WO2023226439A1

WO2023226439A1 - Movable machining robotic device for large bending plate

Info

Publication number: WO2023226439A1
Application number: PCT/CN2022/144332
Authority: WO
Inventors: 刘辛军; 解增辉; 谢福贵
Original assignee: 清华大学
Priority date: 2022-05-27
Filing date: 2022-12-30
Publication date: 2023-11-30
Also published as: CN114918939B; CN114918939A

Abstract

A movable machining robotic device for a large bending plate, the device comprising a bending plate fixing tool (100), an omnidirectional moving platform (200), a two-degree-of-freedom positioning assembly (300), a vertical moving platform (400), a machining parallel positioning device (500), and a machining device (600).

Description

Large bending plate mobile processing robot device

Cross-references to related applications

This application is filed based on the Chinese patent application with application number 202210592336.6 and the filing date is May 27, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this application as a reference.

Technical field

This application relates to the technical field of processing large spacecraft parts, and specifically to a large-scale bending plate mobile processing robot device.

Background technique

High-end manufacturing represented by aviation and aerospace embodies the core competitiveness and major needs of national science and technology. Large-scale bent plates are core components of launch vehicles, spacecraft cabins and other equipment. Such parts have the characteristics of large size, weak rigidity, and complex processing features. In terms of operation complexity, quality consistency, processing efficiency and accuracy, etc. This aspect poses severe challenges to the performance of basic processing equipment.

In related technologies, large-scale bending plates are processed using large-scale special-purpose machine tools. Resource conflicts occur from time to time, which seriously affects the development progress of model tasks. In addition, large-scale special-purpose machine tools are limited by various high-precision components, have poor processing flexibility, and take up space. Larger and less adaptable to the work space and environment.

Contents of the invention

This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a large-scale bending plate mobile processing robot device. The large-scale bending plate mobile processing robot device has the advantages of strong adaptability, high operating flexibility, and high processing accuracy.

In order to achieve the above purpose, according to an embodiment of the present application, a large-scale bending plate mobile processing robot device is proposed. The large-scale bending plate mobile processing robot device includes: a bending plate fixing tooling, and the bending plate fixing tooling is suitable for fixing the to-be- Processing parts; an omnidirectional moving platform; a two-degree-of-freedom positioning component, the two-degree-of-freedom positioning component is movably installed on the omni-directional moving platform, and a vertical track is provided on the two-degree-of-freedom positioning component; vertical A moving platform, the vertical moving platform is slidably provided on the vertical track; a processing parallel positioning device, the processing parallel positioning device is installed on the vertical moving platform; a processing device, the processing device is installed On the processing parallel positioning device.

The large-scale bending plate mobile processing robot device according to the embodiment of the present application has the advantages of strong adaptability, high operating flexibility, and high processing accuracy.

In addition, the large-scale bending plate mobile processing robot device according to the above embodiments of the present application may also have the following additional technical features:

According to an embodiment of the present application, the two-degree-of-freedom positioning assembly includes a rotating platform and a radially moving platform. The rotating platform is rotatably mounted on the omnidirectional moving platform along a vertically oriented rotation axis, so The rotating platform is provided with a radial track oriented along the length direction of the rotating platform, the radially moving platform is slidably provided on the radial track, and the vertical track is provided on the radial moving platform. On the platform, the omnidirectional moving platform is provided with an arc-shaped guide rail, and the rotating platform is slidably matched with the arc-shaped guide rail.

According to one embodiment of the present application, the two-degree-of-freedom positioning assembly includes a rotating platform and a radially moving platform, and the omnidirectional moving platform is provided with a radial track oriented along the length direction of the omnidirectional moving platform, so The radially moving platform is slidably disposed on the radial track, the rotating platform is rotatably mounted on the radially moving platform along a rotation axis oriented in the vertical direction, and the vertical track is disposed on the radial track. on the rotating platform.

According to one embodiment of the present application, the two-degree-of-freedom positioning assembly includes a chordal moving platform and a radial moving platform, and the omnidirectional moving platform is provided with a chordal track oriented along the width direction of the omnidirectional moving platform. , the chordwise moving platform is slidably disposed on the chordwise track, the chordwise moving platform is provided with a radial track oriented along the length direction of the omnidirectional moving platform, the radially moving platform The vertical track is slidably provided on the radial track, and the vertical track is provided on the radial moving platform.

