CN109333547B - Multi-parallel co-fused large-curved-surface part machining equipment and machining method - Google Patents
Multi-parallel co-fused large-curved-surface part machining equipment and machining method Download PDFInfo
- Publication number
- CN109333547B CN109333547B CN201811202697.5A CN201811202697A CN109333547B CN 109333547 B CN109333547 B CN 109333547B CN 201811202697 A CN201811202697 A CN 201811202697A CN 109333547 B CN109333547 B CN 109333547B
- Authority
- CN
- China
- Prior art keywords
- parallel
- rotating head
- processing
- supporting
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 44
- 238000003754 machining Methods 0.000 title claims description 24
- 238000012545 processing Methods 0.000 claims abstract description 88
- 238000005498 polishing Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims description 50
- 230000002452 interceptive effect Effects 0.000 claims description 40
- 230000008569 process Effects 0.000 claims description 33
- 230000000007 visual effect Effects 0.000 claims description 15
- 238000003384 imaging method Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 11
- 238000003181 co-melting Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 238000009826 distribution Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- 230000004927 fusion Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 8
- 230000036544 posture Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000003672 processing method Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 102100021935 C-C motif chemokine 26 Human genes 0.000 description 1
- 101000897493 Homo sapiens C-C motif chemokine 26 Proteins 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The equipment comprises a parallel bearing device, a hybrid robot device, a grinding and polishing integrated device and a co-fusion control detection system, wherein the parallel bearing device comprises a supporting base, a UPU driving chain, a constraint supporting chain and a turntable platform, and the hybrid robot device comprises a supporting frame, a UPS driving chain, a UP constraint branched chain, a movable platform and a two-degree-of-freedom rotating head. During working, a blank piece is clamped on the turntable platform, and the grinding and polishing integrated device is assembled at the tail end of the two-degree-of-freedom rotating head. The co-fusion control detection system enables the parallel bearing device and the parallel robot device to be mutually matched, actively compensates the processing error, and is mutually co-fused with people and the external environment, so that the one-time intelligent processing from blank modeling, grinding to polishing of large curved surface parts or complex curved surface parts is realized. The invention has the characteristics of stable structure, high precision, large rigidity and coordination and fusion among multiple devices.
Description
Technical Field
The invention relates to large-curved-surface part processing equipment and a processing method, in particular to multi-parallel co-fused large-curved-surface part processing equipment and a processing method, and belongs to the technical field of precise and intelligent processing equipment.
Background
In order to meet the requirements of economic and social development and national defense construction on major technical equipment, China sets a development route which deeply fuses a new generation of information technology and manufacturing industry as a main line and promotes intelligent manufacturing as a main attack direction. In the field of high-precision and intelligent processing, the problems of low processing precision, heavy processing and assembly and poor processing flexibility exist in the common processing mode of a traditional numerical control machine tool or a serial mechanical arm, and the application requirements of the current technical development can not be met more and more. The parallel robot has the advantages of compact overall structure, high rigidity and small movement error, and has been well applied to a plurality of manufacturing and assembling fields.
However, compared with the serial robot, the single parallel robot is greatly limited in working stroke and working angle due to the limitation of the mechanism thereof, and the defects are particularly obvious when a large-curved part or a complex-curved part is machined.
Therefore, it is necessary to develop a functional processing device which can work in cooperation with a working environment, human natural interaction, multiple robots and adapt to a complex dynamic environment autonomously.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the multi-parallel co-fusion large-curved-surface part processing equipment and the processing method, which can realize the cooperative operation of multiple processing devices, realize the natural interaction between the processing equipment and an operation environment and the autonomous adaptation of a dynamic environment, effectively improve the intellectualization of the processing equipment and the efficiency of part processing, have compact integral equipment mechanism, higher rigidity and processing precision, strong bearing capacity and small motion accumulated error, and simultaneously greatly improve the safety of the integral equipment by an intelligent co-fusion control detection system.
The technical scheme adopted by the invention for solving the technical problems is as follows: a multi-parallel-connection co-fusion large-curved-surface part processing device comprises a parallel bearing device, a parallel-connection robot device, a polishing integrated device and a co-fusion control detection system, wherein the parallel bearing device and the parallel-connection robot device are fixedly arranged on a mounting base; the parallel bearing device comprises a supporting base, four UPU driving chains, a turntable platform and a constraint supporting chain, wherein the four UPU driving chains are uniformly distributed and connected between the turntable platform and the supporting base, two ends of each UPU driving chain are respectively connected with the supporting base and the supporting platform through a U-shaped pair I and a U-shaped pair II, and the upper end of each UPS driving chain is connected with the movable platform through a ball hinge; the constraint support chains are distributed in the center positions of the turntable platform and the support base, the lower ends of the constraint support chains are fixed on the support base, the upper ends of the constraint support chains are connected with the turntable platform through hooke hinges, and the blank is clamped on the turntable platform; the hybrid robot device comprises a support frame, three UPS driving chains, a movable platform, a UP restraint branched chain and a two-degree-of-freedom rotating head, wherein the three UPS driving chains are uniformly arranged between the movable platform and the support frame; UP constraint branched chains are distributed at the central positions of the movable platform and the support frame, the upper ends of the UP constraint branched chains are fixedly connected with the movable platform, and the lower ends of the UP constraint branched chains are connected with the support frame through U-shaped pairs IV; the two-degree-of-freedom rotating head is connected with the movable platform through a turntable bearing, and the grinding and polishing integrated device is arranged at the tail end of the two-degree-of-freedom rotating head; the co-fusion control detection system comprises an interactive display, an industrial personal computer, a motion control card, a servo driver, a visual processor, a communication module, a visual camera, a temperature sensor, a three-dimensional imaging scanner, a grating ruler, an attitude gyroscope and a laser tracker, wherein the visual camera is arranged outside the two-freedom-degree rotating head, detects the position condition of personnel in the working process and simultaneously transmits the detection result to the industrial personal computer through the visual processor; the temperature sensor is arranged on the turntable platform, is transmitted to the industrial personal computer through the communication module and displays on the interactive display in real time; the three-dimensional imaging scanner is arranged behind the grinding and polishing integrated device and used for scanning and modeling a blank before processing; the two attitude gyroscopes are respectively arranged on the turntable platform and the movable platform to detect the pose change in the working process; grating rulers are arranged on the UPU driving chain and the UPS driving chain respectively, and the length change of the UPU driving chain and the UPS driving chain is detected in real time; the laser tracker is arranged on the mounting base and used for tracking and positioning the spatial position of the tail end of the grinding and polishing integrated device; the motion conditions of the execution part are detected in real time by the grating ruler, the attitude gyroscope and the laser tracker, and are transmitted to the industrial personal computer through the communication module, the industrial personal computer compares the feedback signals with preset parameters, a processing compensation program is generated and input to the motion control card again, and the control card drives the servo driver to drive the UPS driving chain and the UPU driving chain to move.
