WO2022001129A1 - 一种吸附式并联加工机器人 - Google Patents

一种吸附式并联加工机器人 Download PDF

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Publication number
WO2022001129A1
WO2022001129A1 PCT/CN2021/076894 CN2021076894W WO2022001129A1 WO 2022001129 A1 WO2022001129 A1 WO 2022001129A1 CN 2021076894 W CN2021076894 W CN 2021076894W WO 2022001129 A1 WO2022001129 A1 WO 2022001129A1
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WO
WIPO (PCT)
Prior art keywords
adsorption
robot
fixed
adhesion
branch
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PCT/CN2021/076894
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English (en)
French (fr)
Inventor
谢福贵
刘辛军
马梓健
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清华大学
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Application filed by 清华大学 filed Critical 清华大学
Priority to US17/610,966 priority Critical patent/US20230398681A1/en
Publication of WO2022001129A1 publication Critical patent/WO2022001129A1/zh

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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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal

Definitions

  • the invention belongs to the technical field of large workpiece processing robots, in particular to an adsorption type parallel processing robot.
  • the adsorption-type machining robot based on the mobile machining concept is a new method to solve the above-mentioned problems.
  • the existing adsorption processing robots have the following defects: (1) The existing fixed adsorption processing robots need to manually position the robot at the position to be processed for adsorption, when the large components have many surfaces to be processed or the fixed position is high , manual placement is not only inefficient but also has potential safety hazards; (2) the existing mobile adsorption processing robot lacks a locking device, and only relies on its own adsorption force to resist the force generated by processing.
  • the present invention proposes a movable adsorption type parallel processing robot with cleaning function.
  • the robot has an adsorption locking device, and the processing module adopts a multi-degree-of-freedom parallel mechanism. Wider range of use and higher processing efficiency.
  • An adsorption-type parallel processing robot characterized in that it includes:
  • the processing module includes a fixed platform, a moving platform, a plurality of branch chains and an actuator, a plurality of branch chains are arranged around and connected between the moving platform and the fixed platform, and the actuator is installed on the moving platform;
  • the adsorption module includes a plurality of fixed adsorption branch chains with the same structure, which are used to realize the adsorption, fixation, movement and chip cleaning of the robot on the surface of the workpiece.
  • Technical solution 2 the adsorption-type parallel processing robot according to technical solution 1, wherein: the actuator includes a spindle head and a processing device disposed at the lower part of the spindle head.
  • Technical solution 3 The adsorption-type parallel processing robot according to technical solution 2, wherein the processing device includes one or more of a polishing device, a grinding device, an additive manufacturing device, and a welding device.
  • Technical solution 4 The adsorption-type parallel processing robot according to technical solution 1 or 2 or 3, wherein the number of branch chains is three, and the three branch chains have the same structure, including: connecting rods, sliders, U
  • the sliding block is sleeved on the outside of the connecting rod, and relative rotational movement and sliding movement can occur between the two; the bottom of the connecting rod is fixedly connected with a U-shaped piece, and the U-shaped A lower connecting piece is rotatably connected to the piece, wherein the sliding block is rotatably connected with the fixed platform, and the lower connecting piece is rotatably connected with the moving platform.
  • the adsorption-type parallel processing robot according to technical solution 4 is characterized in that, a rotating pair 1 is arranged between the slider and the fixed platform, and a moving pair is arranged between the slider and the connecting rod.
  • the second pair and the second rotating pair, the third rotating pair is arranged between the U-shaped piece and the lower connecting piece, and the fourth rotating pair is arranged between the lower connecting piece and the moving platform.
  • the adsorption-type parallel processing robot according to technical solution 5 is characterized in that: the moving pair is an active driving motion pair; the rotation pair 3 and the rotation pair 4 are selected as Hooke hinges.
  • Technical solution 7 The adsorption-type parallel processing robot according to one of technical solutions 1-3 and 5-6, characterized in that, the number of branch chains is three, that is, the first branch chain and the second branch chain are included. and the third branch.
  • Technical solution 8 The adsorption-type parallel processing robot according to one of technical solutions 1-3 and 5-6, wherein the adsorption module includes a plurality of fixed adsorption branches, and the plurality of fixed adsorption branches are fastened by bolts.
  • the firmware is connected to the fixed platform in the processing module.
  • the adsorption-type parallel processing robot according to technical solution 8 is characterized in that, the plurality of fixed adsorption branch chains have the same structure, and all include: a connecting bracket, a driving device, an omnidirectional wheel, and an adsorption device.
  • the connecting bracket is fixedly connected with the fixed platform, the driving device and the adsorption device are fixedly installed on the lower part of the connecting bracket, and the output shaft of the driving device is connected with the omnidirectional wheel.
  • Technical solution 10 The adsorption-type parallel processing robot according to technical solution 9, characterized in that, the adsorption method of the adsorption device is electromagnetic adsorption.
  • Technical solution 11 The adsorption type parallel processing robot according to technical solution 9, characterized in that, a negative pressure adsorption locking device or a friction adsorption locking device is also fixedly installed on the lower part of the connecting bracket.
  • Technical solution 12 The adsorption type parallel processing robot according to technical solution 11, wherein the negative pressure adsorption and locking device includes an electromagnetic latch, a rotating device, a vacuum suction cup, and a lifting device, wherein the rotating device is fixedly installed in the connection On the lower part of the bracket, a lifting device is connected to the rotating device, a vacuum suction cup is installed at the lower end of the lifting device, and an electromagnetic latch for restricting the rotation of the lifting device is also arranged on the connecting bracket.
  • the negative pressure adsorption and locking device includes an electromagnetic latch, a rotating device, a vacuum suction cup, and a lifting device, wherein the rotating device is fixedly installed in the connection On the lower part of the bracket, a lifting device is connected to the rotating device, a vacuum suction cup is installed at the lower end of the lifting device, and an electromagnetic latch for restricting the rotation of the lifting device is also arranged on the connecting bracket.
  • the adsorption type parallel processing robot according to technical solution 13 is characterized in that: the lower surface of the friction disc is provided with a high friction coefficient material, and the upper surface thereof is provided with a soft brush.
  • the adsorption-type parallel processing robot according to technical solution 8 is characterized in that, the number of fixed adsorption branches is three, that is, the first fixed adsorption branch, the second fixed adsorption branch, the first fixed adsorption branch, and the second fixed adsorption branch are included. Three fixed adsorption branches.
  • the adsorption-type parallel processing robot according to technical solution 11 is characterized in that, the negative-pressure adsorption-locking device and the friction-type adsorption-locking device both have two working modes: adsorption-fixing and chip cleaning.
  • Technical solution 17 The adsorption-type parallel processing robot according to one of technical solutions 1-3 and 5-6, characterized in that the number of branches is five, that is, the first branch, the second branch, the Three branches, fourth branch, fifth branch.
