Multi-degree-of-freedom parallel mechanism drilling and riveting robot

• Main Authors: ZHENG YAOHUI, HOU NING, LI WENQIANG, LIU HONGJUN, WANG MINGHAI, JI LI, KONG XIANJUN, WANG QIJIA, LI ZHENGQIANG, WANG XUEZHI
• Format: Patent
• Language: Chinese; English
• Published: 18.10.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a multi-degree-of-freedom parallel mechanism drilling and riveting robot, and belongs to the technical field of manipulators. The multi-degree-of-freedom parallel mechanism drilling and riveting robot comprises a transverse truss, a longitudinal truss, a double-corner mechanism and a parallel mechanism drilling and riveting end effector. The double-corner mechanism comprises a door-shaped connecting frame arranged on the longitudinal truss, a sliding block which is rotationally arranged on the door-shaped connecting frame and is provided with a rotating shaft, and a rectangular frame which is arranged below the sliding block with the rotating shaft in a sliding mode, and first rotating disc motors are arranged on the left side and the right side of the door-shaped connecting frame; a second rotary disc motor connected with a sliding block with a rotating shaft is arranged at the top of the door-shaped connecting frame, the parallel mechanism drilling and riveting end executor comprises