A method for processing a large-curved-surface part by multi-parallel co-fusion comprises the following specific processing steps of firstly finishing assembling the whole equipment according to relative positions, wherein the whole equipment is in an initial state:
1) clamping a blank on a parallel bearing device, adjusting equipment to a man-machine interaction mode through an interactive display, and entering a blank scanning program; at the moment, the pose changes of the parallel bearing device and the parallel robot device can be adjusted at will through the interactive display, the three-dimensional imaging scanner is opened, the poses of the parallel bearing device and the parallel robot device are adjusted, the three-dimensional model of the whole blank is scanned and modeled, and the result is displayed on the interactive display; 2) according to the method, parameters of a finished product to be processed are input into an industrial personal computer, the system can automatically compare with three-dimensional scanning results of blank pieces and form a processing program of parts, according to detection results of a temperature sensor, the system can automatically correct the processing program for the first time according to the attributes of the blank pieces, and meanwhile, a corrected processing schematic diagram is displayed on an interactive display; 3) adjusting the equipment to a processing mode through an interactive display to start the parallel bearing device and the parallel robot device, transmitting a generated processing program to a servo controller through a motion control card by an industrial personal computer, starting to process a blank by contract operation of the parallel bearing device and the parallel robot device, and finishing grinding and polishing programs of parts by the grinding and polishing integrated device under the condition of one-time positioning in the processing process; meanwhile, in the processing process, the grating ruler, the attitude gyroscope and the laser tracker detect the motion condition of the execution part in real time and transmit the motion condition to the industrial personal computer through the communication module, and the industrial personal computer compares the feedback signals with preset parameters and generates a processing compensation program to be input to the motion control card again; in the processing process, when a detection result shows a large error, namely a motion instability state, the interactive display can display an alarm signal and stop the motion of the parallel bearing device and the parallel robot device, so that accidents are prevented; meanwhile, the visual camera which is started in real time can detect the position of a person in the working process in time, when the position of the person is detected to reach a set value, the interactive display displays a warning or alarm signal, and meanwhile, the device carries out corresponding action; 4) after the machining is finished, adjusting the equipment to a human-computer interaction mode through the interactive display, detecting the part through the three-dimensional imaging scanner, and correcting through the machining steps 1) to 3) when the part is unqualified; and after the condition is qualified, the whole equipment is recovered to the initial state.
Compared with the prior art, the processing equipment and the processing method for the large-curved-surface part with the multiple parallel-connection co-fusion have the advantages that the multiple parallel-connection mechanisms are used as the main bodies of the processing equipment for the large-curved-surface part, and the processing equipment is compact in structure, high in rigidity, strong in bearing capacity and small in motion accumulated error; the parallel bearing device and the parallel robot device work in a coordinated mode, working space of a single serial or parallel mechanism is widened, and flexibility is higher in working stroke and working posture. Many parts designed in the mechanism all adopt a split type connection mode, and on the premise of ensuring the precision, the manufacturing cost of the equipment is reduced to a great extent. The man-machine interaction mode and the processing mode are freely switched, one-time processing from blank scanning modeling to grinding to polishing of the workpiece is achieved, and the processing efficiency is improved to a great extent. The arrangement of the grating ruler, the attitude gyroscope, the encoder and the laser tracker ensures that the whole processing equipment forms a closed loop structure through motion control, greatly improves the processing precision of parts, and can timely stop the motion of the processing equipment when the processing equipment has abnormal motion or unstable motion, thereby improving the safety of the system. In addition, the whole system considers the action of human and external environment on the processing of the large-curved-surface part, realizes the interactive co-fusion of human, machine and external environment, and realizes the intelligent precision processing of equipment. The device greatly makes up the defects of the existing processing device and method in the processing process of large-curved-surface parts or complex-curved-surface parts, and is the development direction of future intelligent manufacturing.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of the whole equipment according to one embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a parallel bearing device in an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a hybrid robot apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a support frame in an embodiment of the invention.
Fig. 5 is a schematic structural diagram of a movable platform in an embodiment of the present invention.
Fig. 6 is a schematic diagram of a structure of a co-fusion control detection system according to an embodiment of the present invention.
In the figure: 1. the device comprises a mounting base, 2, a parallel bearing device, 2-1, a supporting base, 2-2, a UPU driving chain, 2-2-1, a U-shaped pair I, 2-2-2, a servo electric cylinder, 2-2-3, a U-shaped pair II, 2-3, a turntable platform, 2-3-1, a supporting platform, 2-3-2, a rotating device, 2-3-3, a clamp, 2-4, a constraint supporting chain, 2-4-1, a U-shaped pair III, 2-4-2, a supporting column, 3, a blank, 4, a hybrid robot device, 4-1, a supporting frame, 4-1-1, a main body frame, 4-1-2, a U-shaped frame I, 4-1-3, a telescopic rod sleeve locking and positioning sleeve, 4-1-4, 4-1-5 parts of U-shaped auxiliary support frame, 4-1-6 parts of U-shaped auxiliary inner support frame, 4-2 parts of U-shaped auxiliary outer support frame, 4-2 parts of UPS driving chain, 4-2-1 parts of servo motor, 4-2-2 parts of motor connecting seat, 4-2-3 parts of telescopic rod sleeve, 4-2-4 parts of telescopic rod, 4-2-5 parts of ball hinge, 4-3 parts of movable platform, 4-3-1 parts of U-shaped frame II, 4-3-2 parts of movable platform main body sleeve, 4-4 parts of two-freedom degree rotating head, 4-4-1 parts of first-order rotating head, 4-4-2 parts of second-order rotating head, 4-4-3 parts of rotating disc bearing, 4-5 parts of UP constraint branch chain, 4-5-1 parts of straight-line slide rail, 4-5-2 parts of a support rod, 4-5-3 parts of a motor support sleeve, 5 parts of a grinding and polishing integrated device, 6 parts of a laser tracker, 7 parts of a temperature sensor, 8-1 parts of a first attitude gyroscope, 8-2 parts of a second attitude gyroscope, 9 parts of a visual camera, 10 parts of a three-dimensional imaging scanner, 11-1 parts of a first grating ruler, 11-2 parts of a second grating ruler.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
For clarity of description, in particular, U denotes a U-shaped pair, with two degrees of freedom of rotation; p represents a moving pair having a certain degree of freedom in one direction; s represents a ball pair having rotational degrees of freedom in three directions.
