The invention relates to the technical field of industrial robot machining. The invention aims to provide a parallel wall-climbing robot for processing large complex components. The robot has the characteristics of high processing precision, strong moving capability and simple structure. According to the technical scheme, the parallel wall-climbing robot for machining the large complex components is characterized in that a five-degree-of-freedom parallel mechanism is arranged between a fixed platform and a movable platform; the five-degree-of-freedom parallel mechanism comprises four first branches and a second branch which are connected in parallel; the first branch comprises a first moving pair, a first spherical hinge, a first connecting rod and a second spherical hinge which are sequentially connected between the fixed platform and the movable platform; the second branch comprises a second moving pair, a third spherical hinge, a second connecting rod and a first rotating pair which are sequentially connected between the fixed platform and the movable platform; the movable platform comprises a movable rack provided with a main shaft machining head and a movable platform negative pressure adsorption mechanism, and can be used for machining large complex components.
本发明涉及工业机器人加工技术领域。目的是提供一种用于大型复杂构件加工的并联爬壁机器人,该机器人应具有加工精度高、移动能力强、结构简单的特点。技术方案是:用于大型复杂构件加工的并联爬壁机器人,其特征在于:所述定平台与动平台之间设有五自由度并联机构;所述五自由度并联机构包括并联连接的四条第一分支与一条第二分支;所述第一分支包括依次连接在定平台与动平台之间的第一移动副、第一球铰、第一连杆和第二球铰;所述第二分支包括依次连接在定平台与动平台之间的第二移动副、第三球铰、第二连杆和第一转动副;所述动平台包括设有主轴加工头与动平台负压吸附机构的动机架,可用于大型复杂构件的加工。
Parallel wall-climbing robot for machining large complex components
用于大型复杂构件加工的并联爬壁机器人
2023-06-30
Patent
Electronic Resource
Chinese
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