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Multi-degree-of-freedom series-parallel posture-adjusting assembly robot

A robot and degree-of-freedom technology, applied in manipulators, manufacturing tools, etc., can solve problems such as the inability to accurately adjust the attitude of large spacecraft, and achieve the effect of ensuring safety and reliability, and flexible lifting process

Pending Publication Date: 2022-07-05
YANSHAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, it is impossible to accurately adjust the attitude of large spacecraft

Method used

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  • Multi-degree-of-freedom series-parallel posture-adjusting assembly robot

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Embodiment Construction

[0034] In order to detail the technical content, structural features, achieved objects and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0035] The present invention provides a multi-degree-of-freedom hybrid attitude-adjusting assembly robot, such as figure 1 and figure 2 As shown, it includes a pitching and tipping module 1 , an azimuth turning module 2 , a lifting module 3 , an omnidirectional moving module 4 , a supporting leg 5 and a supporting and parking module 6 .

[0036] like image 3 and Figure 4 As shown, the pitching and dumping module 2 is arranged on the omnidirectional moving frame of the omnidirectional moving module 4, and the pitching and dumping module includes a pitching reversing frame 1-1, a pitching support frame 1-2, a pitching sliding table 1-3, a pitching Guide rail 1-4, pitching screw 1-5, pitching motor 1-6, support frame lower support 1-7, pitching slider 1-8 and reve...

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Abstract

The invention relates to a multi-degree-of-freedom series-parallel attitude-adjusting assembly robot which comprises a pitching dumping module, an orientation rotation module, a lifting module, an omni-directional moving module, supporting legs and a supporting parking module, the pitching dumping module is arranged on an omni-directional moving frame of the omni-directional moving module, and the orientation rotation module is arranged on the lifting module in a sliding mode through a rotation supporting frame; supporting legs are evenly distributed at the corners of the omni-directional moving module, and a supporting parking module is arranged in the middle of each set of supporting legs. The pitching dumping module can drive the posture adjusting component to turn over back and forth by 0-95 degrees through a crank sliding block, the direction rotation module can achieve 360-degree rotation action, meanwhile, the lifting module is driven through a lead screw and a nut, enough thrust can be provided, it can be guaranteed that the lifting process is flexible and stable, in addition, the supporting legs have six degrees of freedom, and the supporting legs are convenient to use. Movement, pitching, rolling, yawing and the like of the supporting legs in three directions can be achieved, and safety and reliability of the posture adjusting component in the posture adjusting process are guaranteed.

Description

technical field [0001] The invention belongs to the technical field of large component docking and assembling equipment in the field of heavy equipment manufacturing, and particularly relates to a multi-degree-of-freedom hybrid attitude-adjusting assembly robot. Background technique [0002] When transporting and assembling large spacecraft, it is often necessary to adjust the attitude of the large spacecraft with multiple degrees of freedom, so that the large spacecraft can be assembled smoothly. Due to the large mass and volume of large spacecraft, it is generally impossible to accurately adjust the attitude manually, so it is necessary to use automatic attitude adjustment equipment for transportation and attitude adjustment. The existing large-load automatic attitude adjustment equipment can usually only realize the adjustment of six degrees of freedom on the macro level. The rotation angle of the direction can be adjusted; the height of the large spacecraft can be adjus...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J19/00
CPCB25J11/00B25J19/00
Inventor 姚建涛刘毅丰宗强韩伟达常嘉琦刘洋
Owner YANSHAN UNIV
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