Fig. 1 to 6 show schematic structural diagrams of a preferred embodiment of the present invention, in which a multiple parallel-connection co-melting large curved surface part processing device includes a parallel-connection carrying device 2, a parallel-connection robot device 4, a polishing and grinding integrated device 5 and a co-melting control detection system, the parallel-connection carrying device 2 and the parallel-connection robot device 4 are jointly fixed on a mounting base 1. The parallel bearing device 2 and the parallel-serial robot device 4 can be cooperatively matched in motion postures in the working process, and in the large-curved-surface part processing process, a single parallel-serial or parallel-serial robot processing device cannot complete one-time processing of the whole part in the working space of the parallel-serial or parallel-serial robot processing device. And the cooperative motion of multiple mechanisms can expand the processing range in the working process, realize the one-time processing of parts, reduce the processing error caused by repeated positioning, and simultaneously improve the processing efficiency of the parts.
As shown in fig. 1 and 2, the parallel bearing device 2 is used for providing attitude compensation in a machining process and comprises a supporting base 2-1, four UPU driving chains 2-2, a turntable platform 2-3 and a constraint supporting chain 2-4. The distribution radius of the hinge connection points on the supporting base 2-1 is larger than that of the hinge connection points on the turntable platform 2-3. The four UPU driving chains 2-2 are completely identical in structure, are uniformly arranged between the turntable platform 2-3 and the supporting base 2-1, and are used for providing posture change during working, and comprise a U-shaped pair I2-2-1, a servo electric cylinder 2-2-2 and a U-shaped pair II 2-2-3; the servo electric cylinder 2-2-2 can also be replaced by a servo linear module consisting of a servo motor and a ball screw pair, the four servo electric cylinders 2-2-2 work cooperatively when in work, and the turntable platform 2-3 can be provided to be in different angle postures through the change of the length. The turntable platform 2-3 comprises a supporting platform 2-3-1, a rotating device 2-3-2 and a clamp 2-3-3, two ends of a servo electric cylinder 2-2-2 are respectively fixedly connected with a supporting base 2-1 and the supporting platform 2-3-1 through a U-shaped pair I2-2-1 and a U-shaped pair II 2-2-3, the rotating device 2-3-2 is arranged on the supporting platform 2-3-1, the clamp 2-3-3 is fixed on the rotating device 2-3-2, a first attitude gyroscope 8-1 and a temperature sensor 7 are further arranged on the supporting platform 2-3-1, the clamp 2-3-3 is used for clamping and fixing a blank piece 3, the rotating device 2-3-2 can provide different rotating speeds according to different processing requirements during working; the part to be machined is arranged on the turntable platform 2-3, and the turntable platform 2-3 can be used for fixing the part to be machined on one hand and can provide axial rotation in the machining process on the other hand. The constraint support chains 2-4 are distributed in the center positions of the turntable platform 2-3 and the support base 2-1 and comprise U-shaped pairs III 2-4-1 and support columns 2-4-2, the upper ends of the support columns 2-4-2 are connected with the turntable platform 2-3 through the U-shaped pairs III 2-4-1, and the lower ends of the support columns are fixed on the support base 2-1. The whole parallel bearing device 2 is fixed on the mounting base 1 through bolts, and independent rotational freedom degrees in two directions can be realized during work. The U-shaped pair I2-2-1 and the U-shaped pair II 2-2-3 are Hooke hinges and can be replaced by ball hinges, meanwhile, in order to improve the limitation of the rotation angle of the ball hinges, an inclined wedge block can be connected to the upper end of the U-shaped pair I2-2-1, the angle range of the wedge block is 10-30 degrees, and then the wedge block is connected with the turntable platform 2-3.
As shown in fig. 3 to 5, the hybrid robot apparatus 4 in the present embodiment includes a support frame 4-1, three UPS drive chains 4-2, a movable platform 4-3, a two-degree-of-freedom rotating head 4-4, and an UP-constrained branched chain 4-5. The support frame 4-1 adopts a split type connection structure, the support frame 4-1 comprises a main body frame 4-1-1 and U-shaped frames I, the three U-shaped frames I are uniformly arranged around the main body frame 4-1-1 and fixed on the main body frame 4-1-1, and the main body frame 4-1-1 is provided with a middle hole. The three UPS driving chains 4-2 are completely identical in structure and are uniformly arranged between the movable platform 4-3 and the support frame 4-1, the hybrid robot device 4 adopts a horizontal arrangement mode, the three UPS driving chains 4-2 are arranged at the upper end of the support frame 4-1, and the UPS driving chain 4-2 is arranged at the lower end of the support frame 4-1, so that the robot can obtain a larger processing space; each UPS driving chain 4-2 comprises a servo motor 4-2-1, a motor connecting seat 4-2-2, a telescopic rod sleeve 4-2-3, a telescopic rod 4-2-4 and a ball hinge 4-2-5 which are connected in sequence, a scale grating of a second grating ruler 11-2 is installed at the upper end of the telescopic rod 4-2-4, a grating reading head is installed on the telescopic rod sleeve 4-2-3, the telescopic rod sleeve 4-2-3 is installed in a telescopic rod sleeve locking and positioning sleeve 4-1-3 of the U-shaped frame I4-1-2, and the upper end of the UPS driving chain 4-2 is connected with the movable platform 4-3 through the ball hinge 4-2-5; when the three UPS driving chains work, the three UPS driving chains 4-2 are driven simultaneously and used for providing uncontrollable spatial six-degree-of-freedom motion of the movable platform 4-3 according to different stretching lengths of the branched chains in the posture change working process of the movable platform 4-3.
The movable platform 4-3 is of a split connection structure, the movable platform 4-3 comprises U-shaped frames II and a movable platform main body sleeve 4-3-2, the three U-shaped frames II are uniformly arranged on the periphery of the movable platform main body sleeve 4-3-2 and are connected, and the middle of the movable platform main body sleeve 4-3-2 is provided with a mounting hole. The two-degree-of-freedom rotating head 4-4 comprises a first-stage rotating head 4-4-1 and a second-stage rotating head 4-4-2, the first-stage rotating head 4-4-1 and the second-stage rotating head 4-4-2 are both connected with a servo driving motor, the movement of the two-degree-of-freedom rotating head 4-4 is driven in a mode of driving the servo motors and an accelerator, the second-stage rotating head 4-4-2 is hinged at an opening at the upper end of the first-stage rotating head 4-4-1, a grinding and polishing integrated device is arranged on the second-stage rotating head 4-4-2, the first-stage rotating head 4-4-1 is connected with a movable platform main body sleeve 4-3-2 through a turntable bearing 4-4-3, and a vision camera 9 is arranged at the upper end and the lower; a servo driving motor of the first-stage rotating head 4-4-1 is fixed inside a motor supporting sleeve 4-5-3 at the lower end of a movable platform 4-3, the whole two-degree-of-freedom rotating head is directly driven to rotate in the Z direction of 4-4 through a transmission shaft, a driving servo motor of the second-stage rotating head 4-4-2 is installed inside the first-stage rotating head 4-4-1, the second-stage rotating head 4-4-2 is driven to rotate through synchronous belt transmission, speed reducers are arranged at the rear ends of the driving servo motors of the first-stage rotating head 4-4-1 and the second-stage rotating head 4-4-2, and encoders are installed at the output ends of the servo driving motors.
