CN110053026A - Series parallel robot in five degrees of freedom for work pieces process - Google Patents
Series parallel robot in five degrees of freedom for work pieces process Download PDFInfo
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- CN110053026A CN110053026A CN201910433035.7A CN201910433035A CN110053026A CN 110053026 A CN110053026 A CN 110053026A CN 201910433035 A CN201910433035 A CN 201910433035A CN 110053026 A CN110053026 A CN 110053026A
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- work pieces
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000008569 process Effects 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 2
- 238000003754 machining Methods 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000002146 bilateral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Classifications
-
- 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
- Manipulator (AREA)
Abstract
A kind of series parallel robot in five degrees of freedom for work pieces process, the yaw component with operation main shaft for including: the 3-freedom parallel mechanism mobile relative to pedestal and being attached thereto, the 3-freedom parallel mechanism includes: moving platform, the three groups of branch chain mechanisms being arranged in parallel of frame and setting therebetween, in which: the both ends of branch chain mechanism are connect with moving platform and frame member respectively and three groups of branch chain mechanisms are arranged in left and right asymmetric manner.The present invention uses New-type mixed-coupled mechanism, and structure is simple, convenient for installation and maintenance, Yi Shixian modularization；Using 3-freedom parallel mechanism, enhance rigidity, response speed and the machining accuracy of machine system in process；The structure of serial-parallel mirror increases the working space of system, especially locus orientation-workspace.The process equipment of this hybrid connected structure can better meet the high-precision process requirements of complex large-scale component.
Description
Technical field
The present invention relates to a kind of technology in processing and manufacturing field, specifically a kind of five degree of freedom for work pieces process
Series-parallel robot.
Background technique
Five degree of freedom machining tool is the important equipment in processing and manufacturing field, is widely used in the neck such as aircraft, automobile, ship
The processing of the complex parts in domain.Five degree of freedom connects open-chain structure to guarantee the rigidity of machine tool, needs the component with high rigidity,
Cause the oversized of component, quality overweight, dynamic response capability is insufficient, ultimately causes the reduction of end process tool precision；Five
The end processing work space of the pure parallel-connection structure of freedom degree is minimum, especially configuration space.Therefore, existing series connection five degree of freedom
Process equipment is small due to working space, it is difficult to process at one time large complicated workpiece, need multiple clamping, seriously affect processing
Precision and processing efficiency；And the five degree of freedom process equipment of pure parallel-connection structure is limited due to configuration space, it is difficult to realize complicated bent
The flexible processing in face.Serial-parallel mirror robot with five degrees of freedom can be high-precision in conjunction with the big working space of series connection and high rigidity in parallel
Feature is the preferred plan of complex large-scale component highly-efficient processing.
Existing five degree of freedom hybrid mechanism type is less, and existing mechanism is usually to use two rotations one mobile and gang mould
Block with two rotation serial module structures be composed, in parallel module there are composite rotation joint composition ball-joint or Hooke's hinge, by
Power state complex, and since its mobile working space realizes that working space is smaller by parallel module completely, carrying out large-scale work
When part is processed, the additional movement axis of overall movement need to be increased.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of five degree of freedom mixed connection machine for work pieces process
Device people can apply to the processing of large complicated workpiece in conjunction with the advantages of cascaded structure and parallel-connection structure.
The present invention is achieved by the following technical solutions:
The present invention include: the 3-freedom parallel mechanism mobile relative to pedestal and be attached thereto with operation main shaft
Yaw component, which includes: moving platform, frame and setting three groups of branch being arranged in parallel therebetween
Chain mechanism, in which: the both ends of branch chain mechanism are connect with moving platform and frame member respectively and three groups of branch chain mechanisms are non-right in left and right
Title mode is arranged.
The described movement mobile relative to pedestal passes through real with two groups of linear drives components being mounted on the base plane
It is existing.
The branch chain mechanism includes: pedestal, guide rail, branch motor and branch sliding block, in which: two closed slides are fixed
In branch pedestal, branch sliding block and guide rail can be movably set in guide rail along the opposite sliding of guide rail direction, branch sliding block, branch sliding block
On bar.
The asymmetric manner arrangement refers to: three groups of branch structure types having the same, and arranges by left, center, right,
The extended line of three groups of branch chain mechanisms is not met at a bit.