  • the adsorption-type parallel processing robot includes: a first connecting rod, a first driving motor, a first Hooke hinge inner ring, a first tiger The outer ring of the gram hinge, the first U-shaped piece, the first lower connecting piece and the motion pair; wherein, the upper part of the first connecting rod is provided with a first driving motor, and relative rotational movement and sliding movement can occur between the two; the first The drive motor is rotatably provided with a first Hooker hinge inner ring, the outer side of the first Hooker hinge inner ring is rotatably provided with a first Hooker hinge outer ring, and the first Hooker hinge outer ring is fixedly connected with the fixed platform; The bottom of the first connecting rod is fixedly connected with a first U-shaped piece, a first lower connecting piece is rotatably connected on the first U-shaped piece, and the first lower connecting piece is fixedly connected with the moving platform.
  • the adsorption-type parallel processing robot includes: a second connecting rod, a second driving motor, a second Hooker hinge inner ring, and a second Hooker hinge
  • the second driving motor A second Hook hinge inner ring is arranged in the upper rotation, the outer side of the second Hook hinge inner ring is rotated and provided with a second Hook hinge outer ring, and the second Hook hinge outer ring is fixedly connected with the fixed platform;
  • a second U-shaped piece is fixedly connected to the bottom of the two connecting rods, a second lower connecting piece is rotatably connected to the second U-shaped piece, and the second lower connecting piece is rotatably connected to the moving platform.
  • the present invention can realize fast switching between adsorption fixation and flexible movement, the robot is moved to the position to be processed on the workpiece by driving the omnidirectional wheel to move by the deceleration motor, and the robot is firmly fixed on the workpiece by the adsorption locking device at the position to be processed Then, through the multi-degree-of-freedom processing module carried by the robot, drilling, milling and other processing operations are performed on the workpiece. After the processing is completed, the cleaning function of the adsorption locking device is used to clean the remaining chips on the robot. The robot moves through the moving device in the adsorption module, and can reach the position to be processed by itself.
  • the adsorption locking device ensures good accuracy during processing, and the cleaning function of the device ensures the subsequent processing quality of the robot; the cleaning and locking functions of the adsorption locking device help to improve the processing quality of the processing module, and the number of mobile devices increases. the processing efficiency of the robot.
  • Embodiment 1 is a schematic diagram of the overall structure of a three-degree-of-freedom robot in Embodiment 1;
  • Embodiment 2 is a top view of a three-degree-of-freedom robot in Embodiment 1;
  • FIG. 3 is a schematic structural diagram of a processing module in Embodiment 1;
  • Fig. 4 is the structural representation of fixed adsorption branch chain in embodiment 1;
  • Example 5 is a schematic structural diagram of a negative pressure adsorption locking device in Example 1;
  • FIG. 6 is a schematic diagram of the adsorption state of the three-degree-of-freedom robot in Embodiment 1;
  • FIG. 7 is a schematic diagram of the cleaning state of the three-degree-of-freedom robot spindle in Embodiment 1;
  • Embodiment 8 is a schematic diagram of the cleaning state of the electromagnetic adsorption device of a three-degree-of-freedom robot in Embodiment 1;
  • Fig. 9 is the schematic diagram that the three-degree-of-freedom robot in the embodiment 1 processes the large-scale structural member
  • FIG. 10 is a schematic diagram of the overall structure of the three-degree-of-freedom robot in Embodiment 2;
  • Fig. 11 is the structural representation of immobilized adsorption branch chain in embodiment 2;
  • Example 12 is a schematic diagram of the adsorption state of the three-degree-of-freedom robot in Example 2;
  • FIG. 13 is a schematic diagram of the cleaning state of the three-degree-of-freedom robot in Embodiment 2.
  • FIG. 13 is a schematic diagram of the cleaning state of the three-degree-of-freedom robot in Embodiment 2.
  • FIG. 16 is a schematic structural diagram of a processing module in Embodiment 3.
  • Figure 17 is the structural representation of five branched chains in Example 3.
  • the adsorption-type parallel processing robot in the present invention includes: a processing module and an adsorption module, wherein the processing module is used for drilling and milling processing of large structural parts, and the adsorption module is used to drive the processing module to move , adsorption fixation and chip cleaning.
  • the processing module includes a fixed platform 11, a plurality of branch chains, a moving platform 15, and an actuator 16.
  • the plurality of branch chains are evenly arranged around and connected between the moving platform 15 and the fixed platform 11, and the actuator 16 is installed on the moving platform 15. on platform 15.
  • a plurality of branch chains are respectively connected with the fixed platform 11 and the moving platform 15 to form a spatial parallel closed-loop mechanism.
  • the spatial parallel closed-loop mechanism drives the moving platform 15 to move through a plurality of input motions to drive the actuator 16 to move.
  • the structures of the plurality of branch chains are the same, and all include: a connecting rod 101, a sliding block 102, a U-shaped piece 103, and a lower connecting piece 104.
  • the sliding block 102 is sleeved on the outer side of the connecting rod 101, and between the two Relative rotational movement and sliding movement can occur; the bottom of the connecting rod 101 is fixedly connected with a U-shaped piece 103, and the U-shaped piece 103 is rotatably connected with a lower connecting piece 104, wherein the slider 102 and the fixed
  • the platform 11 is rotatably connected, and the lower connecting piece 104 is rotatably connected with the moving platform 15 .
  • a rotating pair 1 is arranged between the slider 102 and the fixed platform 11
  • a moving pair and a rotating pair 2 are arranged between the slider 102 and the connecting rod 101
  • the U-shaped piece 103 is connected to the lower
  • a rotating pair 3 is arranged between the lower connecting piece 104 and a rotating pair 4 is arranged between the lower connecting piece 104 and the moving platform 15 .
  • the moving pair between the slider 102 and the connecting rod 101 is an active drive moving pair; Pair three and rotating pair four can be selected as Hoke hinges, and the branch chain is a space five-degree-of-freedom branch chain.
  • the number of branched chains is preferably three, that is, the first branched chain 12, the second branched chain 13 and the third branched chain mover 14 are included, and the moving platform 15 is driven to move by three input motions to achieve two rotational degrees of freedom and One degree of freedom of movement.
  • the series manipulator is limited by its own series structure, and its machining performance is poor, while the parallel mechanism has the advantages of compact structure, high rigidity, easy to achieve high-speed movement, etc., and is more suitable for machining.
  • the three-degree-of-freedom parallel mechanism has the required degrees of freedom for common machining, and its performance such as accuracy and stiffness can be more easily guaranteed, and the manufacturing cost and manufacturing difficulty are significantly reduced.
  • it is also feasible to set higher degrees of freedom for example, set four degrees of freedom, five degrees of freedom and so on.