The UP constrained branched chain 4-5 comprises a pair of linear slide rails 4-5-1, a support rod 4-5-2 and a motor support sleeve 4-5-3, the pair of linear slide rails 4-5-1 are combined together in a 180-degree arrangement mode, two ends of the support rod 4-5-2 are respectively connected with the linear slide rails 4-5-1 and the motor support sleeve 4-5-3, the upper end of the motor support sleeve 4-5-3 is arranged in a mounting hole of the movable platform main body sleeve 4-3-2, and the linear slide rails 4-5-1 are arranged in a U-shaped auxiliary inner support frame 4-1-5 of the U-shaped auxiliary IV; in the working process, the UP constraint branched chain 4-5 can constrain two moving degrees of freedom and one rotating degree of freedom of the movable platform 4-3, so that the integral parallel mechanism can realize two controllable space three-degree-of-freedom motions of rotating and moving. The lower U-shaped pair IV at the middle section of the UPS driving chain 4-2 is in a hooke hinge or ball hinge connection mode, the telescopic rod sleeve locking and positioning sleeve 4-1-3 is connected to the U-shaped pair supporting frame 4-1-4 through a pair of angular contact ball shafts, the U-shaped pair supporting frame 4-1-4 is connected to the U-shaped frame I through a pair of angular contact ball bearings, and the two pairs of angular contact ball bearings are arranged in a cross mode; the U-shaped pair IV at the lower end of the UP restraint branched chain 4-5 comprises a U-shaped pair inner support frame 4-1-5 and a U-shaped pair outer support frame 4-1-6, the U-shaped pair inner support frame 4-1-5 is connected to the U-shaped pair outer support frame 4-1-6 through a pair of angular contact ball bearings, the U-shaped pair outer support frame 4-1-6 is connected to the main body frame 4-1-1 through a pair of angular contact ball bearings, and the two pairs of angular contact ball bearings are arranged in a crisscross mode; the mode realized by two pairs of angular contact ball bearings crossed in a cross manner can also realize the rotating motion of the UP constraint branched chains 4-5 in two directions by adopting a universal joint connection mode.
The ball hinge 4-2-5 realizes the rotational freedom degree in three directions through three pairs of angular contact ball bearings. The U-shaped pair III 2-4-1 and the U-shaped pair IV can be replaced by universal joints. The whole hybrid robot device 4 is fixed on the mounting base 1 through bolts and can realize unconstrained motion of five-degree-of-freedom in a tail end space, namely the hybrid robot device formed by combining the two-degree-of-freedom rotating heads 4-4 and the three-degree-of-freedom parallel mechanism can realize motion of five-degree-of-freedom in space, so that any pose of the grinding and polishing integrated device in a working space can be provided, and flexible processing of large curved surfaces or complex curved surface parts can be achieved.
As shown in fig. 3, the grinding and polishing integrated device 5 includes a tool magazine including different types of grinding heads and polishing heads, and a tool loading system, wherein the tool magazine is used for grinding and surface polishing of different parts, and the tool loading system is used for providing a loading force during a machining process. The grinding and polishing integrated device 5 is arranged on the secondary rotating head 4-4-2, the processing pose of the grinding and polishing integrated device is realized by the pose change of the hybrid robot device 4, the grinding and polishing integrated device can be changed at any position in a working space, and the grinding and polishing integrated device has the advantages of compact structure and high flexibility. In the processing process, the grinding and polishing integrated device 5 can automatically change the cutter, and the grinding and polishing procedures of the parts are realized. In addition, in the processing process, the power system of the hybrid robot device 4 is independent and can be flexibly changed according to the processing requirement.
As shown in fig. 1 to 6, the co-fusion control detection system includes an interactive display, an industrial personal computer, a motion control card, a servo driver, a visual processor, a communication module, a visual camera 9, a temperature sensor 7, a three-dimensional imaging scanner 10, a grating scale, an attitude gyroscope 8, and a laser tracker 6. The three-dimensional imaging scanner 10 is arranged at the tail end of the secondary rotating head 4-4-2, is arranged in the opposite direction of the grinding and polishing integrated device 5, is connected with an industrial personal computer through a communication module, and is used for scanning and modeling of the blank 3 before processing. The attitude gyroscopes are arranged on the supporting platform 2-3-1 and the movable platform 4-3 (the attitude gyroscopes are arranged on the supporting platform 2-3-1 and are called as a first attitude gyroscope 8-1, and the attitude gyroscopes are arranged on the movable platform 4-3 and are called as a second attitude gyroscope 8-2, and the two attitude gyroscopes are collectively called as attitude gyroscopes) and are used for detecting the attitude change in the working process and feeding back the detection result to the industrial personal computer in real time, and meanwhile, the result can be displayed on the interactive display in real time. The temperature sensor 7 is arranged on the supporting platform 2-3-1, is connected with the industrial personal computer through the communication module, is used for detecting the external environment temperature during working, is transmitted to the industrial personal computer through the communication module, and displays the temperature on the interactive display in real time; temperature sensor 7 can real-time detection operational environment temperature's change, in order to make same part obtain the same size when different external environment temperature add man-hour, whole robot system can be with the real-time recording of machining error under the different ambient temperature work to constantly study in later stage course of working, independently compensate the machining error of part according to ambient temperature's change. The UPU driving chain 2-2 and the UPS driving chain 4-2 are both provided with grating rulers (a first grating ruler 11-1 is installed on the UPU driving chain, a second grating ruler 11-2 is installed on the UPS driving chain, and the grating rulers are collectively called as grating rulers), and the grating rulers can be selected to be linear displacement type grating rulers and are used for detecting the length change of the UPU driving chain 2-2 and the UPS driving chain 4-2 in real time, the second grating ruler 11-2 is installed on the UPS driving chain 4-2, a scale grating is installed at the upper end of the telescopic rod 4-2-4, and a grating reading head is installed on the telescopic rod sleeve 4-2-3. The laser tracker 6 is arranged on the mounting base 1 and used for tracking the space position of the tail end of the positioning grinding and polishing integrated device 5. The industrial personal computer is connected with an interactive display capable of displaying the part processing process, signal information of each sensor and equipment in real time, and drives the servo driver to drive the servo motor 4-2-1 to move through the motion control card. The grating ruler, the attitude gyroscope, the encoder and the laser tracker 6 can transmit the detection information to the industrial personal computer in real time and display the detection information on the interactive display in real time, the industrial personal computer controls the action of the servo motor 4-2-1 through the motion control card according to the feedback detection signal, further, the motion control card can adopt an IMAC series motion control card, and the type of the control card is at least ten-axis; on one hand, the real-time detection of the equipment in the processing process can be realized, and the motion error is compensated according to the detection result, so that the whole system realizes closed-loop control, and the mirror surface processing precision is improved to a great extent; on the other hand, when the processing equipment has abnormal motion or instability, the action of the whole processing equipment can be stopped in time, and the safety of the system is improved. The vision cameras 9 are arranged at the upper end and the lower end of the first-stage rotating head 4-4-1 and used for detecting the position condition of personnel in the working process and transmitting the detection result to the industrial personal computer through the vision processor; the vision camera 9 can detect the position of the personnel in all directions in the working process and transmits the signals to the industrial personal computer through the vision processor. The working mode of the device has two modes, one mode is that when the position of a detected person enters 2.5 times of the limit working range of the robot in the part processing process, the interactive display displays a warning signal, the other mode is that when the position of the detected person enters 2 times of the limit working range, the whole equipment system starts to do deceleration movement, the interactive display displays the warning signal, when the position of the detected person enters 1.5 times of the limit working range, the whole equipment system stops, the interactive display continuously displays the warning signal, the whole equipment considers the early warning under the condition of mistaken entry of the person, the safety of the equipment is improved, and the condition of casualties in the processing process is prevented. When the blank is subjected to model generation through the three-dimensional imaging scanner 10, cooperative work between a person and the whole assembly is required, and the person can continuously adjust the position and the posture of the parallel bearing device 2 and the parallel robot device through the interactive display, so that the scanning of the whole blank 3 is completed, and the result is displayed on the interactive display in real time to know the scanning is finished. When processing operation is carried out, when the position of a person is detected to enter 2.5 times of the limit working range of the robot, an interactive display displays a warning signal; when the position of a person is detected to enter the 2-time limit working range, the whole equipment system starts to do deceleration movement, the interactive display displays an alarm signal, and when the position of the person is detected to enter the 1.5-time limit working range, the whole equipment system is stopped, and the interactive display continuously displays the alarm signal.
