CN108789357B - A large-scale structural parts processing device based on force-controlled hybrid robot - Google Patents

Abstract

The invention discloses a large-scale structural part processing device based on a force-controlled hybrid robot, comprising: an unmanned truck, which is used to ensure a large moving stroke of the robot; a linear guide rail, which is used to control the hybrid when the unmanned truck stops The movement of the robot; the plane two-degree-of-freedom hybrid manipulator is used to control the two-degree-of-freedom motion in the plane; the three-degree-of-freedom force-controlled parallel processing module is used to control one movement degree of freedom and two rotation degrees of freedom, and control the end execution positive pressure on the device. The device installs the three-degree-of-freedom force-controlled parallel processing module at the end of the plane two-degree-of-freedom hybrid manipulator to cooperate with the unmanned truck, which increases the range of the robot's high-quality working space, and can complete the processing of all profiles in one installation. , effectively improve the efficiency of processing operations, and the three-degree-of-freedom force-controlled parallel processing module can control the force of the end effector during processing operations to ensure processing quality.

Description

A large-scale structural parts processing device based on force-controlled hybrid robot

technical field

The invention relates to the technical field of numerical control device manufacturing, in particular to a large-scale structural part processing device based on a force-controlled hybrid robot.

Background technique

With the continuous development of technology in the aerospace field and the continuous improvement of the level of structural design, the demand for structural weight reduction has become increasingly prominent, which has also brought new requirements for the processing of structural parts. In order to make full use of the mechanical properties of materials, the proportion of large-scale integral structural parts has increased, but this has also brought new challenges to the processing industry. The integrated processing of large-scale structural parts is still an urgent technical problem to be solved. At the same time, the problems of fossil energy depletion and environmental pollution are becoming more and more serious. Many countries have begun to pay attention to the development and utilization of wind energy. Because of its rich reserves and wide distribution, wind energy has shown great application prospects. With the rapid development of wind energy utilization, the demand for wind turbines is also increasing. As a key component of wind turbines, how to maintain the working life of blades for a long time is becoming a key issue in the academic and industrial circles. In the actual service process, it is very easy to be polluted and become rough, which will greatly reduce the power generation efficiency of the wind turbine. Therefore, it is particularly important to process the wind turbine blades in time. However, the size of large wind turbine blades is huge, the manual processing is difficult, and the processing generates a lot of dust, and the processing environment is harsh. Therefore, using robots for processing is one of the best ways to ensure processing efficiency and processing accuracy.

Large-scale structural parts and large-scale wind turbine blades are huge in size, requiring a large stroke of the processing device. At the same time, most of the processed surfaces are free-form surfaces, and the curvature changes are complex, so the processing device is required to realize five-axis linkage processing. The traditional serial robot is composed of joints and connecting rods. The parallel mechanism forms a closed-loop structure by forming multiple kinematic branches between the fixed platform and the moving platform to ensure the high rigidity of the end moving platform and the compact structure, but its working space is generally small and needs to be solved urgently. By organically combining the parallel mechanism and the series mechanism to form a hybrid mechanism, the overall performance can be effectively improved.

SUMMARY OF THE INVENTION

The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

Therefore, the purpose of the present invention is to provide a large-scale structural part processing device based on a force-controlled hybrid robot, which has the advantages of increasing the high-quality working space of the robot, effectively improving the processing efficiency and ensuring the processing quality.

In order to achieve the above purpose, the embodiment of the present invention proposes a large-scale structural part processing device based on a force-controlled hybrid robot, including: an unmanned truck, which is used to ensure the large moving stroke of the robot; It is used to control the movement of the hybrid robot when the unmanned vehicle is parked; the plane two-degree-of-freedom hybrid manipulator is used to control the movement of two degrees of freedom in the plane; the three-degree-of-freedom force-controlled parallel processing module is used to control a movement degrees of freedom and two rotational degrees of freedom, and controls the positive pressure on the end effector.

The large-scale structural parts processing device based on the force-controlled hybrid robot in the embodiment of the present invention increases the quality of the robot by installing the three-degree-of-freedom force-controlled parallel processing module at the end of the plane two-degree-of-freedom hybrid robotic arm to cooperate with the unmanned truck. The scope of the working space, the processing of all profiles can be completed in one installation, which effectively improves the processing efficiency. At the same time, the three-degree-of-freedom force-controlled parallel processing module can control the force of the end effector during processing to ensure the processing quality. .