Further, the branch chain mechanism passes through the first rotation axis and the second rotation axis and frame respectively and moving platform turns
Dynamic connection is located in the middle branch chain mechanism is connected with frame first to guarantee that three groups of branch chain mechanism extended lines are not given a bit
Rotation axis is not on the bilateral symmetry center of frame and the second rotation axis that the branch chain mechanism is connected with moving platform is not also dynamic flat
The bilateral symmetry center of platform, to avoid mechanism singularity.
The linear drives component uses but is not limited to motor-driven screw rod sliding block group, in which: motor and screw rod connect
It connects, screw rod is connected by nut with sliding block, and sliding block is movably set on screw rod.
The yaw component is single pendulum head or double pendulum header structure, in which: single pendulum header structure is parallel to by axis of oscillation
The swinging joint of frame is realized；Double pendulum header structure includes: perpendicular to the first swinging joint of moving platform to generate turning for Z-direction
Dynamic freedom degree and normal thereto it is connected and along X-axis or the second swinging joint of Y direction.
The linear drives component and yaw component form part in series, and provide an one-movement-freedom-degree and one respectively
A (or two) rotational freedom, freedom degree parallel connection structural member assembly provide two one-movement-freedom-degrees and a rotational freedom.
The operation main shaft uses motor-driven cutter.
The 3-freedom parallel mechanism uses but is not limited to be slideably positioned on pedestal.
Technical effect
Compared with prior art, the present invention uses novel five degree of freedom hybrid mechanism, and structure is simple, convenient for installation and maintenance,
Easily realize modularization；Using 3-freedom parallel mechanism, enhance machine system rigidity in process, response speed and
Machining accuracy；The structure of serial-parallel mirror increases the working space of system, especially locus orientation-workspace.This hybrid connected structure
Process equipment can better meet the high-precision process requirements of complex large-scale component.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is base part of the invention；
Fig. 3 is the parallel module part of invention
Fig. 4 is the structural schematic diagram of branch chain mechanism of the invention；
In figure: Y-axis linear drives component 1, Y-axis move driving motor 2, parallel module frame 3,3-freedom parallel mechanism
4, parallel institution moving platform 5, screw rod 6, yaw component 7, operation main shaft 8, pedestal 9, sliding block 10, branch driving motor 11, shaft coupling
Device 12, the first rotation axis of branch 13, branch sliding block 14, guide rail 15, lead screw 16, branch pedestal 17, the second rotation axis of branch 18, branch
Chain mechanism 19, the first swinging joint 20, guide rail 21, the first swinging joint driving motor 22, the second swinging joint driving motor 23.
Specific embodiment
As shown in Figures 1 to 3, the present embodiment includes: the 3-freedom parallel mechanism 4 that sliding is arranged and the band being attached thereto
There is the yaw component 7 of operation main shaft 8, which includes: moving platform 5, frame 3 and be arranged therebetween
Three groups of branch chain mechanisms 19 being arranged in parallel, in which: the both ends of each chain mechanism 19 pass through the first rotation axis of branch 13 and second
Rotation axis 18 is rotatablely connected respectively at moving platform 5 and frame 3, and three groups of branch chain mechanisms 19 are arranged in asymmetric manner, that is, are pressed
Three branch chain mechanisms of left, center, right arrangement or so are asymmetric.
The sliding setting realizes that the straight line drives by two groups of linear drives components 1 being respectively connected with 3 both ends of frame
Dynamic component 1 is set on pedestal 9.
As shown in figure 3, the branch chain mechanism 19 includes: that pedestal 17, guide rail pole 15, branch driving motor 11 and branch are sliding
Block 14, in which: pedestal 17 is fixedly linked with guide rail 15, and branch sliding block 14 is movably set on guide rail 15, the fortune of branch sliding block 14
Dynamic to be driven by screw rod 16, the movement of screw rod 16 has the driving of branch driving motor 11 to realize.
As illustrated in fig. 1 and 2, asymmetric manner arrangement refers to: 19 bilateral symmetry of branch chain mechanism positioned at two sides is set
It sets, it is identical as any 19 direction of chain mechanism in two sides to be located in the middle branch chain mechanism 19, the extension of three groups of branch chain mechanisms 19
Line is not met at a bit.
