, so that it may the assigned work position to hoist continues to climb,
Its mode creeped still uses the identical diagonal gait with level ground, unique except that leg on two diagonal lines
The electromagnet of portion end need alternately power on/off realize the fixation of position and the rotation forward of leg, in this way can be with
Device climbing is set to work to specified Working position.
The present invention provides a kind of example of progressive molding processing technology, carries out to the processing repair process of the device further
Explanation:
After device reaches scheduled operating position, work surface can be formed, is repaired etc. and operate, below
A kind of operating method of online plate reparation is provided.
1) firstly, after device reaches specified station, controller controls the first revolute pair of four leg active branched chains
Motor inside 10, while the angle between 12 motor internal holding rod 11,13 of the second revolute pair is constant, and four legs are all lifted
It rises to amplitude peak.
2) lower protection board 24 is powered, directly on the work surface by the absorption of lower protection board, as shown in Figure 5.Such mode
Load and stability of the device in processing can be greatly increased.Device is not only needed when being worked on inclined surface
Reaction force when component of the self gravity along inclined-plane being overcome also to overcome tool heads to process.Therefore, if still using machine
The contact mode at four sufficient ends when device people climbs, it is most likely that because the adsorption capacity of electromagnet is inadequate, lead to device not
It can work normally, or even will appear unstable situation.And the working method of the above-mentioned direct finished surface of lower protection board, greatly
The contact area between device and working surface is improved greatly, and device is enabled to bear bigger forming reaction force to have
Better stability.
3) it after device is converted to machining posture, can be processed by the mechanical arm of top, it is mechanical manual
Tool head moves to the initial position set, and sets the step pitch (pushing of each layer of tool heads according to field repair demand
Amount), the core parameters of the progressive moldings such as forming angle and Forming depth.
4) then according to the machining path set in advance, according to the profile requirements of first layer, in a manner of walking contour,
The plastic processing that single-point is carried out to workpiece, after the profile requirements for completing first layer, tool heads can be according to the step pitch set
Along tool heads axial feed certain distance, movement is required according to the cross section profile of the second layer later, and complete the wheel of the second layer
It is wide.
5) it repeats the above steps, until reaching scheduled working depth, and realizes the forming and reparation of target shape.
Forming tool header structure, which is improved, can meet other renovation technique demands, such as laser melting coating, spraying or other
Process of surface treatment is realized and carries out cladding or spraying abrasion-proof, corrosion-resistant metal to piece surface, to reach wear-resisting, corrosion-resistant
Purpose.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of mobile progressive molding prosthetic device based on parallel robot characterized by comprising
Parallel robot as carrier and is connected with manipulator as processing；
The parallel robot includes matrix and at least two legs portion, and the structure of all legs is all the same；
Leg foot end is provided with electromagnet, is used to be bonded in robot climbing sports with working face to reach specific bit
It sets, so that manipulator reaches its operating distance range to complete progressive molding or the repair of workpiece surface.
2. a kind of mobile progressive molding prosthetic device based on parallel robot as described in claim 1, which is characterized in that
Tool heads are installed on the manipulator, by the cooperation of each joint difference rotation direction of manipulator, so that tool heads have
The multiple freedom degrees in space, with the working efficiency of hoisting tool head.
3. a kind of mobile progressive molding prosthetic device based on parallel robot as described in claim 1, which is characterized in that
Described matrix includes upper protection board, intermediate protective and lower protection board, and the upper protection board, intermediate protective and lower protection board are logical
Main shaft is crossed to be linked together.
4. a kind of mobile progressive molding prosthetic device based on parallel robot as claimed in claim 3, which is characterized in that
Battery pack and core controller are installed in the intermediate protective, are responsible for the entire mobile progressive molding prosthetic device
Energy supply and whole control.
5. a kind of mobile progressive molding prosthetic device based on parallel robot as described in claim 1, which is characterized in that
Every leg is coupled by three branches with matrix, and every branch is made of connected first bar and second bar.
6. a kind of mobile progressive molding prosthetic device based on parallel robot as claimed in claim 5, which is characterized in that
A branch setting in the top and is active branched chain in three branches, is used to that two branches of lower section to be driven to transport in space
It is dynamic；Two branched structures of lower section are identical, positional symmetry and are located in the same plane.
7. a kind of mobile progressive molding prosthetic device based on parallel robot as claimed in claim 6, which is characterized in that
First bar positioned at the branch of the top is connected by revolute pair and matrix, and first bar of two driven branches of lower section is logical
It crosses cross-garnet butt to be connected with matrix, and second bar of three branches is connected by revolute pair and sufficient end and three tie points are constituted
One isosceles triangle.
8. a kind of mobile progressive molding prosthetic device based on parallel robot as described in claim 1, which is characterized in that
The outer surface at leg foot end is provided with the inductive probe for detection sensor face condition.
9. a kind of mobile progressive molding prosthetic device based on such as parallel robot of any of claims 1-8
Working method characterized by comprising
Horizontal movement state: parallel robot is mobile using diagonal gait, positioned at the two legs of diagonal positions when advancing every time
Portion moves simultaneously；
Climbing sports state: parallel robot is bonded using the electromagnet at its leg foot end with working face, and climbing reaches specific bit
It sets, so that manipulator reaches its operating distance range to complete progressive molding or the repair of workpiece surface.
10. the working method of the mobile progressive molding prosthetic device of parallel robot as claimed in claim 9, feature exist
In in climbing sports state, parallel robot rotates two adjacent legs internally using diagonal gait movement, keeps leg
The work of portion's motor, so that predetermined angle is lifted in leg, the bottom surface of the electromagnet at leg foot end is parallel with workpiece surface at the same time,
Electromagnet energization at this time is allowed to be adsorbed on workpiece surface；
Later, the two electromagnet alternating power on/off adsorbed on the surface of the workpiece, one of energization is responsible for the holding of existing position, is broken
One of electricity makes leg raise certain height again by motor, in this manner, until entire matrix is parallel with workpiece surface；
After entire matrix and workpiece surface are substantially parallel, the electromagnet of lower section leg is gone to the position parallel with workpiece surface
Set, the electromagnet of lower section leg be powered again at this time, at this moment whole device is just adsorbed on workpiece surface completely, complete from
It is converted to the position of vertical working surface level ground；
After whole device is adsorbed on workpiece surface completely, the assigned work position to hoist continues to climb, on two diagonal lines
The electromagnet of leg end needs alternating power on/off to realize the fixation of position and the rotation forward of leg, makes in this way
Device climbing works to specified Working position.
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| CN201810985049.5A CN108971882A (en) | 2018-08-28 | 2018-08-28 | Mobile progressive molding prosthetic device and method based on parallel robot |
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| CN201810985049.5A CN108971882A (en) | 2018-08-28 | 2018-08-28 | Mobile progressive molding prosthetic device and method based on parallel robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110978006A (en) * | 2019-12-18 | 2020-04-10 | 山东大学 | Automatic maintenance intelligent robot and method for wind turbine generator |
| CN112935700A (en) * | 2021-02-22 | 2021-06-11 | 三峡大学 | Automatic equipment and method for crawling, polling and repairing high-voltage transmission iron tower |
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