According to an embodiment of the present application, the large-scale bending plate mobile processing robot device further includes a vertical driving device for driving the vertical moving platform.

According to an embodiment of the present application, the vertical driving device includes a vertical feed screw and a vertical feed motor, and the vertical feed motor is installed on the two-degree-of-freedom positioning assembly. The feed screw is drivingly connected to the vertical feed motor, and the vertical feed screw is threadedly matched with the nut of the vertical moving platform.

According to an embodiment of the present application, the large-scale bending plate mobile processing robot device also includes a rotational driving device for driving the rotating platform, and the driving device is one or two and is located on both sides of the rotating platform. Arranged symmetrically, the rotation drive device is connected to the rotation platform through a first rotation drive hinge and is connected to the radial moving platform or the omnidirectional moving platform through a second rotation drive hinge. The first rotation drive hinge It is a single rotating auxiliary hinge, a double rotating auxiliary hinge or a ball hinge. The second rotating driving hinge is a single rotating auxiliary hinge, a double rotating auxiliary hinge or a ball hinge. The rotating driving device includes a rotating feed screw and a rotating feed screw. Motor, the rotary feed screw is drivingly connected to the rotary feed motor, and the rotary feed screw is threaded with the nut of the rotary platform; or the rotary drive device includes a rotary electric cylinder and a rotary telescopic rod. and a rotary telescopic motor, the rotary telescopic rod is movably arranged in the rotary electric cylinder along the axial direction, the rotary telescopic motor is provided on the rotary electric cylinder and is drivingly connected to the rotary telescopic rod, the The rotating telescopic rod is connected to the rotating platform; or the rotating driving device includes a connecting rod driving motor, a connecting rod driving screw, a connecting rod driving slider, a first connecting rod, a second connecting rod, a third connecting rod and a third connecting rod. Four connecting rods, the connecting rod driving screw is drivingly connected to the connecting rod driving motor, the connecting rod driving slider is threadedly matched with the connecting rod driving screw, and the center of the first connecting rod is connected to the connecting rod driving screw. The center of the second link is rotatably connected, one end of the first link is rotatably connected to the link drive motor, and the other end is rotatably connected to the third link. One end of the two connecting rods is rotatably connected to the connecting rod driving slider and the other end is rotatably connected to the fourth connecting rod. Both the third connecting rod and the fourth connecting rod are connected to the rotating rod. The platforms are rotatably connected; or the rotation drive device includes a direct drive motor, and the motor shaft of the direct drive motor is connected to the rotation platform.

According to one embodiment of the present application, the large-scale bending plate mobile processing robot device further includes a chordal driving device for driving the chordal moving platform, and the chordal driving device includes a chordwise feed screw and a chordwise moving platform. Feed motor, the chordwise feed motor is installed on the omnidirectional moving platform, the chordwise feed screw is drivingly connected to the chordwise feed motor, and the chordwise feed screw is connected to the chordwise feed screw. Describe the nut thread fit of the chord moving platform.

According to one embodiment of the present application, the processing parallel positioning device includes a processing parallel positioning bracket and a plurality of processing branch chains. The processing branch chains are respectively connected to the processing parallel positioning bracket and the processing device. The processing parallel positioning bracket The positioning bracket is connected to the vertical moving platform. The processing branch chain includes a hollow motor and a ball screw. The hollow motor is drivingly connected to the ball screw and drives the ball screw through the rotation of the hollow motor. Rotate along the central axis and move in the axial direction, the hollow motor is connected to the processing parallel positioning bracket through a first processing hinge, and the ball screw is connected to the processing device through a second processing hinge; or the processing support The chain includes a branch chain guide rail, a branch chain slider, a branch chain connecting rod and a slider motor. The branch chain guide rail is connected to the processing parallel positioning bracket. The branch chain slider is slidably located on the branch chain guide rail. The slider motor is drivingly connected to the branch chain slider. One end of the branch chain connecting rod is connected to the branch chain slider through a first processing hinge and the other end is connected to the processing branch through a second processing hinge. device is connected; or the processing branch chain includes an electric cylinder, a telescopic rod and a telescopic motor, the telescopic rod is movably arranged in the electric cylinder in the axial direction, and the telescopic motor is arranged on the electric cylinder and connected with the electric cylinder. The telescopic rod is transmission connected, the electric cylinder is connected to the processing parallel positioning bracket through a first processing hinge, and the telescopic rod is connected to the processing device through a second processing hinge.

