The invention discloses a flexible heavy-load six-degree-of-freedom parallel robot for high-precision follow-up butt joint. The flexible heavy-load six-degree-of-freedom parallel robot is composed of an air cylinder propelling device, a six-degree-of-freedom parallel robot body and an adsorption type hanging basket. Wherein the air cylinder propelling device mainly comprises four groups of air cylinders which are connected to the adsorption type hanging basket through fixed pulleys and steel wire ropes; the adsorption type hanging basket mainly comprises a hanging basket body, an umbilical cord connector and a vacuum suction cup. The weight of the umbilical connector and the weight of the six-degree-of-freedom parallel robot body are compensated through the air cylinder propelling device, passive separation of the umbilical connector and the six-degree-of-freedom parallel robot body is achieved, the irritability of the six-degree-of-freedom parallel robot to high internal stress is effectively improved, and high reliability in the fuel filling process is guaranteed; according to the invention, the bearing threshold of the system to contact impact is improved, and the problem of unbalance loading or overload of the system is effectively avoided. The method has great application potential in the aspect of a heavy-load six-degree-of-freedom parallel robot for realizing a high-precision docking task.
本发明公开了一种用于高精密随动对接的柔性重载六自由度并联机器人,其由气缸推进装置、六自由度并联机器人本体及吸附式吊篮三部分组成。其中,气缸推进装置主要包含四组气缸,通过定滑轮及钢丝绳连接至吸附式吊篮;吸附式吊篮主要包含吊篮、脐带连接器及真空吸盘。本发明通过气缸推进装置对脐带连接器及六自由度并联机器人本体的重量进行补偿,实现了脐带连接器与六自由度并联机器人本体的被动脱离,有效提升了六自由度并联机器人对高内应力的应激性,保证了燃料加注过程中的高可靠性;本发明提升了系统对接触冲击的承受阈值,有效避免系统出现偏载或过载问题。在实现高精密对接任务的重载六自由度并联机器人方面具有极大的应用潜力。
Flexible heavy-load six-degree-of-freedom parallel robot for high-precision follow-up butt joint
一种用于高精密随动对接的柔性重载六自由度并联机器人
2022-11-22
Patent
Electronic Resource
Chinese
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