After the whole equipment is assembled according to the position shown in fig. 1, the whole assembly is in an initial state. When a large-curved-surface part or a complex-curved-surface part is processed, the processing steps and the processing method are as follows:
1. firstly, clamping a blank 3 on the parallel bearing device 2, adjusting the equipment to a man-machine interaction mode through an interactive display, and entering a blank 3 scanning program. At this time, the pose changes of the parallel bearing device 2 and the parallel-serial robot device 4 can be adjusted at will through the interactive display, the three-dimensional imaging scanner 10 is opened, the poses of the parallel bearing device 2 and the parallel-serial robot device 4 are adjusted, the three-dimensional model of the whole blank 3 is scanned and modeled, and the result is displayed on the interactive display.
2. According to the method, parameters of a finished product to be processed are input into an industrial personal computer, the system can automatically compare with three-dimensional scanning results of the blank 3 to form a part processing program, according to detection results of the temperature sensor 7, the system can automatically correct the processing program for the first time according to the attributes of the blank 3, and meanwhile, a corrected processing schematic diagram is displayed on an interactive display.
3. And starting the parallel bearing device 2 and the parallel robot device 4, transmitting a generated processing program to a servo controller through a motion control card by an industrial personal computer, starting to process the blank 3 by contract operation of the two devices, and finishing the grinding and polishing program of the part by the grinding and polishing integrated device 5 under the condition of once positioning in the processing process. Meanwhile, in the processing process, the grating ruler, the attitude gyroscope and the laser tracker 6 can detect the motion condition of the execution part in real time and transmit the motion condition to the industrial personal computer through the communication module, and the industrial personal computer can compare the feedback signals with preset parameters and generate a processing compensation program to input the processing compensation program to the motion control card again. The grinding and polishing procedures of the parts are sequentially completed through the closed-loop control. In the processing process, when a detection result shows a large error, namely a motion instability state, the interactive display can display an alarm signal and stop the motion of the parallel bearing device 2 and the parallel robot device 4, so that accidents are prevented. Meanwhile, the visual camera 9 which is started in real time can detect the position of the personnel in the working process in time, when the position of the personnel is detected to reach a set value, the interactive display displays a warning or alarm signal, and meanwhile, the device carries out corresponding action.
4. After the machining is finished, the equipment is adjusted to a man-machine interaction mode through the interaction display again, the parts are detected through the three-dimensional imaging scanner 10, and when the parts are unqualified, the parts are corrected through the machining steps 1 to 3. And after the condition is qualified, the whole equipment is recovered to the initial state.
During working, a blank 3 is clamped on a turntable platform 2-3, a grinding and polishing integrated device is assembled at the tail end of a two-degree-of-freedom rotating head 4-4, a co-fusion control detection system enables a parallel bearing device 2 and a parallel robot device 4 to be matched with each other, active compensation of machining errors is achieved, and the co-fusion control detection system can be interactively co-fused with human and the external environment, so that one-time intelligent machining from blank modeling, grinding to polishing of large-curved-surface parts or complex-curved-surface parts can be achieved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiment according to the technical spirit of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A big curved surface parts machining equipment that many parallel links fuse together is characterized by: the device comprises a parallel bearing device (2), a series-parallel robot device (4), a polishing integrated device and a co-fusion control detection system, wherein the parallel bearing device (2) and the series-parallel robot device (4) are fixedly arranged on a mounting base (1);
the parallel bearing device (2) comprises a supporting base (2-1), four UPU driving chains (2-2), a turntable platform (2-3) and a constraint supporting chain (2-4), wherein the four UPU driving chains (2-2) are uniformly distributed and connected between the turntable platform (2-3) and the supporting base (2-1), two ends of the UPU driving chain (2-2) are respectively connected with the supporting base (2-1) and the supporting platform (2-3-1) through a U-shaped pair I (2-2-1) and a U-shaped pair II (2-2-3), the constraint supporting chain (2-4) is distributed at the central positions of the turntable platform (2-3) and the supporting base (2-1), the lower end of the constraint supporting chain is fixed on the supporting base (2-1), and the upper end of the constraint supporting chain is connected with the turntable platform (2-3) through a Hooke hinge, the blank (3) is clamped on the turntable platform (2-3);
the hybrid robot device (4) comprises a support frame (4-1), three UPS driving chains (4-2), a movable platform (4-3), a UP restraint branched chain (4-5) and a two-degree-of-freedom rotating head, wherein the three UPS driving chains (4-2) are uniformly arranged between the movable platform (4-3) and the support frame (4-1), and the upper ends of the UPS driving chains (4-2) are connected with the movable platform (4-3) through spherical hinges (4-2-5); UP constraint branched chains (4-5) are distributed at the central positions of the movable platform (4-3) and the support frame (4-1), the upper ends of the UP constraint branched chains are fixedly connected with the movable platform (4-3), and the lower ends of the UP constraint branched chains are connected with the support frame (4-1) through a U-shaped pair IV; the two-degree-of-freedom rotating head (4-4) is connected with the movable platform (4-3) through a turntable bearing (4-4-3), and the grinding and polishing integrated device is arranged on the two-degree-of-freedom rotating head (4-4);
the co-fusion control detection system comprises an interactive display, an industrial personal computer, a motion control card, a servo driver, a visual processor, a communication module, a visual camera (9), a temperature sensor (7), a three-dimensional imaging scanner (10), a grating ruler, an attitude gyroscope and a laser tracker (6), wherein the visual camera (9) is arranged outside the two-degree-of-freedom rotating head (4-4) and is used for detecting the position condition of personnel in the working process and transmitting the detection result to the industrial personal computer through the visual processor; the temperature sensor (7) is arranged on the turntable platform (2-3), and the temperature information is transmitted to the industrial personal computer through the communication module and is displayed on the interactive display in real time; the three-dimensional imaging scanner (10) is arranged behind the grinding and polishing integrated device (5) and used for scanning and modeling a blank (3) before processing; the two attitude gyroscopes are respectively arranged on the turntable platform (2-3) and the movable platform (4-3) to detect the pose change in the working process; grating rulers are arranged on the UPU driving chain (2-2) and the UPS driving chain (4-2), and the length changes of the UPU driving chain (2-2) and the UPS driving chain (4-2) are detected in real time; the laser tracker (6) is arranged on the mounting base (1) and tracks the spatial position of the tail end of the positioning grinding and polishing integrated device (5); the grating ruler, the attitude gyroscope and the laser tracker (6) detect the motion condition of the execution part in real time and transmit the motion condition to the industrial personal computer through the communication module, the industrial personal computer compares the feedback signals with preset parameters and generates a processing compensation program to be input to the motion control card again, and the motion control card drives the servo driver to drive the UPS drive chain (4-2) and the UPU drive chain (2-2) to move.