  • the adsorption module includes a plurality of fixed adsorption branch chains, and the plurality of fixed adsorption branch chains are connected to the fixed platform 11 in the processing module through bolt fasteners.
  • a plurality of fixed adsorption branch chains have the same structure, including: a connecting bracket 201, a driving device 202, an omnidirectional wheel 203, an adsorption device 204, and a negative pressure adsorption locking device 205, wherein the connecting bracket 201 is fixed to the fixed platform 11.
  • the driving device 202 , the adsorption device 204 and the negative pressure adsorption locking device 205 are all fixedly installed on the lower part of the connecting bracket 201 , and the output shaft of the driving device 202 is connected with the omnidirectional wheel 203 .
  • the adsorption method of the adsorption device 204 is electromagnetic adsorption.
  • the negative pressure adsorption locking device 205 includes an electromagnetic latch 2051, a rotating device 2052, a vacuum suction cup 2053, and a lifting device 2054, wherein the rotating device 2052 is fixedly installed on the lower part of the connecting bracket 201, and the rotating device 2052 is connected with the lifting device 2054 and the lifting device 2054.
  • a vacuum suction cup 2053 is installed on the lower end of the connecting bracket 201 , and an electromagnetic latch 2051 for restricting the rotation of the lifting device 2054 is also arranged on the connecting bracket 201 .
  • the driving device 202 provides power for the omnidirectional wheel 203 through the self-locking reducer motor in the structure, and the adsorption method of the adsorption device 204 is electromagnetic adsorption.
  • 205 Fix the robot in the position to be processed by the vacuum suction cup 2053 to prevent the robot from rubbing during processing.
  • the negative pressure adsorption locking device 205 is attached with a rotating device 2052.
  • the rotating device 2052 is used to drive the vacuum suction cup 2053 to rotate. By changing the vacuum suction cup
  • the connected air circuit makes it spray compressed air to clean the remaining chips on the adsorption device and the main shaft.
  • the number of fixed adsorption branches is preferably three, that is, it includes a first fixed adsorption branch 21 , a second fixed adsorption branch 22 , and a third fixed adsorption branch 23 .
  • the actuator 16 in the processing module can perform drilling and milling processing on large structural parts, and by driving the active drive kinematic pair on the branch chain to change the connection rod 101 between the movable platform 15 and the fixed platform 11. Length, adjust the posture of the moving platform 15, and then adjust the posture of the end effector 16 to adapt to different processing conditions.
  • the robot is adsorbed on the surface of the workpiece to be processed by the adsorption device 204 on the adsorption module, and the size of the adsorption force between the adsorption module and the workpiece is changed by changing the strength of the current flowing into the adsorption device 204 .
  • the suction force is reduced by reducing the incoming current, and the driving device 202 drives the omnidirectional wheel 203 to make the robot move.
  • the robot stops moving, the reducer motor in the driving device 202 is in a self-locking state, and the omnidirectional wheel 203 stops moving.
  • the adsorption force, the working state is shown in Figure 6.
  • the adsorption parallel processing robot first cleans the chips on the spindle tool, that is, through the movement of the branch chain, the main shaft is lowered to a suitable height, the electromagnetic latch 2051 in each fixed adsorption branch chain is powered off, and the lifting device 2054 cancels the rotation limit.
  • the rotating device 2052 on the fixed adsorption chain drives the lifting device 2054 and the suction cup 2053 to rotate, the lifting device 2054 adjusts the position of the suction cup 2053 to ensure that the suction cup 2053 is in a proper cleaning position, and then changes the working position of the reversing valve in the air pressure circuit to make
  • the suction cups are all connected to the compressed air blowing circuit, and the three suction cups spray compressed air to clean the chips on the spindle tool.
  • the electromagnetic adsorption device is cleaned, and the robot cleans the electromagnetic adsorption device respectively.
  • the electromagnetic adsorption device is powered off to ensure that it can be cleaned, and the other electromagnetic adsorption devices increase the current to ensure that the robot can be stably adsorbed on the surface of the workpiece during the cleaning process, and then the electromagnetic adsorption device is powered off.
  • the rotating device 2052 in the fixed adsorption branch chain drives the lifting device 2054 and the suction cup 2053 to rotate.
  • the lifting device 2054 adjusts the position of the suction cup 2053 so that the suction cup is in a suitable cleaning position, and then changes the working position of the reversing valve in the air pressure circuit, so that the The suction cup is connected to the compressed air blowing circuit to clean the electromagnetic adsorption device.
  • the vacuum adsorption locking device in the fixed adsorption branch where the power-on electromagnetic adsorption device is located is always in a non-working state. In the same way, the remaining two electromagnetic adsorption devices are cleaned by means of alternating power off to complete the cleaning of the electromagnetic adsorption devices.
  • the electromagnetic adsorption device in the fixed adsorption branch chain 21 is powered off and does not work
  • the fixed adsorption branch chain 22, 23 increases the working current and enhances the adsorption force
  • the rotating device on the fixed adsorption branch chain 21 is at this time.
  • 2052 drives the lifting device 2054 and the suction cup 2053 to rotate, and the lifting device 2054 adjusts the position of the suction cup 2053 so that the suction cup is in a proper cleaning position.
  • Change the working position of the reversing valve in the air pressure circuit so that the suction cup in the fixed adsorption branch chain 21 is connected to the compressed air blowing circuit, and the electromagnetic adsorption device on the fixed adsorption branch chain 21 is cleaned.
  • the vacuum adsorption locking devices in the fixed adsorption branch chains 22 and 23 are always in a non-working state.
  • the fixed adsorption branches 21 and 23 are energized, 22 is powered off, and then the electromagnetic adsorption device on the fixed adsorption branch 22 is cleaned, and so on, and finally the cleaning work of all the electromagnetic adsorption devices is completed. shown in Figure 8.
  • the suction cup 2053 is raised to a position away from the surface of the workpiece by the lifting device 2054, so as to enhance the passing ability of the robot.
  • Embodiment 2 the difference between Embodiment 2 and Embodiment 1 is that in Embodiment 2, the adsorption locking device in each fixed adsorption branch in the adsorption module utilizes the principle of increasing frictional force For locking, that is, the locking device is a friction-type adsorption locking device 206 .
  • the friction-type adsorption locking device 206 includes: a lifting device 2061, a rotating device 2062, and a friction disc 2063.
  • the lifting device 2061 is fixedly installed at the lower part of the connecting bracket 201, and the lifting device 2061 is connected with a rotating device 2062.
  • the rotating device 2062 A friction disc 2063 is installed at the lower end of the .
  • the lower surface of the friction disc 2063 is provided with a high friction coefficient material, and the upper surface thereof is provided with a soft brush.
  • the friction-type adsorption locking device 206 has two working modes: enhancing the adsorption force and cleaning chips.
