The invention discloses a movable type longhole in-situ machining robot. The movable type longhole in-situ machining robot comprises a positioning and clamping module, a global positioning module, a six-degree-of-freedom parallel connection module and a two-degree-of-freedom machining and detecting module, wherein the robot can be flexibly positioned and stably supported in a longhole through thepositioning and clamping module; the global positioning module builds the mapping relation between a machining standard coordinate system and a global coordinate system by measuring the position and attitude of the machining standard coordinate system relative to the global coordinate system; the six-degree-of-freedom parallel connection module is fixedly connected to the lower part of the positioning and clamping module, the adjusting capacity of six-degree-of-freedom is achieved, and the position and attitude of a movable platform can be adjusted; and the two-degree-of-freedom machining anddetecting module is installed on the movable platform of the six-degree-of-freedom parallel connection module, the axial and radial feeding capacity is achieved, and a tail end tool can rotates at thehigh speed and the longhole internal characteristics are subjected to boring machining. The movable type longhole in-situ machining robot can be flexibly positioned and stably supported in the longhole, the boring machining and on-line detecting of the longhole internal characteristics are realized, and compared with existing machining equipment, the movable type longhole in-situ machining robotis more flexible and efficient in the characteristic machining.
本发明公开了一种移动式深孔原位加工机器人,包括:定位与卡紧模块,可实现机器人在深孔内部的灵活定位及稳定支撑;全局定位模块,通过测量加工基准坐标系相对全局坐标系位置和姿态,建立加工基准坐标系与全局坐标系之间的映射关系;六自由度并联模块,固连于定位与卡紧模块下方,具有六个自由度的调整能力,可以调整动平台的位置和姿态;两自由度加工与检测模块,安装在六自由度并联模块动平台上,具有轴向和径向进给能力,可实现末端刀具高速旋转并对深孔内部特征进行镗孔加工。该机器人可在深孔内部灵活定位并稳定支撑,最终实现深孔内部特征的镗孔加工和在线检测,相比现有的加工装备该机器人在此类特征加工上更灵活、更高效。
Movable type longhole in-situ machining robot
一种移动式深孔原位加工机器人
2020-10-30
Patent
Electronic Resource
Chinese
LEG DEVICE FOR LEG TYPE MOVABLE ROBOT, AND METHOD OF CONTROLLING LEG TYPE MOVABLE ROBOT
European Patent Office | 2019
|