2. The processing equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 1, wherein: the UPU driving chain (2-2) comprises a U-shaped pair I (2-2-1), a servo electric cylinder (2-2-2) and a U-shaped pair II (2-2-3), the turntable platform (2-3) comprises a supporting platform (2-3-1), a rotating device (2-3-2) and a clamp (2-3-3), two ends of the servo electric cylinder (2-2-2) are fixedly connected with the supporting base (2-1) and the supporting platform (2-3-1) through the U-shaped pair I (2-2-1) and the U-shaped pair II (2-2-3) respectively, the rotating device (2-3-2) is installed on the supporting platform (2-3-1), the clamp (2-3-3) is fixed on the rotating device (2-3-2), the blank piece (3) is clamped and fixed by a clamp (2-3-3), and a first attitude gyroscope (8-1) and a temperature sensor (7) are arranged on a supporting platform (2-3-1); the constraint support chain (2-4) comprises a U-shaped pair III (2-4-1) and a support column (2-4-2), the lower end of the support column (2-4-2) is fixed on the support base (2-1), and the upper end of the support column is connected to the lower part of the support platform (2-3-1) through the U-shaped pair III (2-4-1).
3. The machining equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 2, wherein: the servo electric cylinder (2-2-2) is replaced by a ball screw pair.
4. The machining equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 2, wherein: the U-shaped pair I (2-2-1) and the U-shaped pair II (2-2-3) are Hooke hinges or ball hinges.
5. The machining equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 2, wherein: the distribution radius of the hinge connection points on the supporting base (2-1) is slightly larger than that of the hinge connection points of the turntable platform (2-3).
6. The processing equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 1 or 2, wherein: the supporting frame (4-1) comprises a main body frame (4-1-1) and U-shaped frames I, the three U-shaped frames I are uniformly arranged around the main body frame (4-1-1) and fixed on the main body frame, and the main body frame (4-1-1) is provided with a middle hole; the lower U-shaped pair IV in the middle section of the UPS driving chain (4-2) is in a Hooke hinge or ball hinge connection form; the telescopic rod sleeve locking and positioning sleeve (4-1-3) is connected to a U-shaped auxiliary support frame (4-1-4) through a pair of angular contact ball shafts, the U-shaped auxiliary support frame (4-1-4) is connected to a U-shaped frame I through a pair of angular contact ball bearings, and the two pairs of angular contact ball bearings are arranged in a cross manner; the U-shaped pair IV at the lower end of the UP restraint branched chain (4-5) comprises a U-shaped pair inner support frame (4-1-5) and a U-shaped pair outer support frame (4-1-6), the U-shaped pair inner support frame (4-1-5) is connected to the U-shaped pair outer support frame (4-1-6) through a pair of angular contact ball bearings, the U-shaped pair outer support frame (4-1-6) is connected to the main body frame (4-1-1) through a pair of angular contact ball bearings, and the two pairs of angular contact ball bearings are arranged in a cross mode; the UPS driving chain (4-2) comprises a servo motor (4-2-1), a motor connecting seat (4-2-2), a telescopic rod sleeve (4-2-3), a telescopic rod (4-2-4) and a ball hinge (4-2-5) which are sequentially connected, a scale grating of a second grating ruler (11-2) is installed at the upper end of the telescopic rod (4-2-4), a grating reading head is installed on the telescopic rod sleeve (4-2-3), and the telescopic rod sleeve (4-2-3) is installed in a telescopic rod sleeve locking and positioning sleeve (4-1-3) of the U-shaped frame I (4-1-2); the movable platform (4-3) comprises U-shaped frames II and a movable platform main body sleeve (4-3-2), the three U-shaped frames II are uniformly arranged on the periphery of the movable platform main body sleeve and are connected, and the middle part of the movable platform main body sleeve (4-3-2) is provided with a mounting hole; the two-degree-of-freedom rotating head (4-4) comprises a first-stage rotating head (4-4-1) and a second-stage rotating head (4-4-2), the first-stage rotating head (4-4-1) and the second-stage rotating head (4-4-2) are both connected with a servo driving motor, the second-stage rotating head (4-4-2) is hinged to an opening at the upper end of the first-stage rotating head (4-4-1), a grinding and polishing integrated device is installed on the second-stage rotating head (4-4-2), the first-stage rotating head (4-4-1) is connected with a movable platform main body sleeve (4-3-2) through a turntable bearing (4-4-3), and visual cameras (9) are installed at the upper end and the lower end of the first-stage rotating head (4-4-1); the UP constrained branched chain (4-5) comprises a pair of linear sliding rails (4-5-1), a supporting rod (4-5-2) and a motor supporting sleeve (4-5-3), the pair of linear sliding rails (4-5-1) are combined together in a 180-degree arrangement mode, two ends of the supporting rod (4-5-2) are respectively connected with the linear sliding rails (4-5-1) and the motor supporting sleeve (4-5-3), the upper end of the motor supporting sleeve (4-5-3) is installed in an installation hole of the movable platform main body sleeve (4-3-2), and the linear sliding rails (4-5-1) are installed in a U-shaped auxiliary inner supporting frame (4-1-5) of the U-shaped auxiliary IV.