According to one embodiment of the present application, the processing parallel positioning device is a five-axis parallel positioning device and includes five processing branch chains. The processing branch chain includes the ball screw and the hollow motor. The five processing branch chains include the ball screw and the hollow motor. Four of the second processing hinges are double rotation auxiliary hinges and one is a single rotation auxiliary hinge, and the five first processing hinges are all double rotation auxiliary hinges.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

Figure 1 is a schematic structural diagram of a large-scale bending plate mobile processing robot device according to an embodiment of the present application.

Figure 2 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to an embodiment of the present application.

Figure 3 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to a specific embodiment of the present application.

Figure 4 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to another specific embodiment of the present application.

Figure 5 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to another specific embodiment of the present application.

Figure 6 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to another specific embodiment of the present application.

Figure 7 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to another specific embodiment of the present application.

Figure 8 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to another specific embodiment of the present application.

Figure 9 is a partial structural schematic diagram of a large-scale bending plate mobile processing robot device according to another specific embodiment of the present application.

Figure 10 is a schematic structural diagram of a processing parallel positioning device of a large-scale bending plate mobile processing robot device according to another specific embodiment of the present application.

Reference signs: Large bending plate mobile processing robot device 1, bending plate fixed tooling 100, omnidirectional mobile platform 200, arc guide rail 210, chordwise track 220, chordwise feed screw 230, chordwise feed motor 240 , two degrees of freedom positioning assembly 300, vertical track 301, vertical feed motor 302, vertical feed screw 303, radial track 304, rotating platform 310, radial moving platform 320, chordal moving platform 330, vertical Moving platform 400, processing parallel positioning device 500, processing parallel positioning bracket 510, processing branch chain 520, hollow motor 521, ball screw 522, first processing hinge 530, second processing hinge 540, processing device 600, rotation drive device 700. Rotating electric cylinder 710, rotating telescopic rod 720, rotating telescopic motor 730, rotating feed screw 740, rotating feed motor 750, connecting rod driving screw 760, connecting rod driving slider 770, connecting rod driving motor 780, The first link 791 , the second link 792 , the third link 793 , the fourth link 794 , and the direct drive motor 800 .

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as limiting the present application.

In the description of this application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axis", The orientation or positional relationship indicated by "radial direction", "circumferential direction", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply the device or element to which it refers. Must have a specific orientation, be constructed and operate in a specific orientation and therefore should not be construed as a limitation on this application. In addition, features defined as “first” and “second” may explicitly or implicitly include one or more of these features. In the description of this application, unless otherwise stated, the meaning of "plurality" is two or more.

In the description of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connection, or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood on a case-by-case basis.

The large-scale bending plate mobile processing robot device 1 according to the embodiment of the present application is described below with reference to the accompanying drawings.

As shown in Figures 1 to 10, the large-scale bending plate mobile processing robot device 1 according to the embodiment of the present application includes a bending plate fixing tool 100, an omnidirectional moving platform 200, a two-degree-of-freedom positioning assembly 300, a vertical moving platform 400, The parallel positioning device 500 and the processing device 600 are processed.

Specifically, the omnidirectional mobile platform 200 can be an AGV transport vehicle.

The bending plate fixing tool 100 is suitable for fixing the parts to be processed. The two-degree-of-freedom positioning assembly 300 is movably installed on the omnidirectional mobile platform 200, and the two-degree-of-freedom positioning assembly 300 is provided with a vertical track 301. The vertical moving platform 400 is slidably disposed on the vertical rail 301. The processing parallel positioning device 500 is installed on the vertical moving platform 400. The processing device 600 is installed on the processing parallel positioning device 500.