  • the lifting device 2061 lowers the friction disc 2063 to a position where the lower surface of the friction disc 2063 is in close contact with the workpiece surface, thereby increasing the friction coefficient between the adsorption module and the workpiece surface.
  • Example 2 Compared with Example 1, Example 2 increases the maximum tangential static friction force under the premise of applying the same adsorption force, and improves the anti-rubbing ability of the robot during processing. At this time, the working state of the robot is shown in Figure 12.
  • the robot cleans the chips remaining on the electromagnetic adsorption device.
  • the robot cleans the multiple electromagnetic adsorption devices in the multiple fixed adsorption branches respectively.
  • the electromagnetic adsorption device is powered off, and the other electromagnetic adsorption devices increase the incoming current to enhance the adsorption force to ensure The robot can be stably adsorbed on the surface of the workpiece during the cleaning process.
  • the lifting device 2061 in the fixed adsorption branch where the power-off electromagnetic adsorption device is located moves the friction disc 2063 to a suitable position where the upper surface of the friction disc 2063 and the lower surface of the electromagnetic adsorption device are in contact, and the rotating device 2062 drives the friction disc 2063 to rotate.
  • the soft bristle brush on the upper surface of the friction disc cleans up the iron filings.
  • the above working mode is exemplified, for example: the electromagnetic adsorption device in the fixed adsorption branch 21 does not work, and the fixed adsorption branch 22, 23 increases the working current and enhances the adsorption force.
  • the lifting device 2061 on the fixed adsorption branch 21 moves the friction disc 2063 to an appropriate position to ensure that the soft brush on the upper surface of the friction disc 2063 can be in proper contact with the lower surface of the electromagnetic adsorption device, and then rotate the device 2062 Drive the friction disc 2063 to rotate, and use the soft brush on the upper surface of the friction disc 2063 to clean the electromagnetic adsorption device.
  • the friction adsorption locking devices in the fixed adsorption branch chains 22 and 23 are always in a working state of enhancing the adsorption capacity.
  • the fixed adsorption branches 21 and 23 are energized, 22 is powered off, and then the electromagnetic adsorption device on the fixed adsorption branch 22 is cleaned, and so on, and finally the cleaning work of all the electromagnetic adsorption devices is completed. shown in Figure 13.
  • the friction plate 2063 is raised to a position away from the surface of the workpiece by the lifting device 2061, so as to enhance the passing ability of the robot.
  • Embodiment 3 As shown in FIGS. 14-17 , the difference between Embodiment 3 and Embodiment 1 or Embodiment 2 is that in Embodiment 3, a five-degree-of-freedom parallel robot with more degrees of freedom is used.
  • the five-degree-of-freedom parallel robot includes a fixed platform 11, a first branch 12, a second branch 13, a third branch 14, a fourth branch 17, a fifth branch 18, a moving platform 15, an actuator 16, and a first branch.
  • the fifth branch chain is connected between the fixed platform 11 and the moving platform 15 to form a space parallel closed-loop mechanism, and each branch chain contains an active driving kinematic pair.
  • the space parallel closed-loop mechanism drives the moving platform 15 to move through five input motions, thereby realizing three rotational degrees of freedom and two moving degrees of freedom.
  • the moving platform 15 is used for fixedly installing the actuator 16 .
  • the first branch 12 includes: a first connecting rod 121, a first driving motor 122, a first Hook hinge inner ring 123, a first Hook hinge outer ring 124, a first U-shaped piece 125, a first lower connection
  • the upper part of the first connecting rod 121 is provided with a first driving motor 122, and relative rotational movement and sliding movement can occur between the two;
  • the first driving motor 122 is rotatably provided with a first Hooke hinge
  • the inner ring 123, the outer side of the first Hook hinge inner ring 123 is rotatably provided with the first Hook hinge outer ring 124, and the first Hook hinge outer ring 124 is fixedly connected with the fixed platform 11;
  • the first connecting rod 121 A first U-shaped piece 125 is fixedly connected to the bottom of the base, and a first lower connecting piece 126 is rotatably connected to the first U-shaped piece 125 , and the first lower connecting piece 126 is fixedly connected to the moving platform 15 .
  • a rotating pair connected between the inner ring 123 of the first Hook hinge and the outer ring 124 of the first Hook hinge, and connected to the inner ring 123 of the first Hook hinge and the first drive
  • the rotating pair 2 between the motors 122 is connected to the moving pair 1 between the first driving motor 122 and the first connecting rod 121
  • the rotating pair 3 is connected between the first driving motor 122 and the first connecting rod 121 .
  • a rotating pair 4 between the first U-shaped piece 125 and the first lower connecting piece 126 .
  • the moving pair 1 connected between the first driving motor 122 and the first connecting rod 121 is driven; the rotating pair 1 and the rotating pair 2 can be replaced by a Hooke hinge; the first branch 12 has five degrees of freedom in space Branched.
  • the second branch chain 13 includes: a second connecting rod 131 , a second driving motor 132 , a second Hooker hinge inner ring 133 , a second Hooker hinge outer ring 134 , a second U-shaped piece 135 , and a second lower connecting piece 136 and a motion pair, wherein a second driving motor 132 is arranged on the upper part of the second connecting rod 131, and relative rotational movement and sliding movement can occur between the two; 133, the outer side of the second Hook hinge inner ring 133 is rotatably provided with a second Hook hinge outer ring 134, and the second Hook hinge outer ring 134 is fixedly connected with the fixed platform 11; the bottom of the second connecting rod 131 A second U-shaped piece 135 is fixedly connected, a second lower connecting piece 136 is rotatably connected to the second U-shaped piece 135 , and the second lower connecting piece 136 is rotatably connected with the moving platform 15 .
  • rotating pair five which is connected between the inner ring 133 of the second Hook hinge and the outer ring 134 of the second Hook hinge, and is connected to the inner ring 133 of the second Hook hinge and the second driving motor.
  • the rotating pair 8 between the second U-shaped piece 135 and the second lower connecting piece 136 is connected to the rotating pair 9 between the second lower connecting piece 136 and the moving platform 15 .
  • the moving pair 2 connected between the second driving motor 132 and the second connecting rod 131 is driven;
  • the rotating pair 5 and the rotating pair 6 can be replaced by a Hooke hinge;
  • the rotating pair 8 and the rotating pair 9 can be replaced by a tiger joint
  • the gram hinge is replaced;
  • the second branch is a space six-degree-of-freedom branch.