Further, the branch chain mechanism 19 respectively by the first rotation axis 18 and the second rotation axis 16 and frame 3 and
Moving platform 5 is rotatablely connected, and is located in the middle the first rotation axis 13 that branch chain mechanism 19 is connected with frame 3 not in the left and right of frame 3
On symmetry axis, and the second rotation axis 16 for being connected with moving platform 5 of the branch chain mechanism 19 is also on the symmetry axis of moving platform 5, from
And avoid mechanism singularity.
The linear drives component 2 includes: motor 1, screw rod 6 and sliding block 10, in which: motor 1 is connect with screw rod 6, sliding
Block 10 is movably set on screw rod 6.
The yaw component 7 is double pendulum header structure, in which: the first swinging joint 20 realizes rotation by driving motor 22
Axis perpendicular to parallel institution moving platform 5 pendulum motion, the second swinging joint by driving motor 23 realize rotation, rotation axis
Line is vertical with the first swinging joint axis.
The linear drives component 1 and yaw component 7 form part in series, and provide respectively an one-movement-freedom-degree and
One rotational freedom, 3-freedom parallel mechanism 4 provide two one-movement-freedom-degrees and a rotational freedom.
The operation main shaft 8 is installed but is not limited to cutter.
The branch mechanism driving-motor 11 is fixedly connected with lead screw by shaft coupling 12.
Above-mentioned apparatus works in the following manner: part in series, provides an one-movement-freedom-degree, i.e., by linear drives component
2 provide movement and a rotational freedom in Y direction, i.e., are provided by yaw component 7.3-freedom parallel mechanism 4 mentions
For two one-movement-freedom-degrees and a rotational freedom, wherein each chain mechanism 19 successively includes: cradle head, linear joint
And cradle head.These three movable joints respectively correspond: the first rotation axis 13 realizes rotation with the cooperation of frame 3；Guide rail 15 and branch
Movement of the branch sliding block 14 relative to pedestal 17 is realized in the cooperation of chain sliding block 14；Second rotation axis 18 is realized with the cooperation of moving platform 5 to be turned
It is dynamic.By each 19 top shoe 13 of chain mechanism along the movement of guide rail 15, forms the first rotation axis 13 and arrive 5 three differences of moving platform
The combination of length, to realize freedom of movement of the moving platform 5 of 3-freedom parallel mechanism 4 relative to frame 3 on X and Z axis
Rotational freedom on degree and Y-axis.
Parallel institution part of the present invention uses three groups of identical branched structures, and modularization easy to accomplish is easy to tie up
Shield, and due to the load by three branch shared Z-directions and Y direction, rigidity property is more preferable.Parallel institution module is whole
Body by the mobile driving assembly of Y-axis realizes that Y direction is mobile, it can be achieved that Y direction moves on a large scale, is suitble to large-scale workpiece
Processing.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (8)
1. a kind of series parallel robot in five degrees of freedom for work pieces process characterized by comprising three mobile relative to pedestal
Freedom degree parallel connection mechanism and the yaw component with operation main shaft being attached thereto, which includes: dynamic
Platform, the three groups of branch chain mechanisms being arranged in parallel of frame and setting therebetween, in which: put down respectively with dynamic at the both ends of branch chain mechanism
Platform is connected with frame member and three groups of branch chain mechanisms are arranged in left and right asymmetric manner；
The movement mobile relative to pedestal with two groups of linear drives components for being mounted on the base plane by realizing；
The branch chain mechanism includes: pedestal, guide rail, branch motor and branch sliding block, in which: two closed slides are fixed on branch
Chain pedestal, branch sliding block and guide rail can be movably set in guide rail pole along the opposite sliding of guide rail direction, branch sliding block, branch sliding block
On.
2. the series parallel robot in five degrees of freedom according to claim 1 for work pieces process, characterized in that described is non-right
Title mode, which is arranged, to be referred to: the branch chain mechanism positioned at two sides is oppositely arranged, any be located in the middle in branch chain mechanism and two sides
Chain mechanism direction is identical, and the extended line of three groups of branch chain mechanisms is not met at a bit.
3. the series parallel robot in five degrees of freedom according to claim 2 for work pieces process, characterized in that the branch
Mechanism passes through the first rotation axis respectively and the second rotation axis is connect with moving platform and frame member, be located in the middle branch chain mechanism with
The first connected rotation axis of frame is not on the symmetry axis of frame and the second rotation axis that the branch chain mechanism is connected with moving platform
Not on the symmetry axis of moving platform, to avoid mechanism singularity.