According to the large-scale bending plate mobile processing robot device 1 of the embodiment of the present application, by providing the bending plate fixing tool 100, the bending plate fixing tool 100 can be used to fix the bent plate parts. By setting up the omnidirectional mobile platform 200, the omnidirectional mobile platform 200 can be used to drive the two-degree-of-freedom positioning assembly 300, the vertical moving platform 400, the processing parallel positioning device 500 and the processing device 600 to move as a whole. By providing the two-degree-of-freedom positioning assembly 300, the position of the processing device 600 in two degrees of freedom can be adjusted. By providing the vertical moving platform 400, the height of the processing device 600 can be adjusted by moving the vertical moving platform 400 up and down. By providing the processing parallel positioning device 500, fine position adjustment of the processing device 600 in multiple degrees of freedom can be achieved.

Moreover, by utilizing a multi-axis parallel positioning device to position the processing device 600, compared to the processing methods in the related art, the large-scale bending plate mobile processing robot device 1 has higher adaptability to the work space and environment, and improves processing efficiency. The flexibility of the operation facilitates the overall in-situ processing of large and complex components, ensures processing accuracy, and alleviates resource conflicts.

In addition, by setting up the omnidirectional mobile platform 200, the omnidirectional mobile platform 200 can be used to drive the two-degree-of-freedom positioning assembly 300, the vertical moving platform 400, the processing parallel positioning device 500 and the processing device 600 to move as a whole, so that the processing device 600 can move to a position suitable for processing the parts to be processed, thereby further improving the adaptability of the work space and environment and improving processing flexibility.

Therefore, the large-scale bending plate mobile processing robot device 1 according to the embodiment of the present application has the advantages of strong adaptability, high operating flexibility, and high processing accuracy.

The large-scale bending plate mobile processing robot device 1 according to specific embodiments of the present application will be described below with reference to the accompanying drawings.

In some specific embodiments of the present application, as shown in Figures 1-10, the large-scale bending plate mobile processing robot device 1 according to the embodiment of the present application includes a bending plate fixed tooling 100, an omnidirectional mobile platform 200, and two degrees of freedom. Positioning assembly 300, vertical moving platform 400, processing parallel positioning device 500 and processing device 600.

In some embodiments of the present application, as shown in FIGS. 1-5 , the two-degree-of-freedom positioning assembly 300 includes a rotating platform 310 and a radially moving platform 320 . The rotating platform 310 is rotatably installed along a vertically oriented rotation axis. On the omnidirectional moving platform 200, the rotating platform 310 is provided with a radial track 304 oriented along the length direction of the rotating platform 310. The radial moving platform 320 is slidably provided on the radial track 304, and the vertical track 301 is provided on On the radially moving platform 320, the omnidirectional moving platform 200 is provided with an arc-shaped guide rail 210, and the rotating platform 310 is slidably matched with the arc-shaped guide rail 210. In this way, the radial movement of the radial moving platform 320 on the rotating platform 310 can drive the processing device 600 to move, and the rotation of the rotating platform 310 on the omnidirectional moving platform 200 can drive the radial moving platform 320 to rotate, thereby driving the processing device 600 to perform processing. Turn. In this way, the position adjustment of the processing device 600 can be realized in two degrees of freedom: radial movement and rotation.

In other embodiments of the present application, as shown in Figures 6-8, the two-degree-of-freedom positioning assembly 300 includes a rotating platform 310 and a radially moving platform 320. The omnidirectional moving platform 200 is provided with an omnidirectional moving platform 200. The radial rail 304 is oriented in the length direction, the radial moving platform 320 is slidably provided on the radial rail 304, and the rotating platform 310 is rotatably installed on the radial moving platform 320 along the rotation axis oriented in the vertical direction. The direction rail 301 is provided on the rotating platform 310. In this way, the rotation of the rotating platform 310 on the radial moving platform 320 can drive the processing device 600 to rotate, and the radial movement of the radial moving platform 320 on the omnidirectional moving platform 200 can drive the rotating platform 310 to move, thereby driving the processing device 600 to perform processing. move. In this way, the position adjustment of the processing device 600 can be realized in two degrees of freedom: radial movement and rotation.

Since the part 2 to be processed is a large curved plate with a curvature, the arc guide rail 210 and the rotation method can be used to make the feeding direction of the two-degree-of-freedom positioning assembly 300 close to the contour of the workpiece. In this way, the rotating platform 310 positions the processing device 600 to the position to be processed. After processing the area, the angle between the tool of the processing device 600 and the normal direction of the part to be processed 2 can be reduced.