  • the second branch, the third branch, the fourth branch, and the fifth branch have the same structure.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种吸附式并联加工机器人，包括加工模块和吸附模块；加工模块包括定平台（11）、动平台（15）、多个支链（12，13，14，17，18）和执行器（16），通过多个支链（12，13，14，17，18）的直线运动，以实现多自由度的运动；吸附模块包括多条固定吸附支链（21，22，23），每条吸附支链（21，22，23）包括连接支架（201）、吸附装置（204）、吸附锁定装置（205，206）、全向轮（203）和驱动装置（202），用于实现机器人在工件表面的吸附与移动。除锁定功能以外，吸附锁定装置（205，206）附加有清理功能，能够实现对机器人上残存切屑的清理。具有局部姿态调整灵活、加工效率高、加工范围广、拆装方便、便携性好、能耗低等优点，可满足对大型构件移动加工的需求。

Description

一种吸附式并联加工机器人 技术领域
本发明属于大型工件加工机器人技术领域，具体涉及一种吸附式并联加工机器人。
背景技术
随着航空航天、能源等重点技术领域重大工程项目的逐步实施，大型结构件逐渐成为其中的关键核心部件，且需求量巨大。采用传统加工方式，利用大型专用机床对工件进行包容式加工，存在着工件运输定位困难、大型机床制造困难、加工设备维护成本高、加工能耗高等诸多不足。
基于移动加工概念的吸附式加工机器人是解决上述问题的一种新方法，其通过加工机器人吸附在大型工件的待加工位置完成对大型构件的加工。但，现有吸附式加工机器人具有以下缺陷：(1)现有的固定吸附式加工机器人需人工将机器人定位于待加工位置进行吸附，当大型构件的待加工表面较多或固定位置较高时，人工安放不仅效率低且存在安全隐患；(2)现有的移动吸附式加工机器人缺少锁定装置，仅靠自身吸附力抵抗加工产生的作用力，对于焊接、除锈、喷漆这类加工任务，其自身吸附力尚且足够；但在进行钻孔、铣削加工时，若不增加锁定装置，在加工时机器人会产生搓动亦或是较大的移动，严重影响加工精度与质量；(3)吸附式加工机器人加工时产生的切屑对加工质量存在诸多影响，残存于吸附装置中的切屑影响下次吸附效果，导致吸附不牢靠，影响后续加工精度；缠绕在刀具上的切屑对后续加工的表面质量有较大影响；残存于锁定装置的切屑不仅影响吸附锁定效果，且容易划伤工件表面。
发明内容
基于上述背景，本发明提出一种具有清理功能的可移动吸附式并联加工机 器人，机器人具有吸附锁定装置，加工模块采用多自由度并联机构，该机器人各功能配合工作使其具有更好地精度、更广阔的使用范围与更高的加工效率。
本发明的技术解决措施如下：
技术方案1：一种吸附式并联加工机器人，其特征在于，包括：
加工模块，所述加工模块包括定平台、动平台、多个支链和执行器，多个支链环绕设置且连接在所述动平台和定平台之间，执行器安装在动平台上；
吸附模块，所述吸附模块包括多条结构相同的固定吸附支链，用以实现机器人在工件表面的吸附固定、移动、切屑清理。
技术方案2：根据技术方案1所述的吸附式并联加工机器人，其特征在于，其中：所述执行器包括主轴头以及设置在主轴头下部的加工装置。
技术方案3：根据技术方案2所述的吸附式并联加工机器人，其特征在于，其中：所述加工装置包括抛光装置、打磨装置、增材制造装置、焊接装置中的一种或几种。
技术方案4、根据技术方案1或2或3所述的吸附式并联加工机器人，其特征在于，其中：支链数量为三个，三个支链结构相同，包括：连接杆、滑块、U型件、下连接件，所述滑块套设在所述连接杆外侧，两者之间可发生相对转动运动与滑动运动；所述连接杆的底部固定连接有U型件，所述U型件上转动连接有下连接件，其中，所述滑块与所述定平台转动连接，所述下连接件与所述动平台间转动连接。
技术方案5、根据技术方案4所述的吸附式并联加工机器人，其特征在于，其中：所述滑块和定平台之间设置有转动副一，所述滑块与连接杆之间设置有移动副和转动副二，所述U型件和下连接件之间设置有转动副三，所述下连接件和动平台之间设置有转动副四。
技术方案6、根据技术方案5所述的吸附式并联加工机器人，其特征在于，其中：移动副为主动驱动运动副；转动副三、转动副四选取为虎克铰。
技术方案7、根据技术方案1-3、5-6之一所述的吸附式并联加工机器人，其特征在于，其中：支链的数量为三个，即包括第一支链、第二支链和第三支链。
技术方案8、根据技术方案1-3、5-6之一所述的吸附式并联加工机器人，其特征在于，其中：吸附模块包括多条固定吸附支链，多条固定吸附支链通过螺栓紧固件与加工模块中的定平台相连。
技术方案9、根据技术方案8所述的吸附式并联加工机器人，其特征在于，其中：多条固定吸附支链结构相同，均包括：连接支架、驱动装置、全向轮、吸附装置，所述连接支架与定平台固定连接，驱动装置、吸附装置均固定安装在连接支架的下部，驱动装置的输出轴与全向轮连接。
技术方案10、根据技术方案9所述的吸附式并联加工机器人，其特征在于，其中：吸附装置的吸附方式为电磁吸附。
技术方案11、根据技术方案9所述的吸附式并联加工机器人，其特征在于，其中：所述连接支架的下部还固定安装有负压式吸附锁定装置或摩擦式吸附锁定装置。
技术方案12、根据技术方案11所述的吸附式并联加工机器人，其特征在于，其中：负压式吸附锁定装置包括电磁插销、转动装置、真空吸盘、升降装置，其中，转动装置固定安装在连接支架下部，转动装置上连接有升降装置，升降装置的下端安装有真空吸盘，连接支架上还设置有限制升降装置转动的电磁插销。
技术方案13、根据技术方案11所述的吸附式并联加工机器人，其特征在 于，其中：摩擦式吸附锁定装置包括：升降装置、转动装置、摩擦盘，升降装置固定安装在连接支架下部，升降装置上连接有转动装置，转动装置的下端安装有摩擦盘。
技术方案14、根据技术方案13所述的吸附式并联加工机器人，其特征在于，其中：摩擦盘的下表面装有高摩擦系数材料，其上表面安装有软毛刷。
技术方案15、根据技术方案8所述的吸附式并联加工机器人，其特征在于，其中：固定吸附支链的数量为三个，即包括第一固定吸附支链、第二固定吸附支链、第三固定吸附支链。
技术方案16、根据技术方案11所述的吸附式并联加工机器人，其特征在于，其中：负压式吸附锁定装置、摩擦式吸附锁定装置均具有吸附固定与清理切屑两种工作模式。