7. The machining equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 6, wherein: the ball hinge (4-2-5) realizes the rotational freedom degrees in three directions through three pairs of angular contact ball bearings.
8. The machining equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 6, wherein: the two pairs of angular contact ball bearings arranged in a crisscross manner are replaced by a universal joint connection form.
9. The machining equipment for the large-curved-surface part with the multi-parallel co-melting function as claimed in claim 6, wherein: a servo driving motor of the first-stage rotating head (4-4-1) is fixed inside a motor supporting sleeve (4-5-3) at the lower end of the movable platform (4-3), a driving servo motor of the second-stage rotating head (4-4-2) is installed inside the first-stage rotating head (4-4-1) and drives the second-stage rotating head (4-4-2) to rotate through synchronous belt transmission, speed reducers are arranged at the rear ends of the driving servo motors of the first-stage rotating head (4-4-1) and the second-stage rotating head (4-4-2), and encoders are installed at the output ends of the servo driving motors.
10. A method for processing equipment for processing large curved surface parts based on the multi-parallel co-melting of any one of claims 1 to 9, wherein the whole equipment is firstly assembled according to the relative position, and the whole equipment is in an initial state, and the method is characterized in that: the specific processing steps then carried out are as follows:
1) clamping a blank (3) on a parallel bearing device (2), adjusting equipment to a man-machine interaction mode through an interactive display, and entering a scanning program of the blank (3); at the moment, the pose changes of the parallel bearing device (2) and the parallel robot device (4) can be adjusted at will through the interactive display, the three-dimensional imaging scanner (10) is opened, the poses of the parallel bearing device (2) and the parallel robot device (4) are adjusted, the three-dimensional model of the whole blank (3) is scanned and modeled, and the result is displayed on the interactive display;
2) according to the method, parameters of a finished product to be processed are input into an industrial personal computer, the system can automatically compare with three-dimensional scanning results of the blank (3) and form a processing program of a part, according to detection results of a temperature sensor (7), the system can automatically correct the processing program for the first time according to the properties of the material of the blank (3), and meanwhile, a corrected processing schematic diagram is displayed on an interactive display;
3) adjusting the equipment to a processing mode through an interactive display, starting a parallel bearing device (2) and a parallel robot device (4), transmitting a generated processing program to a servo controller through a motion control card by an industrial personal computer, processing a blank (3) by the aid of cooperative operation of the parallel bearing device (2) and the parallel robot device (4), and finishing grinding and polishing programs of parts by a grinding and polishing integrated device (5) under the condition of one-time positioning in the processing process; meanwhile, in the processing process, the grating ruler, the attitude gyroscope and the laser tracker (6) detect the motion condition of the execution part in real time and transmit the motion condition to the industrial personal computer through the communication module, and the industrial personal computer compares the feedback signals with preset parameters and generates a processing compensation program to be input to the motion control card again; in the processing process, when a detection result shows a large error, namely a motion instability state, the interactive display can display an alarm signal and stop the motion of the parallel bearing device (2) and the parallel robot device (4) to prevent accidents; meanwhile, the visual camera (9) which is started in real time can detect the position of a person in the working process in time, when the position of the person is detected to reach a set value, the interactive display displays a warning or alarm signal, and meanwhile, the device carries out corresponding action;
4) after the machining is finished, adjusting the equipment to a man-machine interaction mode through the interactive display, detecting the part through the three-dimensional imaging scanner (10), and when the part is unqualified, performing local position correction through the machining steps 1) to 3); and after the condition is qualified, the whole equipment is recovered to the initial state.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811202697.5A CN109333547B (en) | 2018-10-16 | 2018-10-16 | Multi-parallel co-fused large-curved-surface part machining equipment and machining method |
| PCT/CN2019/078606 WO2020077945A1 (en) | 2018-10-16 | 2019-03-19 | Multi-parallel tri-co processing apparatus and processing method for parts having large-curved surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811202697.5A CN109333547B (en) | 2018-10-16 | 2018-10-16 | Multi-parallel co-fused large-curved-surface part machining equipment and machining method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109333547A CN109333547A (en) | 2019-02-15 |
| CN109333547B true CN109333547B (en) | 2021-02-12 |
Family
ID=65309508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811202697.5A Active CN109333547B (en) | 2018-10-16 | 2018-10-16 | Multi-parallel co-fused large-curved-surface part machining equipment and machining method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109333547B (en) |
| WO (1) | WO2020077945A1 (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333547B (en) * | 2018-10-16 | 2021-02-12 | 中国矿业大学 | Multi-parallel co-fused large-curved-surface part machining equipment and machining method |
| CN110202785B (en) * | 2019-05-06 | 2020-11-03 | 浙江大学 | 3D printing device and series-parallel mechanism carry thing device |
| CN110421567A (en) * | 2019-08-09 | 2019-11-08 | 中国矿业大学 | A kind of multirobot process unit of complexity surface parts |
| CN110450142B (en) * | 2019-09-09 | 2024-08-20 | 哈工大机器人（合肥）国际创新研究院 | Six-degree-of-freedom parallel robot based on double gyroscope components |
| CN110450028B (en) * | 2019-09-18 | 2020-12-22 | 浙江大学宁波理工学院 | Complex curved surface grinding and polishing device |
| CN110640729B (en) * | 2019-10-24 | 2022-06-17 | 山东中衡光电科技有限公司 | Intelligent double-arm hydraulic hoisting robot for mine and control method thereof |
| CN111071651A (en) * | 2019-11-21 | 2020-04-28 | 金月梅 | Intelligent classification dustbin |
| CN110812210A (en) * | 2019-11-29 | 2020-02-21 | 福州大学 | Five-degree-of-freedom series-parallel moxibustion robot |
| CN111976859B (en) * | 2020-07-30 | 2022-04-08 | 上海交通大学 | UPS-based parallel-connection wheel-foot mobile robot |
| CN112659117A (en) * | 2020-11-16 | 2021-04-16 | 上海模高信息科技有限公司 | Three-dimensional scanning method based on three-dimensional scanner, robot and rotary table |