Advantageously, as shown in FIGS. 1 to 8 , the large-scale bending plate mobile processing robot device 1 also includes a rotation driving device 700 for driving the rotation platform 310 . This can facilitate the rotation of the rotating platform 310 and improve the precision and accuracy of the rotation of the processing device 600 .

In some embodiments of the present application, as shown in FIGS. 4 and 6 , the rotation driving device 700 includes a rotation feed screw 740 and a rotation feed motor 750 , and the rotation feed screw 740 is drivingly connected to the rotation feed motor 750 , the rotating feed screw 740 cooperates with the nut thread of the rotating platform 310 . In this way, the rotation of the screw driven by the motor can be converted into the movement of the moving platform in the axial direction of the screw through the threaded cooperation between the screw and the moving platform, thereby realizing the driving of the rotating platform 310 .

In other embodiments of the present application, as shown in FIGS. 3 and 7 , the rotation driving device 700 includes a rotation electric cylinder 710 , a rotation telescopic rod 720 and a rotation telescopic motor 730 . The rotation telescopic rod 720 is movably arranged along the axial direction. In the rotating electric cylinder 710 , the rotating telescopic motor 730 is disposed on the rotating electric cylinder 710 and is drivingly connected to the rotating telescopic rod 720 , and the rotating telescopic rod 720 is connected to the rotating platform 310 . In this way, the motor can be used to drive the telescopic rod to expand and contract in the electric cylinder, thereby driving the rotating platform 310 .

In other embodiments of the present application, as shown in Figure 5, the rotation driving device 700 includes a connecting rod driving motor 780, a connecting rod driving screw 760, a connecting rod driving slider 770, a first connecting rod 791, a second connecting rod Rod 792, the third connecting rod 793 and the fourth connecting rod 794, the connecting rod driving screw 760 is transmission connected with the connecting rod driving motor 780, the connecting rod driving slider 770 is threaded with the connecting rod driving screw 760, the first connecting rod The center of 791 is rotatably connected to the center of the second link 792. One end of the first link 791 is rotatably connected to the link drive motor 780 and the other end is rotatably connected to the third link 793. One end of the second link 792 is rotatably connected to the link drive slider 770 and the other end is rotatably connected to the fourth link 794. Both the third link 793 and the fourth link 794 are rotatably connected to the rotating platform 310. connected. In this way, the rotation of the screw driven by the motor can be converted into the movement of the slider in the axial direction of the screw through the thread cooperation between the screw and the slider, and can be passed through the first connecting rod 791, the second connecting rod 792, and the third connecting rod 793. The cooperation with the fourth link 794 adjusts the vertical distance between the connection point of the third link 793 and the fourth link 794 and the screw, thereby realizing the driving of the rotating platform 310 .

In other embodiments of the present application, as shown in FIG. 8 , the rotation driving device 700 includes a direct drive motor 800 , and the motor shaft of the direct drive motor 800 is connected to the rotation platform 310 . In this way, the direct drive motor 800 can be used to directly drive the rotating platform 310 to rotate.

In other embodiments of the present application, as shown in Figure 9 , the two-degree-of-freedom positioning assembly 300 includes a chordal moving platform 330 and a radial moving platform 320. The omnidirectional moving platform 200 is provided with an axis along the omnidirectional moving platform 200. The chordwise moving platform 330 is slidably disposed on the chordwise track 220 oriented in the width direction, and the chordwise moving platform 330 is provided with a radial track 304 oriented along the length direction of the omnidirectional moving platform 200. The radial moving platform 320 is slidably provided on the radial rail 304, and the vertical rail 301 is provided on the radial moving platform 320. In this way, the radial movement of the radial moving platform 320 on the chordal moving platform 330 can drive the processing device 600 to move, and the chordal movement of the chordal moving platform 330 on the omnidirectional moving platform 200 can drive the rotating platform 310 to move, thereby driving the rotation platform 310 to move. The processing device 600 moves. In this way, the position adjustment of the processing device 600 can be realized in two degrees of freedom: radial movement and chordal movement.