技术方案17、根据技术方案1-3、5-6之一所述的吸附式并联加工机器人，其特征在于，支链的数量为五个，即包括第一支链、第二支链、第三支链、第四支链、第五支链。
技术方案18、根据技术方案17所述的吸附式并联加工机器人，其特征在于，其中，第一支链包括：第一连接杆、第一驱动电机、第一虎克铰内圈、第一虎克铰外圈、第一U型件、第一下连接件以及运动副；其中，第一连接杆的上部设置有第一驱动电机，两者之间可发生相对转动运动与滑动运动；第一驱动电机转动设置有第一虎克铰内圈，所述第一虎克铰内圈的外侧转动设置有第一虎克铰外圈，第一虎克铰外圈与定平台之间固定连接；第一连接杆的底部固定连接有第一U型件，第一U型件上转动连接有第一下连接件，所述第一下连接件与动平台之间固定连接。
技术方案19、根据技术方案17所述的吸附式并联加工机器人，其特征在于， 第二支链包括：第二连接杆、第二驱动电机、第二虎克铰内圈、第二虎克铰外圈、第二U型件、第二下连接件以及运动副，其中，第二连接杆的上部设置有第二驱动电机，两者之间可发生相对转动运动与滑动运动；第二驱动电机上转动设置有第二虎克铰内圈，所述第二虎克铰内圈的外侧转动设置有第二虎克铰外圈，第二虎克铰外圈与定平台之间固定连接；第二连接杆的底部固定连接有第二U型件，第二U型件上转动连接有第二下连接件，所述第二下连接件与动平台之间转动连接。
技术方案20、根据技术方案17所述的吸附式并联加工机器人，其特征在于，第二支链、第三支链、第四支链、第五支链结构相同。
有益效果：本发明能够实现吸附固定和灵活移动的快速切换，通过减速电机驱动全向轮移动使机器人运动到工件上的待加工位置，在待加工位置利用吸附锁定装置将机器人牢固的固定在工件表面，进而通过机器人所携带的多自由度加工模块对工件进行钻孔、铣削等加工操作，加工完成后使用吸附锁定装置的清理功能对机器人上残留的切屑进行清理。该机器人通过吸附模块中的移动装置进行移动，能够自行到达待加工位置，加工完成后可以自行返回或移动到下一加工位置，节省了安装吸附式加工设备等步骤，提高生产效率；机器人具有的吸附锁定装置保证了其在加工时具有良好的精度，同时该装置具有的清理功能保证了机器人后续的加工质量；吸附锁定装置的清理和锁定功能有助于提升加工模块的加工质量，移动装置增加了机器人的加工作业效率。
附图说明
图1为实施例1中三自由度机器人的整体结构示意图；
图2为实施例1中三自由度机器人的俯视图；
图3为实施例1中加工模块的结构示意图；
图4为实施例1中固定吸附支链的结构示意图；
图5为实施例1中负压式吸附锁定装置的结构示意图；
图6为实施例1中三自由度机器人吸附状态示意图；
图7为实施例1中三自由度机器人主轴清理状态示意图；
图8为实施例1中三自由度机器人电磁吸附装置清理状态示意图；
图9为实施例1中三自由度机器人对大型结构件进行加工的示意图；
图10为实施例2中三自由度机器人的整体结构示意图；
图11为实施例2中固定吸附支链的结构示意图；
图12为实施例2中三自由度机器人吸附状态示意图；
图13为实施例2中三自由度机器人清理状态示意图。
图14为实施例3中五自由度工机器人的整体结构示意图；
图15为实施例3中五自由度机器人的俯视图；
图16为实施例3中加工模块的结构示意图；
图17为实施例3中五个支链的结构示意图；
附图标记说明：定平台11、第一支链12、第二支链13、第三支链14、第四支链17、第五支链18、动平台15、执行器16、连接杆101、滑块102、U型件103、下连接件104、第一条固定吸附支链21、第二条固定吸附支链22、第三条固定吸附支链23、连接支架201、驱动装置202、全向轮203、吸附装置204、负压式吸附锁定装置205、电磁插销2051、转动装置2052、真空吸盘2053、升降装置2054、第一连接杆121、第一驱动电机122、第一虎克铰内圈123、第一虎克铰外圈124、第一U型件125、第一下连接件126、第二连接杆131、第二驱动电机132、第二虎克铰内圈133、第二虎克铰外圈134、第二U型件135、第二下连接件136。
具体实施方式
为了使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做出详细的说明。
实施例1：
如图1-9所示，本发明中的吸附式并联加工机器人包括：加工模块和吸附模块，其中，加工模块用以对大型结构件进行钻孔、铣削加工，吸附模块用以带动加工模块移动、吸附固定以及切屑清理。
所述加工模块包括定平台11、多个支链、动平台15、执行器16，多个支链均匀环绕设置且连接在所述动平台15和定平台11之间，执行器16安装在动平台15上。
多个支链分别与定平台11以及动平台15连接，共同形成一个空间并联闭环机构，该空间并联闭环机构通过多个输入运动驱动动平台15运动，以带动执行器16运动。
其中，多个支链的结构相同，均包括：连接杆101、滑块102、U型件103、下连接件104，所述滑块102套设在所述连接杆101外侧，两者之间可发生相对转动运动与滑动运动；所述连接杆101的底部固定连接有U型件103，所述U型件103上转动连接有下连接件104，其中，所述滑块102与所述定平台11转动连接，所述下连接件104与所述动平台15间转动连接。
其中，所述滑块102和所述定平台11之间设置有转动副一，所述滑块102与连接杆101之间设置有移动副和转动副二，所述U型件103和下连接件104之间设置有转动副三，所述下连接件104和动平台15之间设置有转动副四。
进一步，所述滑块102与连杆101之间的移动副为主动驱动运动副；连接于U型件103和下连接件104之间以及连接于下连接件104和动平台15之间 的转动副三、转动副四可选取为虎克铰，该支链为空间五自由度支链。
进一步，支链的数量优选为三个，即包括第一支链12、第二支链13和第三支链动14，通过三个输入运动驱动动平台15运动，实现两个转动自由度与一个移动自由度。
串联机械臂受自身串联结构限制，其机械加工性能较差，而并联机构具有结构紧凑、刚度高、易于实现高速运动等优点，更适用于机械加工。相比于更高自由度的并联机构，三自由度并联机构在具备常用机械加工所需自由度的同时，其精度、刚度等性能更容易得到保证，且制造成本与制造难度显著降低，当然，根据实际加工需要，设置更高自由度也是可行的，例如，设置四自由度、五自由度等。
吸附模块包括多条固定吸附支链，多条固定吸附支链通过螺栓紧固件与加工模块中的定平台11相连。
多条固定吸附支链的结构相同，均包括：连接支架201、驱动装置202、全向轮203、吸附装置204、负压式吸附锁定装置205，其中，所述连接支架201与定平台11固定连接，驱动装置202、吸附装置204和负压式吸附锁定装置205均固定安装在连接支架201的下部，驱动装置202的输出轴与全向轮203连接。