4. the series parallel robot in five degrees of freedom according to claim 1 for work pieces process, characterized in that the straight line
Driving assembly uses motor-driven screw rod sliding block group, in which: motor is connect with screw rod, and sliding block is movably set on screw rod.
5. the series parallel robot in five degrees of freedom according to claim 4 for work pieces process, characterized in that the yaw
Component is single pendulum head or double pendulum header structure, in which: single pendulum header structure is realized by the swinging joint that axis of oscillation is parallel to frame；
Double pendulum header structure includes: to hang down perpendicular to the first swinging joint of moving platform with the rotational freedom that generates Z-direction and therewith
It is straight to be connected and along the second swinging joint of X/Y axis direction.
6. the series parallel robot in five degrees of freedom according to claim 4 for work pieces process, characterized in that the straight line
Driving assembly and yaw component form part in series, and provide an one-movement-freedom-degree and a rotational freedom respectively, and three certainly
Two one-movement-freedom-degrees and a rotational freedom are provided by degree parallel institution.
7. the series parallel robot in five degrees of freedom according to claim 1 for work pieces process, characterized in that the operation
Main shaft is with motor-driven cutter.
8. the series parallel robot in five degrees of freedom according to claim 1 for work pieces process, characterized in that the pedestal
Two sides be equipped with shaft coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433035.7A CN110053026B (en) | 2019-05-23 | 2019-05-23 | Five-freedom-degree series-parallel robot for workpiece machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433035.7A CN110053026B (en) | 2019-05-23 | 2019-05-23 | Five-freedom-degree series-parallel robot for workpiece machining |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110053026A true CN110053026A (en) | 2019-07-26 |
| CN110053026B CN110053026B (en) | 2022-07-26 |
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| CN201910433035.7A Expired - Fee Related CN110053026B (en) | 2019-05-23 | 2019-05-23 | Five-freedom-degree series-parallel robot for workpiece machining |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111151867A (en) * | 2020-01-19 | 2020-05-15 | 天津大学 | Pressure control method of friction stir welding system of series-parallel robot |
| CN111844011A (en) * | 2020-06-16 | 2020-10-30 | 天津大学 | Robot tail end cutter compensation mechanism |
| CN112124334A (en) * | 2020-09-27 | 2020-12-25 | 太仓臻溢科技有限公司 | RGV equipment based on parallel moving branched chains |
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| CN105945954A (en) * | 2016-06-21 | 2016-09-21 | 天津大学 | Double-closed-loop control method for five-freedom-degree hybrid robot |
| CN106002342A (en) * | 2016-07-01 | 2016-10-12 | 中国地质大学（武汉） | Five-axis linkage series-parallel machine tool |
| EP3117966A1 (en) * | 2015-07-13 | 2017-01-18 | Akademia Gorniczo-Hutnicza im. Stanislawa Staszica w Krakowie | Hybrid robot |
| WO2019083635A1 (en) * | 2017-10-24 | 2019-05-02 | Ludban Neil | Hybrid delta robot |
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2019
- 2019-05-23 CN CN201910433035.7A patent/CN110053026B/en not_active Expired - Fee Related
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| KR20140090126A (en) * | 2012-04-26 | 2014-07-16 | 주식회사 고영테크놀러지 | 5-dof micro robot of parallel-type |
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| CN104015186A (en) * | 2014-06-26 | 2014-09-03 | 山东大学（威海） | Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111151867A (en) * | 2020-01-19 | 2020-05-15 | 天津大学 | Pressure control method of friction stir welding system of series-parallel robot |
| CN111844011A (en) * | 2020-06-16 | 2020-10-30 | 天津大学 | Robot tail end cutter compensation mechanism |
| CN111844011B (en) * | 2020-06-16 | 2022-07-15 | 天津大学 | Robot tail end cutter compensation mechanism |
| CN112124334A (en) * | 2020-09-27 | 2020-12-25 | 太仓臻溢科技有限公司 | RGV equipment based on parallel moving branched chains |
| CN112124334B (en) * | 2020-09-27 | 2022-04-08 | 太仓臻溢科技有限公司 | RGV equipment based on parallel moving branched chains |
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| CN110053026B (en) | 2022-07-26 |
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