Specifically, as shown in FIG. 9 , the large-scale bending plate mobile processing robot device 1 also includes a chordwise driving device for driving the chordwise moving platform 330 , and the chordwise driving device includes a chordwise feed screw 230 and a chordwise moving platform 330 . The chordwise feed motor 240 and the chordwise feed motor 240 are installed on the omnidirectional moving platform 200. The chordwise feed screw 230 is drivingly connected to the chordwise feed motor 240, and the chordwise feed screw 230 is connected to the chordwise moving platform. 330 nut thread fit. In this way, the rotation of the screw driven by the motor can be converted into the movement of the moving platform in the axial direction of the screw through the threaded cooperation between the screw and the nut of the moving platform, thereby achieving the driving of the chord-direction moving platform 330 .

Therefore, the two-degree-of-freedom positioning assembly 300 can be used to realize the position adjustment of the processing device 600 in two degrees of freedom in the horizontal direction. By cooperating with the movement of the vertical moving platform 400 in the vertical direction, the processing device 600 can be adjusted in all directions. Position adjustment.

Specifically, as shown in Figures 1-9, the large-scale bending plate mobile processing robot device 1 also includes a vertical driving device for driving the vertical moving platform. This can facilitate the position adjustment of the vertical moving platform 400 and improve the precision and accuracy of the processing device 600 moving in the vertical direction.

More specifically, as shown in Figures 1 to 9, the vertical driving device includes a vertical feed screw 303 and a vertical feed motor 302. The vertical feed motor 302 is installed on the two-degree-of-freedom positioning assembly 300. On the top, the vertical feed screw 303 is drivingly connected to the vertical feed motor 302, and the vertical feed screw 303 is threadedly matched with the nut of the vertical moving platform 400. In this way, the rotation of the screw driven by the motor can be converted into the movement of the moving platform in the axial direction of the screw through the threaded cooperation between the screw and the nut of the moving platform, thereby realizing the driving of the vertical moving platform 400 .

Specifically, there may be two rotation driving devices 700 and they are symmetrically arranged on both sides of the rotation platform 310 . In this way, the two rotation driving devices 700 can be used to drive the rotation platform 310, thereby improving the rotation stability of the rotation platform 310. Of course, there may be one rotation driving device 700 .

The rotation drive device 700 is connected to the rotation platform 310 through a first rotation drive hinge and is connected to the radial moving platform 320 or the omnidirectional moving platform 200 through a second rotation drive hinge. The first rotation drive hinge is a single rotation auxiliary hinge or a double rotation drive hinge. Rotating auxiliary hinge or ball hinge, the second rotating driving hinge is a single rotating auxiliary hinge, a double rotating auxiliary hinge or a ball hinge.

Figure 10 shows a large-scale bending plate mobile processing robot device 1 according to some examples of the present application. As shown in Figure 10, the processing parallel positioning device 500 includes a processing parallel positioning bracket 510 and a plurality of processing branch chains 520. The processing branch chains 520 are respectively connected to the processing parallel positioning bracket 510 and the processing device 600. The processing parallel positioning bracket 510 is connected to the vertical processing branch chain 520. The moving platform 400 is connected. Specifically, the processing parallel positioning device 500 may be a five-axis parallel positioning device. In other words, there may be five processing branches 520 . In this way, the bracket can be used to connect multiple branch chains to facilitate multi-axis parallel positioning of the processing device 600 .

In some embodiments of the present application, as shown in Figure 10, the processing branch chain 520 includes a hollow motor 521 and a ball screw 522. The hollow motor 521 is drivingly connected to the ball screw 522 and drives the ball screw through the rotation of the hollow motor 521. 522 rotates along the central axis and moves in the axial direction. The hollow motor 521 is connected to the processing parallel positioning bracket 510 through the first processing hinge 530 , and the ball screw 522 is connected to the processing device 600 through the second processing hinge 540 .