进一步，吸附装置204的吸附方式为电磁吸附。
负压式吸附锁定装置205包括电磁插销2051、转动装置2052、真空吸盘2053、升降装置2054，其中，转动装置2052固定安装在连接支架201下部，转动装置2052上连接有升降装置2054，升降装置2054的下端安装有真空吸盘2053，连接支架201上还设置有限制升降装置2054转动的电磁插销2051。
驱动装置202通过结构内的可自锁减速器电机为全向轮203提供动力，吸附装置204的吸附方式为电磁吸附，通过通电电流的大小控制能够控制吸附力 的大小，负压式吸附锁定装置205通过真空吸盘2053将机器人固定于待加工位置，避免机器人在加工时产生搓动，负压式吸附锁定装置205中附带有转动装置2052，利用转动装置2052带动真空吸盘2053转动，通过改变真空吸盘所接通气路，使其喷出压缩空气，实现对吸附装置与主轴上残存切屑的清理。
进一步，固定吸附支链的数量优选为三个，即包括第一固定吸附支链21、第二固定吸附支链22、第三固定吸附支链23。
通过上述设置，加工模块中的执行器16可以对大型结构件进行钻孔、铣削加工，而通过驱动支链上的主动驱动运动副来改变连接杆101在动平台15与定平台11之间的长度，调整动平台15姿态，进而调整末端执行器16的姿态，以适应不同的加工情况。通过吸附模块上的吸附装置204将机器人吸附在待加工工件表面，通过改变通入吸附装置204电流的强弱改变吸附模块与工件间吸附力的大小。当机器人在工件表面吸附移动时，通过减小通入电流来减小吸附力，驱动装置202带动全向轮203使机器人移动。当机器人到达到工件待加工位置时机器人停止运动，驱动装置202中的减速器电机处于自锁状态，全向轮203停止运动，此时通过增大电流来增大吸附力，为机械加工提供足够的吸附力，工作状态如图6所示。当机器人移动到工件待加工位置进行吸附后，各固定吸附支链中的电磁插销2051通电，将升降装置2054固定，防止其发生转动，通过升降装置2054使吸盘2053下降到吸盘2053表面与工件表面紧密接触的位置，改变气压回路中换向阀的工作位置，使吸盘接通真空气压回路，吸盘2053内形成负压，进而使吸盘2053吸附在工件表面，增强机器人的吸附能力，提高了机器人加工时的稳定性。
加工完成后，吸附式并联加工机器人首先对主轴刀具上的切屑进行清理，即通过支链运动，主轴下降到合适高度，各固定吸附支链中的电磁插销2051断 电，升降装置2054取消转动限制，固定吸附支链上的转动装置2052带动升降装置2054与吸盘2053转动，升降装置2054调整吸盘2053位置，保证吸盘2053处于合适的清理位置姿态，然后改变气压回路中换向阀的工作位置，使吸盘全部接通压缩空气吹气回路，三个吸盘喷出压缩空气对主轴刀具上的切屑进行清理。
随后进行电磁吸附装置的清理，机器人对电磁吸附装置分别进行清理。在清理某个电磁吸附装置时，该电磁吸附装置断电以确保能够清理干净，其余电磁吸附装置增大通入电流，以保证机器人在清理过程中能够稳定吸附在工件表面，随后断电电磁吸附装置所在固定吸附支链中的转动装置2052带动升降装置2054与吸盘2053转动，升降装置2054调整吸盘2053位置，使吸盘位于合适的清理位置姿态，然后改变气压回路中换向阀的工作位置，使该吸盘接通压缩空气吹气回路，对电磁吸附装置进行清理。在清理断电电磁吸附装置的整个过程中，通电电磁吸附装置所在固定吸附支链中的真空吸附锁定装置始终处于不工作状态。同理通过轮流断电的方式对余下的两个电磁吸附装置进行清理，完成对电磁吸附装置的清理工作。
对上述工作方式举例说明，例如：固定吸附支链21中电磁吸附装置断电不工作，固定吸附支链22、23增大工作电流，增强吸附力，此时固定吸附支链21上的转动装置2052带动升降装置2054与吸盘2053转动，升降装置2054调整吸盘2053位置，使吸盘位于合适的清理位置姿态。改变气压回路中换向阀的工作位置，使固定吸附支链21中的吸盘接通压缩空气吹气回路，对固定吸附支链21上的电磁吸附装置进行清理。在整个固定吸附支链21的清理过程中，固定吸附支链22、23中的真空吸附锁定装置始终处于不工作状态。清理完成后，固定吸附支链21、23通电，22断电，再对固定吸附支链22上的电磁吸附装置进行 清理，以此类推，最终完成全部电磁吸附装置的清理工作，其工作状态如图8所示。
当机器人要进行移动时，通过升降装置2054使吸盘2053上升至远离工件表面的位置，增强机器人的通过能力。
实施例2：
如图10-13所示，实施例2与实施例1相比其不同之处在于：在实施例2中，吸附模块中的各固定吸附支链中的吸附锁定装置利用增大摩擦力的原理进行锁定，即锁定装置为摩擦式吸附锁定装置206。
如图11所示，摩擦式吸附锁定装置206包括：升降装置2061、转动装置2062、摩擦盘2063，升降装置2061固定安装在连接支架201下部，升降装置2061上连接有转动装置2062，转动装置2062的下端安装有摩擦盘2063。
摩擦盘2063的下表面装有高摩擦系数材料，其上表面安装有软毛刷。
所述摩擦式吸附锁定装置206具有增强吸附力与清理切屑两种工作模式。
当机器人移动到工件待加工位置进行吸附后，通过升降装置2061使摩擦盘2063下降到摩擦盘2063下表面与工件表面紧密接触的位置，进而增大吸附模块与工件表面的摩擦系数。
与实施例1相比，在施加相同吸附力的前提下实施例2增大了切向最大静摩擦力，提高了机器人在加工时的抗搓动能力，此时机器人工作状态如图12所示。
加工完成后，机器人对电磁吸附装置上残留的切屑进行清理。机器人对多条固定吸附支链中的多个电磁吸附装置分别进行清理，在清理某个电磁吸附装置时，该电磁吸附装置断电，其余电磁吸附装置增大通入电流，增强吸附力，以保证机器人在清理过程中能够稳定的吸附在工件表面。随后断电的电磁吸附 装置所在固定吸附支链中的升降装置2061将摩擦盘2063移动到摩擦盘2063上表面与电磁吸附装置下表面相接触的合适位置，转动装置2062带动摩擦盘2063转动，通过摩擦盘上表面的软毛刷将铁屑清理干净。在清理断电固定支链的整个过程中，通电固定吸附支链中的摩擦吸附锁定装置始终处于增强吸附能力的工作状态。同理通过轮流断电的方式对余下电磁吸附装置进行清理，最终完成对全部电磁吸附装置的清理工作。
