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CN-121989208-A - Three-branched-chain six-degree-of-freedom mobile parallel composite robot

CN121989208ACN 121989208 ACN121989208 ACN 121989208ACN-121989208-A

Abstract

The utility model provides a six degrees of freedom mobile parallel compound robots of three-branched chain, includes the bearing automobile body that moves along with plane moving platform, bears automobile body installation six degrees of freedom and transfers appearance mechanism and automatically controlled module, and six degrees of freedom transfer the top of appearance mechanism and set up the movable platform module. The six-degree-of-freedom gesture adjusting mechanism comprises three branched chains, each branched chain comprises a transverse moving pair and a vertical moving pair which are connected through a cross slide block, the transverse moving pair is arranged on a first mounting plate and driven by a first screw rod, the vertical moving pair is arranged on a second mounting plate and driven by a second screw rod, the second mounting plate is connected with the movable platform module through a spherical hinge pair, and when the plane movable platform is in a locking state, the six-degree-of-freedom gesture adjusting mechanism realizes six-degree gesture adjustment of the movable platform module through cooperative movement of the transverse moving pair and the vertical moving pair of the three branched chains. The invention has the advantages of high load capacity, high rigidity and larger expansion ratio, and can maintain the stability of the whole machine and simultaneously consider the flexibility and the operation space.

Inventors

  • SUN TAO
  • WANG PANFENG
  • LIAN BINBIN

Assignees

  • 天津大学

Dates

Publication Date
20260508
Application Date
20260408

Claims (9)

  1. 1. The three-branched-chain six-degree-of-freedom mobile parallel compound robot is characterized by comprising a bearing vehicle body which moves along with a plane moving platform (4), wherein a six-degree-of-freedom gesture adjusting mechanism (5) and an electric control module are arranged on the bearing vehicle body, and a movable platform module (7) is arranged at the top of the six-degree-of-freedom gesture adjusting mechanism (5); The six-degree-of-freedom gesture adjusting mechanism (5) comprises a first branched chain (9), a second branched chain (11) and a third branched chain (14), wherein the first branched chain (9) is arranged on the front side of the frame (6), and the second branched chain (11) and the third branched chain (14) are respectively arranged on the left side and the right side of the frame (6); Each branched chain comprises a transverse moving pair and a vertical moving pair which are connected through a cross slide block (32), wherein the transverse moving pair is arranged on a first mounting plate (28) fixedly connected with a frame (6) and driven by a first screw rod (30), the vertical moving pair is arranged on a second mounting plate (33) and driven by a second screw rod (44), and the second mounting plate (33) is connected with a movable platform module (7) through a spherical hinge pair; the ball hinge pair comprises a second ball hinge seat (41) arranged on the second mounting plate (33) and a first ball hinge seat (21) arranged on the movable platform module (7), a ball hinge inner ball (39) and a ball hinge ball bearing (40) are arranged in the second ball hinge seat (41), and the first ball hinge seat (21) is connected with the second ball hinge seat (41) through bolts and is in rotary fit with the ball hinge inner ball (39); The plane moving platform (4) is in a locking state, and when the plane moving platform is in the locking state, the six-degree-of-freedom gesture adjusting mechanism (5) realizes six-degree-of-freedom gesture adjustment of the moving platform module (7) through cooperative movement of the transverse moving pair and the vertical moving pair of the three branched chains.
  2. 2. The six-degree-of-freedom mobile parallel compound robot with three branches according to claim 1, wherein the cross slide block (32) comprises a first cross shaft (47) and a second cross shaft (52), a first slide block (48) connected with a notch of the first screw rod (30) is arranged on the end face of the first cross shaft (47), a second slide block (53) connected with a notch of the second screw rod (44) is arranged on the end face of the second cross shaft (52), and the first cross shaft (47) and the second cross shaft (52) are movably connected through a connecting shaft (51).
  3. 3. The six-degree-of-freedom mobile parallel compound robot with three branches according to claim 2, wherein the notch of the first slider (48) and the notch of the second slider (53) are spatially perpendicular to each other.
  4. 4. The six-degree-of-freedom mobile parallel compound robot with three branches according to claim 2, wherein two ends of the connecting shaft (51) are mounted on bearings (50), the bearings (50) are mounted on the first cross shaft (47), bearing end covers (55) are mounted on two ends of the bearings (50), and the bearing end covers (55) are fixed on the first cross shaft (47) through bolts.
  5. 5. The three-branched six-degree-of-freedom mobile parallel compound robot of claim 1, wherein the transverse moving pair further comprises a first guide rail seat (29), a second guide rail seat (36) and a first guide rail module (31) which are fixed on the first mounting plate (28) through bolts, the first guide rail seat (29) and the second guide rail seat (36) are respectively fixed at two ends of the first lead screw (30), a branched first servo motor (34) is fixed on the first mounting plate (28) through bolts, and the first lead screw (30) and the branched first servo motor (34) are connected through a first synchronous belt module (35).
  6. 6. The three-branched six-degree-of-freedom mobile parallel compound robot of claim 1 wherein the vertical mobile pair further comprises a third guide rail seat (43), a fourth guide rail seat (46) and a second guide rail module (45) which are fixed on the second mounting plate (33) through bolts, wherein the third guide rail seat (43) and the fourth guide rail seat (46) are respectively fixed on two ends of a second lead screw (44), the branched second servo motor (37) is fixed on a second servo motor bracket (38) through bolts, the second servo motor bracket (38) is fixed on the second mounting plate (33) through bolts, and the second lead screw (44) is connected with the branched second servo motor (37) through a second synchronous belt module (42).
  7. 7. The three-branched six-degree-of-freedom mobile parallel compound robot of claim 1 wherein the planar mobile platform (4) comprises a first driving wheel set (8), a second driving wheel set (10), a third driving wheel set (12) and a fourth driving wheel set (13) which are connected to the bottom of the frame (6) through bolts, and each driving wheel set comprises a Mecanum wheel (27) independently driven by a wheel set servo motor (23).
  8. 8. The six-degree-of-freedom mobile parallel compound robot with three branches, as set forth in claim 7, wherein the output end of the wheelset servo motor (23) is connected with a planetary reducer (24), and the output end of the planetary reducer (24) drives the Mecanum wheel (27) through a transmission seat.
  9. 9. The three-branched six-degree-of-freedom mobile parallel composite robot of claim 8, wherein the transmission seat is arranged in the wheel set support (26), and a damping module (25) for damping is arranged between the transmission seat and the wheel set support (26).

