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CN-121973163-A - High-load embedded large-space mobile parallel composite robot

CN121973163ACN 121973163 ACN121973163 ACN 121973163ACN-121973163-A

Abstract

The invention discloses a high-load embedded large-space mobile parallel composite robot which comprises a bearing car body which walks along with a mobile trolley, wherein a space adjusting module is arranged on the bearing car body, a moving platform is arranged at the top of the bearing car body, the space adjusting module comprises a parallel branched chain group which is connected with the bearing car body and is arranged in a longitudinal space between the moving platform and the bearing car body, the parallel branched chain group consists of six parallel branched chains including a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain, each group of two parallel branched chains increases a transverse unfolding distance through the combination of inner side offset and outer side offset, the moving platform is supported by the connecting area which is arranged in a circumferentially dispersed manner on the moving platform, and the six parallel branched chains cooperatively drive the moving platform to realize space six-degree-of-freedom motion. According to the invention, the transverse space is increased by the driving mode of the inside offset and the outside offset of the branched chain, and the movable platform is overlapped with the upper surface of the movable trolley under the lower initial height and the height of the limit position, so that the structure embedding is realized.

Inventors

  • SUN TAO
  • WANG PANFENG
  • CHEN KAIXUAN
  • LIAN BINBIN

Assignees

  • 天津大学

Dates

Publication Date
20260505
Application Date
20260408

Claims (5)

  1. 1. The high-load embedded large-space mobile parallel composite robot is characterized by comprising a bearing car body (6) which walks along with a mobile trolley (3), wherein a space adjusting module (7) is arranged in an inner space of the bearing car body (6), and a movable platform (1) is arranged at the top of the space adjusting module (7); The space adjusting module (7) comprises a parallel branched chain group connected with the bearing vehicle body (6), and the parallel branched chain group is arranged in a longitudinal space between the movable platform (1) and the bearing vehicle body (6); The parallel branched chain group comprises six parallel branched chains, wherein each group of two parallel branched chains increases the transverse unfolding distance through the combination of the inner side offset and the outer side offset, and the parallel branched chains jointly support the movable platform (1) through the connecting areas which are circumferentially distributed on the movable platform (1) to realize the spatial six-degree-of-freedom motion; The parallel branches comprise a driving branch (14) and a moving branch (21); The driving branched chain (14) comprises a first revolute pair (9) arranged in the bearing vehicle body (6), a first connecting rod (10) is arranged at the vertical position of the center of a rotary output part of the first revolute pair (9), a first movable pair (11) is arranged in the axial direction of the first connecting rod (10), a second revolute pair (12) is arranged on a linear output part of the first movable pair (11), a second connecting rod (13) is arranged at the rotary output part of the second revolute pair (12), and the other end of the second connecting rod (13) is fixed with the moving branched chain (21); The motion branched chain (21) comprises a triangular connecting plate (16) connected with the other end of the second connecting rod (13), a third revolute pair (15) is arranged at the other corner of the triangular connecting plate (16), and a first ball pair (17) is arranged at the third corner of the triangular connecting plate (16); The motion output part of the first ball pair (17) is connected with a third connecting rod (18), the other end of the third connecting rod (18) is provided with a second ball pair (19), the top end of the second ball pair (19) is connected with a ball pair mounting plate (20), and the ball pair mounting plate (20) is connected with the movable platform (1).
  2. 2. The high-load embedded large-space mobile parallel composite robot of claim 1, wherein the first moving pair (11) of the driving branched chain (14) performs linear telescopic motion along the axis direction of the first connecting rod (10), the second connecting rod (13) is driven by the second revolute pair (12) to drive the triangular connecting plate (16) to move, the triangular connecting plate (16) swings relative to the third revolute pair (15), and the first ball pair (17) and the second ball pair (19) drive the third connecting rod (18) to perform space posture adjustment and transmit the movement to the ball pair mounting plate (20), so that posture adjustment of the movable platform (1) is achieved.
  3. 3. The high-load embedded large-space mobile parallel composite robot of claim 1, wherein the parallel branched chain group consists of six parallel branched chains including a first branched chain (22), a second branched chain (23), a third branched chain (24), a fourth branched chain (25), a fifth branched chain (26) and a sixth branched chain (27), wherein the third branched chain (24) and the fourth branched chain (25) are in a group, the first branched chain (22) and the second branched chain (23) are in a group, and the fifth branched chain (26) and the sixth branched chain (27) are in a group.
  4. 4. The high-load embedded large-space mobile parallel composite robot is characterized in that wheels (5) are arranged on two sides of a bearing vehicle body (6) of the mobile trolley (3).
  5. 5. The high-load embedded large-space mobile parallel composite robot according to claim 1, wherein a navigation system (4) is arranged at the body of the mobile trolley (3).

