The invention relates to the field of industrial robot machining, and aims to provide a six-degree-of-freedom parallel wall-climbing robot for large complex part machining so as to solve the problems of difficult machining operation, insufficient machining precision and the like caused by complex actual machining scenes. According to the technical scheme, the six-degree-of-freedom parallel wall-climbing robot is used for machining large complex parts. The six-degree-of-freedom parallel robot is characterized in that a six-degree-of-freedom parallel mechanism is arranged between the fixed platform and the movable platform; the six-degree-of-freedom parallel mechanism comprises six branches which are connected in parallel; each 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 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 parts; the fixed platform comprises a fixed rack provided with a fixed platform negative pressure adsorption mechanism, and adaptive adsorption can be conducted according to the surface shape of a large complex part during moving and machining.

    本发明涉及工业机器人加工领域,目的是提供一种用于大型复杂零件加工的六自由度并联式爬壁机器人,以解决实际加工场景复杂导致加工作业困难和加工精度不足等问题。技术方案是一种用于大型复杂零件加工的六自由度并联式爬壁机器人;其特征在于:所述定平台与动平台之间设有六自由度并联机构;所述六自由度并联机构包括并联连接的六条分支;所述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,可用于大型复杂零件的加工;所述定平台包括设有定平台负压吸附机构的定机架,在移动和加工时可针对大型复杂零件的表面形状进行适应性的吸附。


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    Title :

    Six-degree-of-freedom parallel wall-climbing robot for machining large complex parts


    Additional title:

    用于大型复杂零件加工的六自由度并联式爬壁机器人


    Contributors:
    CHAI XINXUE (author) / ZHENG GUOCHANG (author) / XU LINGMIN (author) / LI QINCHUAN (author)

    Publication date :

    2023-09-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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