In addition, the large-scale structural parts processing device based on the force-controlled hybrid robot according to the above-mentioned embodiments of the present invention may also have the following additional technical features:

Further, in an embodiment of the present invention, the plane two-degree-of-freedom hybrid manipulator includes: a large arm, and the first link group and the large arm of the mechanical arm form a parallelogram mechanism, so as to realize driving by the large arm The rotary motion driven by the rod; the small arm, the second link group and the small arm of the mechanical arm form a parallelogram mechanism, so as to realize the rotary motion driven by the driving rod of the forearm.

Further, in an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module includes: a parallel module fixed platform; a parallel module movable platform; an end effector; a force control unit; A chain is connected to the fixed platform of the parallel module through two rotating pairs whose axes are perpendicular to each other, and is connected to the movable platform of the parallel module through a rotating pair. pair, in order to realize the rotational freedom between the screw and the nut axis and the freedom of movement of the screw along the branch chain; the second branch chain and the third branch chain, the second branch chain and the third branch chain and The first branch chain has the same structure; the first branch chain, the second branch chain and the third branch chain are respectively connected between the parallel modular fixed platform and the parallel modular movable platform to form a closed loop The parallel structure ensures that after the moving platform and the end effector are fixedly connected, there is one movement degree of freedom and two rotation degrees of freedom.

Further, in an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module is installed at the end of the plane two-degree-of-freedom hybrid robotic arm to cooperate with the unmanned vehicle and the linear guide rail to increase Large robot high-quality working space range; or directly equipped with unmanned trucks or full-stroke linear guides to increase the moving stroke of the robot device.

Further, in an embodiment of the present invention, the first branch chain includes: a first motor, and one end of the first motor is connected to the three freewheels through a Hooke hinge or two rotating pairs whose axes are perpendicular to each other. The degree force-controlled parallel processing module is connected to the fixed platform; the first lead screw nut pair, the nut in the first lead screw nut pair is consolidated with the first motor to form a cylindrical motion pair, which realizes the linear advance of the lead screw relative to the nut. Given the degrees of freedom and relative rotational degrees of freedom, the lead screw in the first lead screw nut pair is connected to the parallel modular moving platform through a rotating pair.

Further, in an embodiment of the present invention, the force control unit includes: a force control spring, which controls the position of the force control spring to control the positive pressure at the end during operation; a vibration damper, so The vibration damping damper can achieve vibration suppression under force control conditions by coordinating with the force control spring; the unit housing, the unit housing can be combined with the parallel processing module body structure to overcome the problem that the unit cannot withstand torque .

Further, in an embodiment of the present invention, the force control unit is arranged in the first branch chain, the second branch chain and the third branch chain, the lead screw is in phase with the rotating pair The position of connection to realize the force control of the first branch chain, the second branch chain and the third branch chain; The position where the platform is connected with the end effector, so as to realize the control of the force on the end effector.

Further, in an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module is equipped with different forms of end effectors to complete processing operations such as grinding operations, welding operations, and milling and drilling operations.

Further, in an embodiment of the present invention, the force control unit of the three-degree-of-freedom force-controlled parallel processing module further includes: a force sensor, the force sensor feedbacks the applied positive pressure during the operation, and passes the force A/bit hybrid control algorithm, according to the data fed back by the force sensor, to realize force/bit hybrid control on the end effector of the three-degree-of-freedom force control parallel module.

Further, in an embodiment of the present invention, the structural form of the powerless control unit is selected according to the requirements of the processing operation during the specific use of the embodiment of the present invention.