Description

Three-branched-chain six-degree-of-freedom mobile parallel composite robot Technical Field The invention belongs to the technical field of robots, and particularly relates to a three-branched-chain six-degree-of-freedom mobile parallel composite robot. Background At present, with the rapid development of the fields of aerospace, energy equipment, large-scale mechanical manufacturing and the like, the development level of the large-scale equipment has become an important index for measuring the manufacturing capacity, wherein the assembly of large parts is a key link for influencing the overall development quality and efficiency. In the prior art, most enterprises still mainly rely on hand-operated brackets or hoisting equipment to assemble large parts, the assembly mode has defects in the aspects of space pose adjustment freedom degree and precision, the assembly process highly depends on manual experience, the suitability of multi-type products is poor, and the high-efficiency assembly requirement is difficult to meet. The large part generally has the characteristics of large volume and heavy weight, and the conventional mobile assembly equipment has certain limitations in bearing capacity, structural rigidity and movement performance. On one hand, the device has insufficient load capacity, is difficult to meet the requirements of carrying and posture adjustment of heavy parts, on the other hand, has low structural rigidity, is easy to deform in the operation process to influence the assembly precision, and has limited expansion and contraction ratio, poor adaptability and difficult coverage of various working condition requirements. In order to meet the high-efficiency, accurate and flexible assembly requirements of large components, the design of the autonomous mobile robot with large load capacity, high rigidity characteristic and large expansion ratio is an effective solving way. At present, part of mobile robots only have simple grabbing or carrying functions, and complex assembly requirements are difficult to meet. For example, the robot disclosed in CN 214520162U mainly realizes lifting and lateral displacement through a screw rod, has limited degrees of freedom, and cannot complete precise docking tasks at multiple angles. In addition, many mobile assembly robots have the problem of insufficient rigidity due to the adoption of a serial arm structure, such as the serial structure of a first arm, a second arm and a third arm which are sequentially connected and the integrated multi-joint serial mechanical arm disclosed in CN 119589634A, which are adopted in patent CN 105500333a, the open chain structure of the integrated multi-joint serial mechanical arm is easy to deform when bearing a large load, the rigidity is poor, and the requirements of high precision and high stability required by large-scale component assembly are difficult to meet. Moreover, the six-degree-of-freedom mobile assembly robot partially adopting the six-degree-of-freedom gesture adjusting mechanism has design defects, such as the scheme of the patent CN 104802151A places the parallel platform on the lifting mechanism and then is integrally installed on the mobile platform, the vertically stacked structure causes the center of gravity of the whole machine to be too high, the stability is poor when carrying large-size and heavy-weight workpieces, the mobile assembly is not facilitated, and the robot is difficult to be suitable for a narrow space with high limit. The invention aims to overcome the defects of the prior art and provide an autonomous mobile robot with large load, high rigidity and large expansion ratio. Disclosure of Invention The invention provides a three-branched-chain six-degree-of-freedom mobile parallel compound robot for solving the problems existing in the prior art. The technical scheme of the invention is as follows: The three-branched-chain six-degree-of-freedom mobile parallel composite robot comprises a bearing vehicle body which moves along with a plane moving platform, wherein a six-degree-of-freedom gesture adjusting mechanism and an electric control module are arranged on the bearing vehicle body, and a movable platform module is arranged at the top of the six-degree-of-freedom gesture adjusting mechanism; The six-degree-of-freedom gesture adjusting mechanism comprises a first branched chain, a second branched chain and a third branched chain, wherein the first branched chain is arranged on the front side of the frame, and the second branched chain and the third branched chain are respectively arranged on the left side and the right side of the frame; Each branched chain comprises a transverse moving pair and a vertical moving pair which are connected through a cross slide block, wherein the transverse moving pair is arranged on a first mounting plate fixedly connected with the frame and driven by a first screw rod, the vertical moving pair is arranged on a second mounting plate and driven by a second