In other embodiments of the present application, the processing branch chain includes a branch chain guide rail, a branch chain slider, a branch chain connecting rod and a slider motor, the branch chain guide rail is connected to the processing parallel positioning bracket, and the branch chain guide rail is connected to the processing parallel positioning bracket. The branch chain slider is slidably disposed on the branch chain guide rail, the slider motor is drivingly connected to the branch chain slider, and one end of the branch chain connecting rod is connected to the branch chain slider through a first processing hinge. The blocks are connected and the other end is connected to the processing device through a second processing hinge;

In other embodiments of the present application, the processing branch chain includes an electric cylinder, a telescopic rod and a telescopic motor. The telescopic rod is movably arranged in the electric cylinder along the axial direction, and the telescopic motor is arranged on the electric cylinder. The electric cylinder is drivingly connected to the telescopic rod, the electric cylinder is connected to the processing parallel positioning bracket through a first processing hinge, and the telescopic rod is connected to the processing device through a second processing hinge.

In this way, multi-axis driving of the processing device 600 can be achieved.

Specifically, the first processing hinge 530 and the second processing hinge 540 can select a single rotation auxiliary hinge, a double rotation auxiliary hinge or a ball hinge according to actual needs.

Here, it is preferred that the processing parallel positioning device 500 includes five processing branches 520 and the processing branches 520 include a ball screw 522 and a hollow motor 521 . Four of the five second processing hinges 540 are double rotation auxiliary hinges and one is a single rotation auxiliary hinge, and the five first processing hinges 530 are all double rotation auxiliary hinges.

Other structures and operations of the large-scale bending plate mobile processing robot device 1 according to the embodiment of the present application are known to those of ordinary skill in the art and will not be described in detail here.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be incorporated into the description of the implementation. An example or example describes a specific feature, structure, material, or characteristic that is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A large-scale bending plate mobile processing robot device, which includes:

Bending plate fixing tool, the bending plate fixing tool is suitable for fixing the parts to be processed;

Omnidirectional mobile platform;

Two degrees of freedom positioning assembly, the two degrees of freedom positioning assembly is movably installed on the omnidirectional mobile platform, and the two degrees of freedom positioning assembly is provided with a vertical track;

A vertical moving platform, the vertical moving platform is slidably provided on the vertical track;

A processing parallel positioning device, which is installed on the vertical moving platform;

Processing device, the processing device is installed on the processing parallel positioning device.
The large-scale bending plate mobile processing robot device according to claim 1, wherein the two-degree-of-freedom positioning assembly includes a rotating platform and a radial moving platform, and the rotating platform is rotatably installed along a vertically oriented rotation axis. On the omnidirectional moving platform, the rotating platform is provided with a radial track oriented along the length direction of the rotating platform, and the radial moving platform is slidably provided on the radial track, and the A vertical track is provided on the radial moving platform, an arc-shaped guide rail is provided on the omnidirectional moving platform, and the rotating platform slidably cooperates with the arc-shaped guide rail.
The large-scale bending plate mobile processing robot device according to claim 1, wherein the two-degree-of-freedom positioning assembly includes a rotating platform and a radial moving platform, and the omnidirectional moving platform is provided with a moving platform along the omnidirectional moving platform. A radial track oriented in the length direction, the radial moving platform is slidably provided on the radial track, and the rotating platform is rotatably mounted on the radial moving platform along a rotation axis oriented in the vertical direction. on the rotating platform.
The large-scale bending plate mobile processing robot device according to claim 1, wherein the two-degree-of-freedom positioning assembly includes a chordal moving platform and a radial moving platform, and the omnidirectional moving platform is provided with a device along the omnidirectional direction. A chord-wise track oriented in the width direction of the mobile platform, the chord-wise moving platform is slidably provided on the chord-wise track, and the chord-wise moving platform is provided with a chord direction oriented along the length direction of the omnidirectional moving platform. A radial track, the radial moving platform is slidably provided on the radial track, and the vertical track is provided on the radial moving platform.
The large-scale bending plate mobile processing robot device according to claim 1, further comprising a vertical driving device for driving the vertical moving platform.
The large-scale bending plate mobile processing robot device according to claim 5, wherein the vertical driving device includes a vertical feed screw and a vertical feed motor, and the vertical feed motor is installed on the two On the degree of freedom positioning assembly, the vertical feed screw is drivingly connected to the vertical feed motor, and the vertical feed screw is threaded with the nut of the vertical moving platform.
The large-scale bending plate mobile processing robot device according to claim 2 or 3, further comprising a rotation drive device for driving the rotation platform, the number of the drive devices being one or two and the number of the drive devices being on the rotation platform. Both sides are symmetrically arranged, the rotation drive device is connected to the rotation platform through a first rotation drive hinge and is connected to the radial moving platform or the omnidirectional moving platform through a second rotation drive hinge. The driving hinge is a single rotating auxiliary hinge, a double rotating auxiliary hinge or a ball hinge. The second rotating driving hinge is a single rotating auxiliary hinge, a double rotating auxiliary hinge or a ball hinge. The rotating driving device includes a rotating feed screw and a rotating Feed motor, the rotary feed screw is drivingly connected to the rotary feed motor, and the rotary feed screw is threaded with the rotary platform;

