Flexible omnidirectional intelligent mobile equipment for series-parallel processing robot

Abstract

The invention discloses flexible omnidirectional intelligent mobile equipment for a series-parallel processing robot. The equipment enters a moving mode, and before the robot moves to a designated station, a state that a passive supporting unit (400) independently supports a chassis unit (100) is switched into the state that an omnidirectional moving unit (200) independently supports the chassis unit (100); the omnidirectional moving unit (200) moves the robot to a specified station; after the equipment arrives at the designated station, the equipment enters an operating mode, and the state that the chassis unit (100) is independently supported by the omnidirectional moving unit (200) is switched into the state that a passive supporting unit (400) and a force sensing supporting unit (500)jointly support the chassis unit (100); and the force sensing supporting unit (500) can monitor a ground supporting force in real time, the ground supporting force is adjusted when a virtual leg stateoccurs, and stable supporting in a robot machining process is achieved.

Description

technical field [0001] The invention relates to a flexible omnidirectional intelligent mobile equipment for hybrid processing robots, which belongs to the technical fields of intelligent manufacturing such as rail transportation, aerospace, ship heavy industry, and weapon equipment. Background technique [0002] Key technologies such as the design, manufacture, assembly, and testing of large and complex components are priority topics in the key development areas of national intelligent manufacturing. Such components usually have the characteristics of large size, complex shape, high requirements for positional accuracy and surface quality, and thin-walled structures. , which poses a serious challenge to the processing capacity of basic equipment for processing and manufacturing. The main means of traditional processing is the gantry-type multi-axis CNC machine tool, but the size of the required machine tool is large and expensive, and there are relatively single processing o...

AI Technical Summary

Problems solved by technology

[0004] In recent years, the intelligent manufacturing technology of mobile robots has been continuously developed, the functional performance parameters of the system have been continuously improved, and the scope of operation applications has been continuously expanded. At the same time, some short-term problems are gradually exposed: mobile robots have multiple modes, and the functional performance requirements of equipment in each mode are different. The existing single equipment cannot meet the multi-functional performance requirements of robots in multiple modes at the same time. , usually requires multiple sets of additional equipment for assistance to achieve efficient switching between multiple modes

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