Description

High-load embedded large-space mobile parallel composite robot Technical Field The invention belongs to the technical field of robots, and particularly relates to a high-load embedded large-space mobile parallel composite robot. Background At present, with the development of national major engineering in the aerospace field, large-scale equipment such as an aircraft rocket and the like is fully developed, and the development level of the large-scale equipment is a national comprehensive strength. Wherein, the assembly of large parts is a key link of the development of large equipment. At present, large-scale part components are assembled in a mode of manual work and brackets or hand-operated brackets, and the method has the problems of poor space position linkage adjustment capability, extremely dependent experience in the assembly process, weak suitability of multiple products and the like. The large-component equipment has the characteristics of large volume and heavy weight, the working gravity center needs to be reduced as much as possible on the premise of ensuring the load during assembly, and the whole machine gravity center of the mobile parallel compound robot formed by the traditional parallel robot and the mobile robot is too high, is unfavorable for mobile assembly and is difficult to be applied to a narrow space scene. In order to meet the high-efficiency, rapid and flexible assembly requirements of large components, the design of the mobile parallel composite robot which is oriented to high load and can realize embedded type and large movement space is an effective solving way. At present, part of mobile robots only can complete a mobile task and cannot meet assembly requirements, such as AGV equipment of China patent CN108609539B, only have lifting and steering functions and cannot complete the assembly task. In addition, the partial mobile assembly robot has a problem of poor rigidity, such as AMR equipment of chinese patent CN217776987U, CN113858178a, in which the end moving range is large, but the rigidity of the tandem structure is poor, and it is difficult to satisfy the requirement of large component assembly. In addition, part of six-degree-of-freedom mobile assembly robots have the problem of overhigh assembly gravity center, such as the mobile assembly robot of China patent CN104802151A, because of large size and heavy weight of large components, the mobile platform and the parallel robot are connected in series to occupy a certain space, so that the center of gravity of the whole machine is overhigh, the mobile assembly is unfavorable, and the mobile assembly robot is difficult to be applied to a narrow space scene. The invention aims to overcome the defects of the prior art and provide the high-load-oriented embedded large-space moving parallel composite robot which has high bearing capacity, embedded structure, large adjustment range and low center of gravity of the whole machine. Disclosure of Invention The invention provides a high-load embedded large-space mobile parallel composite robot for solving the problems existing in the prior art. The technical scheme of the invention is as follows: the high-load embedded large-space mobile parallel composite robot comprises a bearing car body which walks along with a mobile trolley, wherein a space adjusting module is arranged in a built-in space of the bearing car body, and a movable platform is arranged at the top of the space adjusting module; The space adjusting module comprises a parallel branched chain group connected with the bearing vehicle body, and the parallel branched chain group is arranged in a longitudinal space between the movable platform and the bearing vehicle body; The parallel branched chain group comprises six parallel branched chains, each group of two parallel branched chains increases the transverse unfolding distance through the combination of the inner side offset and the outer side offset, and the parallel branched chains jointly support the movable platform through the connecting areas which are circumferentially distributed on the movable platform to realize the spatial six-degree-of-freedom motion; The parallel branched chain comprises a driving branched chain and a moving branched chain; The driving branched chain comprises a first revolute pair arranged in the bearing car body, a first connecting rod is arranged at the vertical position of the center of a rotary output part of the first revolute pair, a first movable pair is arranged in the axial direction of the first connecting rod, a second revolute pair is arranged on a linear output part of the first movable pair, a second connecting rod is arranged at the rotary output part of the second revolute pair, and the other end of the second connecting rod is fixed with the moving branched chain; the movement branched chain comprises a triangular connecting plate connected with the other end of the second connecting rod, a third revolute pair is arranged