Description of drawings

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

1 is a schematic structural diagram of a large-scale structural part processing device based on a force-controlled hybrid robot according to an embodiment of the present invention;

2 is a schematic structural diagram of a large-scale structural part processing device based on a force-controlled hybrid robot according to an embodiment of the present invention;

3 is a schematic structural diagram of a large-scale structural part processing device based on a force-controlled hybrid robot according to an embodiment of the present invention;

4 is a schematic structural diagram of a planar two-degree-of-freedom hybrid manipulator according to an embodiment of the present invention;

5 is a schematic structural diagram of a three-degree-of-freedom force-controlled parallel processing module according to an embodiment of the present invention;

6 is an exploded schematic diagram of a first branch chain, a fixed platform and a moving platform of a three-degree-of-freedom force-controlled parallel processing module according to an embodiment of the present invention;

7 is an exploded schematic diagram of the first branch chain, the fixed platform and the moving platform of the three-degree-of-freedom force-controlled parallel processing module according to another embodiment of the present invention.

Reference number:

In Figure 1, the three-degree-of-freedom force-controlled parallel processing module I; the plane two-degree-of-freedom hybrid manipulator II; the unmanned vehicle III-11; the linear guide III-12;

In Figure 2, the three-degree-of-freedom force-controlled parallel processing module I; the plane two-degree-of-freedom hybrid manipulator II; the unmanned vehicle III-2;

In Figure 3, the three-degree-of-freedom force-controlled parallel processing module I; the plane two-degree-of-freedom hybrid manipulator II; the linear guide III-3;

Manipulator base 21; Manipulator arm 22; Manipulator drive rod 23; First link group 24; Attitude adjustment part 25; Forearm drive rod 26; device 29;

The first branch chain 31; the second branch chain 32; the third branch chain 33; the parallel processing module fixed platform 34; the parallel processing module moving platform 35; the electric grinding head 36;

The first annular rotating member 411; the first motor 412; the first lead screw 413; the first force control unit 414; the first U-shaped rotating member 415; ;

The first annular rotating member 511; the first motor 512; the first lead screw 513; the first U-shaped rotating member 514; the parallel module fixed platform 54; the parallel module movable platform 55; the grinding motor 561; Actuator Mounting Flange 563; End Effector 564.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

The following describes a large-scale structural part processing device based on a force-controlled hybrid robot proposed according to an embodiment of the present invention with reference to the accompanying drawings.

In a large-scale structural part processing device based on a force-controlled hybrid robot according to an embodiment of the present invention, the end effector takes an electric grinding head as an example, and an electric spindle can also be used to clamp a tool or a welding operation end effector. And so on to meet the corresponding processing needs.

In Embodiment 1 of the present invention, as shown in FIG. 1 , a large-scale structural part processing device based on a force-controlled hybrid robot includes a three-degree-of-freedom force-controlled parallel processing module I; a plane two-degree-of-freedom hybrid robotic arm II; Unmanned truck III-11; Linear guide III-12.

In Embodiment 2 of the present invention, as shown in FIG. 2 , a large-scale structural part processing device based on a force-controlled hybrid robot may further include a three-degree-of-freedom force-controlled parallel processing module I; a plane two-degree-of-freedom hybrid robotic arm II; Unmanned Truck III-2.

In Embodiment 3 of the present invention, as shown in FIG. 3 , a large-scale structural part processing device based on a force-controlled hybrid robot may also include a three-degree-of-freedom force-controlled parallel processing module I; a plane two-degree-of-freedom hybrid robotic arm II; Linear guide III-3.

Both unmanned trucks and matching linear guides are mature commercial products, which can be purchased or customized according to actual use requirements, and will not be repeated here.

Further, as shown in FIG. 4 , the planar two-degree-of-freedom hybrid manipulator includes a manipulator base 21 , a manipulator arm 22 , a manipulator arm 27 , an end effector 29 , a link group 24 , and a manipulator drive rod 23 . , the forearm drive rod 26, the attitude adjustment part 25 and the connecting rod group 28, the three-degree-of-freedom force-controlled parallel processing module is fixedly connected to the two-degree-of-freedom plane parallel manipulator end effector 29, the connecting rod group 24 and the manipulator arm 22 A parallelogram mechanism is formed. The connecting rod group 28 and the small arm 27 of the mechanical arm form a parallelogram mechanism. The large arm 22 of the mechanical arm and the small arm 27 of the mechanical arm are respectively driven by the driving rod 23 of the big arm and the driving rod 26 of the small arm. The driving method is as follows: Linear feed drive.