对上述工作方式举例说明，例如：固定吸附支链21中电磁吸附装置不工作，固定吸附支链22、23增大工作电流，增强吸附力。此时固定吸附支链21上的升降装置2061将摩擦盘2063移动到合适的位置，保证摩擦盘2063上表面的软毛刷能够与电磁吸附装置的下表面处于合适的接触状态，随后转动装置2062带动摩擦盘2063转动，利用摩擦盘2063上表面的软毛刷对电磁吸附装置进行清理。在清理固定支链21的整个过程中，固定吸附支链22、23中的摩擦吸附锁定装置始终处于增强吸附能力的工作状态。清理完成后，固定吸附支链21、23通电，22断电，再对固定吸附支链22上的电磁吸附装置进行清理，以此类推，最终完成全部电磁吸附装置的清理工作，其工作状态如图13所示。
当机器人要进行移动时，通过升降装置2061使摩擦盘2063上升至远离工件表面的位置，增强机器人的通过能力。
实施例3：
如图14-17所示，实施例3与实施例1或实施例2相比其不同之处在于：在实施例3中，采用更多自由度的五自由度并联机器人。
五自由度并联机器人包括定平台11、第一支链12、第二支链13、第三支链14、第四支链17、第五支链18、动平台15、执行器16，第一至第五支链连接在所述定平台11和动平台15之间，共同形成一个空间并联闭环机构，各支链 均含有一个主动驱动运动副。该空间并联闭环机构通过五个输入运动驱动动平台15运动，实现三个转动自由度与两个移动自由度。所述动平台15用于固定安装执行器16。
其中，第一支链12包括：第一连接杆121、第一驱动电机122、第一虎克铰内圈123、第一虎克铰外圈124、第一U型件125、第一下连接件126以及运动副；其中，第一连接杆121的上部设置有第一驱动电机122，两者之间可发生相对转动运动与滑动运动；第一驱动电机122上转动设置有第一虎克铰内圈123，所述第一虎克铰内圈123的外侧转动设置有第一虎克铰外圈124，第一虎克铰外圈124与定平台11之间固定连接；第一连接杆121的底部固定连接有第一U型件125，第一U型件125上转动连接有第一下连接件126，所述第一下连接件126与动平台15之间固定连接。
所述运动副共有五个，即：连接于第一虎克铰内圈123与第一虎克铰外圈124之间的转动副一，连接于第一虎克铰内圈123与第一驱动电机122之间的转动副二，连接于第一驱动电机122与第一连接杆121之间的移动副一，连接于第一驱动电机122与第一连接杆121之间的转动副三，连接于第一U型件125与第一下连接件126之间的转动副四。
其中，连接于第一驱动电机122与第一连接杆121之间的移动副一是被驱动的；转动副一和转动副二可由一个虎克铰代替；第一支链12为空间五自由度支链。
第二支链13包括：第二连接杆131、第二驱动电机132、第二虎克铰内圈133、第二虎克铰外圈134、第二U型件135、第二下连接件136以及运动副，其中，第二连接杆131的上部设置有第二驱动电机132，两者之间可发生相对转动运动与滑动运动；第二驱动电机132上转动设置有第二虎克铰内圈133，所述 第二虎克铰内圈133的外侧转动设置有第二虎克铰外圈134，第二虎克铰外圈134与定平台11之间固定连接；第二连接杆131的底部固定连接有第二U型件135，第二U型件135上转动连接有第二下连接件136，所述第二下连接件136与动平台15之间转动连接。
所述运动副共有六个，即连接于第二虎克铰内圈133与第二虎克铰外圈134之间的转动副五，连接于第二虎克铰内圈133与第二驱动电机132之间的转动副六，连接于第二驱动电机132与第二连接杆131之间的移动副二，连接于第二驱动电机132与第二连接杆131之间的转动副七，连接于第二U型件135与第二下连接件136之间的转动副八，连接于第二下连接件136与动平台15之间的转动副九。
其中，连接于第二驱动电机132与第二连接杆131之间的移动副二是被驱动的；转动副五和转动副六可由一个虎克铰代替；转动副八和转动副九可由一个虎克铰代替；第二支链为空间六自由度支链。
第二支链、第三支链、第四支链、第五支链结构相同。
所述实施例用以例示性说明本发明，而非用于限制本发明。任何本领域技术人员均可在不违背本发明的精神及范畴下，对所述实施例进行修改，因此本发明的权利保护范围，应如本发明的权利要求所列。

Claims (10)

  1. 一种吸附式并联加工机器人，其特征在于，包括：
    加工模块，所述加工模块包括定平台、动平台、多个支链和执行器，多个支链环绕设置且连接在所述动平台和定平台之间，执行器安装在动平台上；
    吸附模块，所述吸附模块包括多条结构相同的固定吸附支链，用以实现机器人在工件表面的吸附固定、移动、切屑清理。
  2. 根据权利要求1所述的吸附式并联加工机器人，其特征在于，其中：所述执行器包括主轴头以及设置在主轴头下部的加工装置。
  3. 根据权利要求2所述的吸附式并联加工机器人，其特征在于，其中：所述加工装置包括抛光装置、打磨装置、增材制造装置、焊接装置中的一种或几种。
  4. 根据权利要求1或2或3所述的吸附式并联加工机器人，其特征在于，其中：吸附模块包括多条固定吸附支链，多条固定吸附支链通过螺栓紧固件与加工模块中的定平台相连。
  5. 根据权利要求4所述的吸附式并联加工机器人，其特征在于，其中：多条固定吸附支链结构相同，均包括：连接支架、驱动装置、全向轮、吸附装置，所述连接支架与定平台固定连接，驱动装置、吸附装置均固定安装在连接支架的下部，驱动装置的输出轴与全向轮连接。
  6. 根据权利要求5所述的吸附式并联加工机器人，其特征在于，其中：吸附装置的吸附方式为电磁吸附。
  7. 根据权利要求5所述的吸附式并联加工机器人，其特征在于，其中：所述连接支架的下部还固定安装有负压式吸附锁定装置或摩擦式吸附锁定装置。
  8. 根据权利要求7所述的吸附式并联加工机器人，其特征在于，其中：负压式吸附锁定装置包括电磁插销、转动装置、真空吸盘、升降装置，其中，转动装置固定安装在连接支架下部，转动装置上连接有升降装置，升降装置的下端 安装有真空吸盘，连接支架上还设置有限制升降装置转动的电磁插销。
  9. 根据权利要求7所述的吸附式并联加工机器人，其特征在于，其中：摩擦式吸附锁定装置包括：升降装置、转动装置、摩擦盘，升降装置固定安装在连接支架下部，升降装置上连接有转动装置，转动装置的下端安装有摩擦盘；摩擦盘的下表面装有高摩擦系数材料，其上表面安装有软毛刷。
  10. 根据权利要求1或2或3所述的吸附式并联加工机器人，其特征在于，其中：机器人为三自由度并联机器人或五自由度并联机器人。
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