| CN112454336B (en) * | 2020-12-07 | 2022-08-05 | 中国民航大学 | Split type five-degree-of-freedom parallel mechanism |
| CN113084831A (en) * | 2021-04-09 | 2021-07-09 | 北京石油化工学院 | Disassembling device for nuclear irradiation resistant emergency robot |
| CN113681529A (en) * | 2021-08-13 | 2021-11-23 | 彩虹（合肥）液晶玻璃有限公司 | Leveling type mounting seat of glass substrate vacuum closed type unit |
| CN113798870A (en) * | 2021-11-18 | 2021-12-17 | 浙江大学杭州国际科创中心 | Processing equipment and processing method |
| CN114633214A (en) * | 2022-03-11 | 2022-06-17 | 黄山学院 | Curved surface processing device and method |
| CN114654451A (en) * | 2022-04-13 | 2022-06-24 | 浙江大学 | Linkage type heavy-load six-degree-of-freedom parallel robot for high-precision docking task |
| CN114769686B (en) * | 2022-05-27 | 2023-08-15 | 清华大学 | Mirror milling equipment and method for large-scale rotary sphere-like thin-wall part |
| CN115122212A (en) * | 2022-05-30 | 2022-09-30 | 中国第一汽车股份有限公司 | Self-adaptive intelligent terminal execution device and method for polishing curved surface of mold |
| CN115723127B (en) * | 2022-11-14 | 2024-08-09 | 天津大学 | Series-parallel robot contour error prediction method based on grating encoder |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135683A (en) * | 1997-11-05 | 2000-10-24 | Jongwon Kim | Parallel mechanism for multi-machining type machining center |
| US6648583B1 (en) * | 1999-08-05 | 2003-11-18 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
| US6808344B2 (en) * | 2002-12-27 | 2004-10-26 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| EP1839804A2 (en) * | 2006-03-31 | 2007-10-03 | Jtekt Corporation | Three degree of freedom parallel mechanism, multi-axis control machine tool using the mechanism and control method for the mechanism |
| CN101269463A (en) * | 2008-04-25 | 2008-09-24 | 清华大学 | Multi-shaft linkage series-parallel machine tool |
| CN103273356A (en) * | 2013-04-28 | 2013-09-04 | 清华大学 | Multi-axis linkage mixed device based on four-freedom-degree parallel mechanism |
| CN104985596A (en) * | 2015-07-09 | 2015-10-21 | 天津大学 | Five-freedom hybrid robot with multi-axis rotation brackets |
| CN107378594A (en) * | 2017-07-13 | 2017-11-24 | 清华大学 | A kind of five-freedom parallel machine tool |
| CN108608063A (en) * | 2018-04-02 | 2018-10-02 | 中国矿业大学 | A kind of five axis optical fabrication equipment in parallel |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1317221B1 (en) * | 2000-04-12 | 2003-05-27 | Consiglio Nazionale Ricerche | PARALLEL MANIPULATOR WITH ISOTROP BEHAVIOR AND PLATFORM PURATRASLATION MOVEMENT |
| WO2005118217A1 (en) * | 2004-06-04 | 2005-12-15 | Siemens Transportation Systems Gmbh & Co Kg | Flexible module for a device, using parallel kinematics |
| CN107791236B (en) * | 2016-08-29 | 2023-12-26 | 上海铼钠克数控科技有限公司 | Polishing robot, robot polishing control system and robot polishing control method |
| CN109333547B (en) * | 2018-10-16 | 2021-02-12 | 中国矿业大学 | Multi-parallel co-fused large-curved-surface part machining equipment and machining method |
-
2018
- 2018-10-16 CN CN201811202697.5A patent/CN109333547B/en active Active
-
2019
- 2019-03-19 WO PCT/CN2019/078606 patent/WO2020077945A1/en active Application Filing
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135683A (en) * | 1997-11-05 | 2000-10-24 | Jongwon Kim | Parallel mechanism for multi-machining type machining center |
| US6648583B1 (en) * | 1999-08-05 | 2003-11-18 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
| US6808344B2 (en) * | 2002-12-27 | 2004-10-26 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| EP1839804A2 (en) * | 2006-03-31 | 2007-10-03 | Jtekt Corporation | Three degree of freedom parallel mechanism, multi-axis control machine tool using the mechanism and control method for the mechanism |
| CN101269463A (en) * | 2008-04-25 | 2008-09-24 | 清华大学 | Multi-shaft linkage series-parallel machine tool |
| CN103273356A (en) * | 2013-04-28 | 2013-09-04 | 清华大学 | Multi-axis linkage mixed device based on four-freedom-degree parallel mechanism |
| CN104985596A (en) * | 2015-07-09 | 2015-10-21 | 天津大学 | Five-freedom hybrid robot with multi-axis rotation brackets |
| CN107378594A (en) * | 2017-07-13 | 2017-11-24 | 清华大学 | A kind of five-freedom parallel machine tool |
| CN108608063A (en) * | 2018-04-02 | 2018-10-02 | 中国矿业大学 | A kind of five axis optical fabrication equipment in parallel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109333547A (en) | 2019-02-15 |
| WO2020077945A1 (en) | 2020-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109333547B (en) | Multi-parallel co-fused large-curved-surface part machining equipment and machining method | |
| CN106238969A (en) | Non-standard part automatic welding processing system based on structured light vision | |
| CN112833786B (en) | Cabin attitude and pose measuring and aligning system, control method and application | |
| CN205650975U (en) | Non-standard part automatic welding processing system based on structured light vision | |
| CN106625665A (en) | Movable drilling and milling robot system achieving automatic addressing | |
| CN104625676A (en) | Shaft hole assembly industrial robot system and working method thereof | |
| CN101690993A (en) | Multi-axis linkage numerical control laser processing system | |
| CN109129158B (en) | Precise milling and grinding machine tool based on parallel tool system and control method thereof | |
| WO2021027245A1 (en) | Multi-robot machining apparatus for complex surface part | |
| Xu et al. | A noncontact control strategy for circular peg-in-hole assembly guided by the 6-dof robot based on hybrid vision | |
| CN110449882A (en) | The search assembly method of binding force control | |
| CN111745623B (en) | Five-degree-of-freedom hybrid robot tail end pose error detection and compensation system and method | |
| CN107363296B (en) | A kind of independently creep bores riveting system and its operation method | |
| Lijin et al. | Design of a novel robotic arm with non-backlash driving for friction stir welding process | |
| Li et al. | Design and constant force control of a parallel polishing machine | |
| CN109048916A (en) | Portable industrial robot based on multidimensional sensor real time data feedback fusion | |
| CN115302527A (en) | Automatic drilling and riveting equipment with double robots | |
| CN113579766B (en) | Six-degree-of-freedom serial-parallel hybrid numerical control machine tool and post-processing method thereof | |
| Liu et al. | Kinematics of a 5-axis hybrid robot near singular configurations | |
| CN102263893A (en) | Multi-axis linear motor-driven bionic imaging platform | |
| CN106695880A (en) | Error correction device for equipment zero position of robot and correction method for equipment zero position | |
| CN114102636B (en) | Welding seam polishing control system of teleoperation robot and design method and application thereof | |
| Chen et al. | A 2T-2R, 4-DoF parallel manipulator | |
| Qian et al. | Calibration of static errors and compensation of dynamic errors for cable-driven parallel 3D printer | |
| CN209887586U (en) | (2PRU-PUR) -PP five-axis linkage hybrid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |