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CN-121973164-A - Mobile parallel cooperative robot with constant force mechanism

CN121973164ACN 121973164 ACN121973164 ACN 121973164ACN-121973164-A

Abstract

The invention discloses a movable parallel collaborative robot with a constant force mechanism, which comprises a movable trolley, wherein a plane adjusting module is arranged on a bearing trolley body of the movable trolley, the top of the plane adjusting module is connected with a middle connecting plate, a constant force mechanism group is arranged on the middle connecting plate, a load connecting plate is arranged on the side part of the constant force mechanism group, a collaborative platform is arranged on the load connecting plate, the constant force mechanism group comprises a spring and a rear-stage pulley block constant force compensation mechanism, and the rear-stage pulley block constant force compensation mechanism is used for keeping the elastic potential energy output by the spring constant in the whole travel of the collaborative platform moving along the vertical direction. Through reasonable structural layout and mechanism design, the invention has the advantages of high rigidity of the whole machine, good movement flexibility, low equipment gravity center, wide-range constant force output, effectively solves the problems of difficult accurate positioning, poor flexible contact and the like in the butt joint process of heavy-duty components, and has good application prospects in the fields of aerospace, heavy equipment manufacturing and the like.

Inventors

  • SUN TAO
  • WANG PANFENG
  • LIAN BINBIN

Assignees

  • 天津大学

Dates

Publication Date
20260505
Application Date
20260408

Claims (9)

  1. 1. The movable parallel cooperative robot with the constant force mechanism is characterized by comprising a movable trolley (4), wherein a plane adjusting module (3) is arranged on a bearing trolley body (17) of the movable trolley (4), the top of the plane adjusting module (3) is connected with a middle connecting plate (12), a constant force mechanism group (2) is arranged on the middle connecting plate (12), a load connecting plate (5) is arranged on the side part of the constant force mechanism group (2), a cooperative platform (1) is arranged on the load connecting plate (5), the constant force mechanism group (2) comprises a spring (31) and a rear pulley block constant force compensation mechanism, and the rear pulley block constant force compensation mechanism is used for keeping the elastic potential energy output by the spring (31) constant in the whole stroke of the movement of the cooperative platform (1) along the vertical direction; the rear pulley block constant force compensation mechanism consists of a stay wire positioning pin (32), a movable pulley (33), a fixed pulley (34), a swing arm (35) and a rubber wheel (38) in a cooperative manner; The pull wire locating pin (32) and the fixed pulley (34) are arranged on the side face of the moving platform (37), the rubber wheel (38) is arranged at the moving end of the swing arm (35), one end of the rigid wire (24) is fastened to the pull wire locating pin (32), the movable pulley (33) fixedly connected to the bottom end of the spring (31) is wound downwards, the fixed pulley (34) is wound upwards and fixed to the rubber wheel (38) to form a closed force transmission path, when the swing arm (35) is positioned at different angle positions, the resultant force of the swing arm (35) and the rigid wire (24) in the vertical direction is always kept constant, the rigid wire (24) is pulled to generate compression or extension deformation when the rear pulley block constant force compensation mechanism moves along the Z direction, and the movable pulley (33) moves synchronously along with the deformation of the spring (31) to realize constant force compensation and position self-adaption.
  2. 2. A mobile parallel cooperative robot with a constant force mechanism according to claim 1, wherein the planar adjustment module (3) includes a planar branch group installed in a longitudinal space between the intermediate connection plate (12) and the carrier body (17), the planar branch group includes a first branch (14), a second branch (15) and a third branch (16), and the first branch (14), the second branch (15) and the third branch (16) are identical in structure from a fixed side to an output side.
  3. 3. The movable parallel collaborative robot with the constant force mechanism according to claim 2, wherein the first branched chain (14), the second branched chain (15) and the third branched chain (16) comprise a first servo motor (19), a first connecting rod (20) is installed on a rotation output part of the first servo motor (19), a first rotating pair (21) is installed at the other end of the first connecting rod (20), a second connecting rod (22) is installed on the side wall of the rotation output part of the first rotating pair (21), a second rotating pair (23) is installed at the other end of the second connecting rod (22), and the top of the second rotating pair (23) is connected with the middle connecting plate (12).
  4. 4. A mobile parallel cooperative robot with constant force mechanism according to claim 1, characterized in that the constant force mechanism group (2) comprises a first constant force mechanism (6), a second constant force mechanism (7) and a third constant force mechanism (8), wherein the upper parts of the three mechanisms are connected with the cooperative platform (1) through a load connecting plate (5), and the lower parts of the three mechanisms are connected with a plane adjusting module (3) through an intermediate connecting plate (12).
  5. 5. A mobile parallel cooperative robot with a constant force mechanism according to claim 4, wherein the first constant force mechanism (6), the second constant force mechanism (7) and the third constant force mechanism (8) comprise a screw rod (29) and a nut (30) matched with the screw rod, the nut (30) is fixed on a moving platform (37), one end of the spring (31) is fixed on the moving platform (37), and the other end of the spring is connected with the movable pulley (33).
  6. 6. The movable parallel cooperative robot with the constant force mechanism, as set forth in claim 5, characterized in that the first constant force mechanism (6), the second constant force mechanism (7) and the third constant force mechanism (8) each comprise a constant force mechanism side plate (9) connected through the intermediate connecting plate (12), a second servo motor (25) is installed at the upper part of the constant force mechanism side plate (9), an output shaft of the second servo motor (25) drives a first synchronous wheel (26), the first synchronous wheel (26) and a second synchronous wheel (28) form a rotary transmission chain through a closed-loop synchronous belt (27), the second synchronous wheel (28) and the screw (29) are coaxially fixed, and the screw (29) is in screw pair fit with the nut (30).
  7. 7. A mobile parallel cooperative robot with a constant force mechanism according to claim 1, wherein the distance between the hinge point of the swing arm (35) and the fixed pulley (34) and the compression amount of the spring (31) satisfy the geometric constraint relation of a pulley block.
  8. 8. The movable parallel cooperative robot with the constant force mechanism according to claim 1, wherein the rubber wheel (38) at the moving end of the swing arm (35) is in rolling contact with a moving pair (36) so as to convert the circular arc motion of the swing arm (35) into the vertical motion of the moving pair (36), a load connecting plate (5) is mounted at the linear output part of the moving pair (36), and the load connecting plate (5) moves along the sliding rail (10) to drive the cooperative platform (1).
  9. 9. A constant force output control method for a mobile parallel cooperative robot with a constant force mechanism according to any one of claims 1 to 8, comprising the steps of: Converting the rotation motion of a screw rod (29) into the axial displacement of a nut (30), driving a moving platform (37) to pre-compress a spring (31), and realizing the pre-compression amount adjustment of the spring (31); When the swing arm (35) rotates around the hinge point, the rigid wire (24) sequentially passes through the movable pulley (33) and the fixed pulley (34) to transfer the elastic force of the spring (31) to the swing arm (35); Thirdly, utilizing a geometric constraint relation determined by the geometric structure of the pulley block and combining a stress balance equation to keep the output force of the constant force mechanism group (2) constant; and fourthly, realizing gravity self-adaptive compensation in the full stroke of the cooperation platform (1) moving along the vertical direction.

Description

Mobile parallel cooperative robot with constant force mechanism Technical Field The invention belongs to the technical field of robots, and particularly relates to a movable parallel collaborative robot with a constant force mechanism. Background In the man-machine cooperation assembly operation of large parts in the fields of aerospace, heavy equipment manufacturing and the like, the large parts have the characteristics of large size, high weight and severe requirements on the butt joint precision, and the conventional cooperation butt joint equipment and a technical system are difficult to adapt to actual operation requirements. The existing large-part man-machine cooperation butt joint operation is finished in a mode of combining a large amount of manual work with a simple bracket and a lifting appliance, an operator is required to apply a large acting force to regulate and control the gesture and the position of the part, the labor intensity is extremely high, the butt joint reference deviation and the part gesture unbalance are easily caused by subjectivity of manual operation, the problems of low assembly precision and poor consistency are caused, and even precise parts are possibly damaged due to hard contact collision. The conventional plane adjusting mechanism is mainly in a fixed arrangement mode, does not have mobility, is difficult to match with the transportation and field docking operation of large parts, and the conventional constant force output device is either narrow in constant force range and not adjustable in output force value or cannot be matched with a moving and posture adjusting mechanism in a cooperative manner, so that the problems of hard contact stress concentration and insufficient force control precision are easily caused in man-machine cooperation. In summary, the current industry lacks cooperative equipment integrating mobile walking, accurate plane gesture adjustment and wide-range constant force output, and the independent operation mode of each functional module cannot meet the requirements of large-component heavy-load, high-precision and flexible man-machine cooperation butt joint, which becomes a key bottleneck for restricting the manufacturing and assembly efficiency and quality improvement of high-end equipment, so that the development of a mobile parallel cooperative robot with multiple modules for cooperation and adaptation to a large-component operation scene is needed. The invention aims to overcome the defects of the prior art and provide a cooperative robot with large constant force output and continuously adjustable within a certain range. Disclosure of Invention The invention provides a movable parallel cooperative robot with a constant force mechanism, which aims to solve the problems existing in the prior art. The technical scheme of the invention is as follows: the movable parallel cooperative robot with the constant force mechanism is characterized by comprising a movable trolley, wherein a plane adjusting module is arranged on a bearing trolley body of the movable trolley, the top of the plane adjusting module is connected with a middle connecting plate, a constant force mechanism group is arranged on the middle connecting plate, a load connecting plate is arranged on the side part of the constant force mechanism group, and a cooperative platform is arranged on the load connecting plate; the rear pulley block constant force compensation mechanism consists of a stay wire positioning pin, a movable pulley, a fixed pulley, a swing arm and a rubber wheel in a cooperative manner; The pull wire locating pin and the fixed pulley are arranged on the side face of the moving platform, the rubber wheel is arranged at the moving end of the swing arm, one end of the rigid wire is fastened on the pull wire locating pin, the rubber wheel downwards winds around the movable pulley fixedly connected to the bottom end of the spring, upwards winds around the fixed pulley and is fixed on the rubber wheel to form a closed force transmission path, so that the resultant force of the swing arm and the rigid wire in the vertical direction is always kept constant when the swing arm is positioned at different angle positions, and the latter pulley block constant force compensation mechanism drives the spring to generate compression or extension deformation when the rigid wire is pulled to move along the Z direction, and the movable pulley shaft synchronously moves along with the deformation of the spring to realize constant force compensation and position self-adaption. Still further, the plane adjustment module includes a plane branched chain group installed in a longitudinal space between the intermediate connection plate and the carrier body, the plane branched chain group includes a first branched chain, a second branched chain and a third branched chain, and the first branched chain, the second branched chain and the third branched chain have the same structure from a fixed s