Adsorption parallel machining robot

Patent metadata

Field	Value
Publication number	US-12485529-B2
Application number	US-202117610966-A
Country	US
Kind code	B2
Filing date	Feb 19, 2021
Priority date	Jun 28, 2020
Publication date	Dec 2, 2025
Grant date	Dec 2, 2025

Abstract

An adsorption parallel machining robot includes a machining module and an adsorption module. The machining module includes a fixed platform, a movable platform, multiple branch chains and end effector; multi-degree-of-freedom motion is achieved through linear motion of the multiple branch chains. The adsorption module includes multiple fixed adsorption branch chains, each of which includes a connecting bracket, an adsorption device, an adsorption locking device, an omnidirectional wheel and a driving device, and is used for achieving adsorption and movement of the robot on the surface of a workpiece. Besides the locking function, the locking device additionally has a cleaning function, and residual cutting chips on the robot can be removed. The robot has the beneficial effects of flexible local posture adjustment, high processing efficiency, wide processing range, easy disassembly and assembly, good portability and low energy consumption, which can meet the demand for mobile processing of large components.

First claim

The invention claimed is:

1 . An adsorption parallel machining robot comprising:
a machining module; an adsorption module; wherein the machining module comprises a fixed platform, a movable platform, a plurality of branch chains and an end effector, the plurality of branch chains are disposed in an encircling manner and connected between the movable platform and the fixed platform, and the end effector is mounted on the movable platform; and wherein the adsorption module comprises a plurality of fixed adsorption branch chains to enable adsorption and fixation, movement, and cutting chips cleaning of the adsorption parallel machining robot on a surface of a workpiece, wherein the plurality of fixed adsorption branch chains are connected to the fixed platform of the machining module by bolt fasteners, wherein each fixed adsorption branch chain of the plurality of fixed adsorption branch chains comprises a connecting bracket, a driving device, an omnidirectional wheel, and an adsorption device in which the connecting bracket is fixedly connected with the fixed platform, wherein the driving device and the adsorption device are fixedly mounted at a lower part of the connecting bracket, and wherein an output shaft of the driving device is connected with the omnidirectional wheel.

2 . The adsorption parallel machining robot of claim 1 , wherein the end effector comprises a spindle head and a machining device disposed at a lower part of the spindle head.

3 . The adsorption parallel machining robot of claim 2 , wherein the machining device comprises one or more of a polishing device, a grinding device, an additive manufacturing device, and a welding device.

4 . The adsorption parallel machining robot of claim 1 , wherein an adsorption method of the adsorption device is electromagnetic adsorption.

5 . The adsorption parallel machining robot of claim 1 , wherein a friction adsorption locking device is further fixedly mounted at the lower part of the connecting bracket.

6 . The adsorption parallel machining robot of claim 5 , wherein the friction adsorption locking device comprises a lifting device, a rotating device, and a friction disc; the lifting device is fixedly mounted at the lower part of the connecting bracket and is connected with the rotating device, and the rotating device is equipped with a friction disc at a lower end thereof; the friction disc is equipped with a high friction coefficient material on a lower surface thereof, and a soft brush on an upper surface thereof.

7 . The adsorption parallel machining robot of claim 2 , wherein an adsorption method of the adsorption device is electromagnetic adsorption.

8 . The adsorption parallel machining robot of claim 3 , wherein an adsorption method of the adsorption device is electromagnetic adsorption.

9 . The adsorption parallel machining robot of claim 2 , wherein a friction adsorption locking device is further fixedly mounted at the lower part of the connecting bracket.

10 . The adsorption parallel machining robot of claim 3 , wherein a friction adsorption locking device is further fixedly mounted at the lower part of the connecting bracket.

11 . An adsorption parallel machining robot comprising:
a machining module means for drilling and milling structural parts, wherein the machining module includes a fixed platform, a movable platform, a plurality of branch chains and an end effector, the plurality of branch chains are disposed in an encircling manner and connected between the movable platform and the fixed platform, and the end effector is mounted on the movable platform; and an adsorption module including a plurality of fixed adsorption branch chain means for enabling adsorption and fixation, movement, and cleaning of cutting chips of the adsorption parallel machining robot on a surface of a workpiece, wherein the plurality of fixed adsorption branch chain means are connected to the fixed platform of the machining module by bolt fasteners, wherein each fixed adsorption branch chain means of the plurality of fixed adsorption branch chain means comprises a connecting bracket, a driving device, an omnidirectional wheel, and an adsorption device in which the connecting bracket is fixedly connected with the fixed platform, wherein the driving device and the adsorption device are fixedly mounted at a lower part of the connecting bracket, and wherein an output shaft of the driving device is connected with the omnidirectional wheel.

12 . The adsorption parallel machining robot of claim 11 , wherein the end effector comprises a spindle head and a machining device disposed at a lower part of the spindle head.

13 . The adsorption parallel machining robot of claim 12 , wherein the machining device comprises one or more of a polishing device, a grinding device, an additive manufacturing device, and a welding device.

14 . The adsorption parallel machining robot of claim 11 , wherein an adsorption method of the adsorption device is electromagnetic adsorption.

15 . The adsorption parallel machining robot of claim 11 , wherein a friction adsorption locking device is further fixedly mounted at the lower part of the connecting bracket.

16 . The adsorption parallel machining robot of claim 15 , wherein the friction adsorption locking device comprises a lifting device, a rotating device, and a friction disc; the lifting device is fixedly mounted at the lower part of the connecting bracket and is connected with the rotating device, and the rotating device is equipped with a friction disc at a lower end thereof; the friction disc is equipped with a high friction coefficient material on a lower surface thereof, and a soft brush on an upper surface thereof.

17 . The adsorption parallel machining robot of claim 12 , wherein an adsorption method of the adsorption device is electromagnetic adsorption.

18 . The adsorption parallel machining robot of claim 13 , wherein an adsorption method of the adsorption device is electromagnetic adsorption.

19 . The adsorption parallel machining robot of claim 12 , wherein a friction adsorption locking device is further fixedly mounted at the lower part of the connecting bracket.

20 . The adsorption parallel machining robot of claim 13 , wherein a friction adsorption locking device is further fixedly mounted at the lower part of the connecting bracket.

Assignees

• Univ Tsinghua

Inventors

• Xie Fugui
• Liu Xinjun
• Ma Zijian

Classifications

• B25J11/005 Primary

  Manipulators for mechanical processing tasks · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B25J9/0069

  with kinematics chains of the type universal-prismatic-universal · CPC title

• B25J9/0063

  with kinematics chains having an universal joint at the base · CPC title

• B25J9/003 Primary

  having parallel kinematics · CPC title