As shown in FIG. 5 , the three-degree-of-freedom force-controlled parallel processing module III includes a first branch 31 , a second branch 32 , a third branch 33 , a fixed platform 34 of the parallel processing module, a moving platform 35 of the parallel processing module, and an electric grinding Head 36.

The first branch 31 is connected to the fixed platform 34 of the parallel processing module through two rotating pairs whose axes are perpendicular to each other or a Hook hinge, and is connected to the fixed platform 35 of the parallel processing module through a rotating pair. The moving platform 35 of the parallel processing module and the electric grinding The head 36 is fixedly connected; the second branch chain and the third branch chain have the same structure as the first branch chain, and the three branch chains are connected between the fixed platform and the moving platform to form a closed-loop structure, and finally realize one of the moving platform and the electric grinding head. Translational degrees of freedom and two rotational degrees of freedom.

Specifically, as shown in FIG. 6 , the first branch chain includes a first annular rotating member 411 , a first motor 412 , a first lead screw 413 , a first force control unit 414 , and a first U-shaped rotating member 415 . The first annular rotating member 411 is connected with the fixed platform 44 of the parallel processing module to form a rotating pair; the first motor 412 is installed on the first annular rotating member 411 to form another rotating pair, and the axes of the two rotating pairs are perpendicular to each other to form a Hooker hinge; the rotor of the first motor 412 is fixedly connected with the nut in the first ball screw pair, so that the first screw 413 has the rotational freedom around the nut axis and the linear movement freedom along the axis direction, forming a cylindrical pair; The end of a bar 413 is fixedly connected with the first force control unit 414; the first force control unit 414 is embedded in the first U-shaped rotating member 415 and is fixedly connected with it, so as to control the internal force of the first branch chain; The shaped rotating member 415 is connected with the parallel modular moving platform 45 to form a rotating pair; the second branch chain and the third branch chain have the same structure as the first branch chain, which can control the internal force of each branch chain and form a parallel closed-loop structure. The moving platform 45 is fixedly connected with the electric grinding head 46 .

In another embodiment of the present invention, as shown in FIG. 7 , the first branch chain may further include a first annular rotating member 511, a first motor 512, a first lead screw 513, and a first U-shaped rotating member 514; The electric machining head includes a grinding motor 561 ; a dynamic platform force control unit 562 ; an end effector mounting flange 563 ; and an end effector 564 . The first annular rotating member 511 is connected to the fixed platform 54 of the parallel processing module to form a rotating pair; the first motor 512 is installed on the first annular rotating member 511 to form another rotating pair, and the axes of the two rotating pairs are perpendicular to each other to form a Hooker hinge; the rotor of the first motor 512 is fixedly connected with the nut in the first ball screw pair, so that the first screw 513 has the rotational freedom around the nut axis and the linear movement freedom along the axis direction, forming a cylindrical pair; The end of a bar 513 is fixedly connected with the first U-shaped rotating member 514; the first U-shaped rotating member 514 is connected with the parallel modular moving platform 55 to form a rotating pair; the second branch chain, the third branch chain and the first branch chain structure Similarly, the connection between the parallel modular fixed platform 54 and the parallel modular movable platform 55 is realized and a parallel closed-loop structure is formed. The grinding motor 561 is installed on the parallel modular moving platform 55, and the parallel modular moving platform 55 is fixedly connected with the dynamic platform force control unit 562 to control the external force acting on the end electric grinding head, and the end effector mounting flange 563 realizes the end effector 564 and grinding. Mounting connections between motors 561.

The three-degree-of-freedom force-controlled parallel processing module has a large rotation angle range, which can realize the processing of complex surfaces.

In an embodiment of the present invention, a large-scale structural part processing device based on a force-controlled hybrid robot has a large working stroke and a five-axis linkage processing capability, which can realize all large-scale structural parts in one card loading process. Machining of free-form surfaces.

In an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module and the plane two-degree-of-freedom hybrid manipulator can also be directly mounted on an unmanned truck or directly installed on a full-stroke linear guide rail to realize a one-time card loading process It can realize the processing of all the profiles of large structural parts.

In one embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module can realize the mixed force/position control of the end electric processing head during processing through the force control unit, which can effectively improve the quality of processing operations.

In an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module can complete different types of processing operations such as grinding, welding, milling and drilling by carrying different forms of end effectors.

The large-scale structural parts processing device based on the force-controlled hybrid robot in the embodiment of the present invention increases the quality of the robot by installing the three-degree-of-freedom force-controlled parallel processing module at the end of the plane two-degree-of-freedom hybrid robotic arm to cooperate with the unmanned truck. The scope of the working space, the processing of all profiles can be completed in one installation, which effectively improves the processing efficiency. At the same time, the three-degree-of-freedom force-controlled parallel processing module can control the force of the end effector during processing to ensure the processing quality. .

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial, The orientations or positional relationships indicated by "radial direction", "circumferential direction", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated devices or elements. It must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (4)

1. a large-scale structural part processing device based on a force-controlled hybrid robot, is characterized in that, comprising: Unmanned trucks are used to ensure the large moving range of the robot; a linear guide rail for controlling the movement of the hybrid robot when the unmanned vehicle is parked; A plane two-degree-of-freedom hybrid manipulator is used to control two-degree-of-freedom motion in a plane, wherein the plane two-degree-of-freedom hybrid manipulator comprises: a large arm, the first link group and the large arm form a parallelogram mechanism, to Realize the rotational motion driven by the big arm driving rod; the small arm, the second link group and the small arm form a parallelogram mechanism to realize the rotational motion driven by the small arm driving rod; The three-degree-of-freedom force-controlled parallel processing module is used to control one movement degree of freedom and two rotational degrees of freedom, and to control the positive pressure on the end effector. The three-degree-of-freedom force-controlled parallel processing module is installed on the plane with two degrees of freedom. The end of the hybrid robotic arm cooperates with the unmanned vehicle and the linear guide to increase the working space of the robot; or directly carries the unmanned vehicle or the full-stroke linear guide to increase the moving stroke of the robot device, wherein, The three-degree-of-freedom force-controlled parallel processing module includes: a parallel module fixed platform; a parallel module movable platform; an end effector; a force control unit; It is connected to the fixed platform of the parallel module, and is connected to the movable platform of the parallel module through a rotating pair. The first branch chain includes: a first motor and a first screw nut pair, and one end of the first motor is The Hook hinge or two rotating pairs whose axes are perpendicular to each other are connected with the fixed platform of the parallel module; the nut in the first screw nut pair is fixed with the first motor to form a cylindrical motion pair, and realize the first The linear feeding degree of freedom and relative rotational freedom of the lead screw in the lead screw nut pair relative to the nut, the lead screw in the first lead screw nut pair is connected to the parallel module movable platform through a rotating pair; Two branches and a third branch, the second branch and the third branch have the same structure as the first branch, and the force control unit is arranged on the first branch, the second branch the position where the lead screw and the rotating pair are connected in the branch chain and the third branch chain, so as to realize the force control of the first branch chain, the second branch chain and the third branch chain ; Or set at the position where the parallel modular movable platform is connected with the end effector; the first branch chain, the second branch chain and the third branch chain are respectively connected to the parallel modular fixed platform A closed-loop parallel structure is formed between the moving platform of the parallel module and the moving platform to ensure that the moving platform and the end effector have one moving degree of freedom and two rotational degrees of freedom after being fixedly connected. 2. The large-scale structural part processing device based on a force-controlled hybrid robot according to claim 1, wherein the force control unit comprises: A force control spring, the force control spring realizes the control of the positive pressure at the end by controlling the position during the operation; a vibration damper, which realizes vibration suppression under force control conditions by coordinating with the force control spring; The unit housing, combined with the parallel processing module body structure, overcomes the problem that the force control unit cannot bear the moment. 3. A large-scale structural part processing device based on a force-controlled hybrid robot according to claim 1, wherein the three-degree-of-freedom force-controlled parallel processing module completes grinding operations by carrying different forms of end effectors, Welding work or milling and drilling work. 4. A large-scale structural part processing device based on a force-controlled hybrid robot according to claim 1, wherein the force control unit further comprises: A force sensor, the force sensor provides feedback on the applied positive pressure during the operation; The force/position hybrid control algorithm implements force/position hybrid control on the end effector of the three-degree-of-freedom force-controlled parallel processing module according to the data fed back by the force sensor.

Images