Or the rotary driving device includes a rotary electric cylinder, a rotary telescopic rod and a rotary telescopic motor. The rotary telescopic rod is movably arranged in the rotary electric cylinder along the axial direction. The rotary telescopic motor is arranged on the rotary electric cylinder. The cylinder is drivingly connected to the rotating telescopic rod, and the rotating telescopic rod is connected to the rotating platform;

Or the rotation driving device includes a connecting rod driving motor, a connecting rod driving screw, a connecting rod driving slider, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the connecting rod driving screw The lever is drivingly connected to the connecting rod driving motor, the connecting rod driving slider is threadedly matched with the connecting rod driving screw, and the center of the first connecting rod and the center of the second connecting rod are rotatable. ground, one end of the first link is rotatably connected to the link drive motor and the other end is rotatably connected to the third link, one end of the second link is rotatably connected to the link The driving slide block is rotatably connected and the other end is rotatably connected to the fourth link, and both the third link and the fourth link are rotatably connected to the rotating platform;

Or the rotation drive device includes a direct drive motor, and the motor shaft of the direct drive motor is connected to the rotation platform.
The large-scale bending plate mobile processing robot device according to claim 4, further comprising a chordal drive device for driving the chordwise moving platform, the chordwise drive device including a chordwise feed screw and a chordwise moving platform. Feed motor, the chordwise feed motor is installed on the omnidirectional moving platform, the chordwise feed screw is drivingly connected to the chordwise feed motor, and the chordwise feed screw is connected to the chordwise feed screw. Describe the nut thread fit of the chord moving platform.
The large-scale bending plate mobile processing robot device according to claim 1, wherein the processing parallel positioning device includes a processing parallel positioning bracket and a plurality of processing branch chains, and the processing branch chains are respectively connected with the processing parallel positioning bracket and the processing branch chain. The processing device is connected, the processing parallel positioning bracket is connected to the vertical moving platform, the processing branch chain includes a hollow motor and a ball screw, the hollow motor is drivingly connected to the ball screw and passes through the The rotation of the hollow motor drives the ball screw to rotate along the central axis and move in the axial direction. The hollow motor is connected to the processing parallel positioning bracket through a first processing hinge, and the ball screw is connected to the processing parallel positioning bracket through a second processing hinge. The above-mentioned processing devices are connected;

Or the processing branch chain includes a branch chain guide rail, a branch chain slider, a branch chain connecting rod and a slider motor, the branch chain guide rail is connected to the processing parallel positioning bracket, and the branch chain slider is slidably located on On the branch chain guide rail, the slider motor is drivingly connected to the branch chain slider. One end of the branch chain connecting rod is connected to the branch chain slider through a first processing hinge and the other end is connected to the branch chain slider through a second processing hinge. The hinge is connected to the processing device;

Or the processing branch chain includes an electric cylinder, a telescopic rod and a telescopic motor. The telescopic rod is movably arranged in the electric cylinder along the axial direction. The telescopic motor is arranged on the electric cylinder and connected with the telescopic motor. Rod transmission connection, the electric cylinder is connected to the processing parallel positioning bracket through a first processing hinge, and the telescopic rod is connected to the processing device through a second processing hinge.
The large-scale bending plate mobile processing robot device according to claim 9, wherein the processing parallel positioning device is a five-axis parallel positioning device and includes five processing branch chains, and the processing branch chain includes the ball wire. lever and the hollow motor, four of the five second processing hinges are double rotation auxiliary hinges and one is a single rotation auxiliary hinge, and the five first processing hinges are all double rotation auxiliary hinges.