CN110053026B - Five-freedom-degree series-parallel robot for workpiece machining - Google Patents
Five-freedom-degree series-parallel robot for workpiece machining Download PDFInfo
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- CN110053026B CN110053026B CN201910433035.7A CN201910433035A CN110053026B CN 110053026 B CN110053026 B CN 110053026B CN 201910433035 A CN201910433035 A CN 201910433035A CN 110053026 B CN110053026 B CN 110053026B
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- 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
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- 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
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- 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
Abstract
A five degree-of-freedom hybrid robot for workpiece processing, comprising: three-freedom parallel mechanism moving relative to the base and a swinging head component connected with the three-freedom parallel mechanism and provided with an operation main shaft, wherein the three-freedom parallel mechanism comprises: move platform, frame and set up three groups of branch chain mechanisms of parallelly connected setting between them, wherein: two ends of the branched chain mechanisms are respectively connected with the movable platform and the frame in a rotating way, and the three groups of branched chain mechanisms are arranged in a left-right asymmetrical way. The novel series-parallel mechanism is adopted, so that the structure is simple, the installation and the maintenance are convenient, and the modularization is easy to realize; the rigidity, the response speed and the processing precision of the whole machine system in the processing process are enhanced by adopting a three-degree-of-freedom parallel mechanism; the series-parallel structure increases the working space of the system, particularly the attitude working space. The processing equipment with the hybrid structure can better meet the high-precision processing requirement of large-scale complex components.
Description
Technical Field
The invention relates to a technology in the field of processing and manufacturing, in particular to a five-degree-of-freedom hybrid robot for processing workpieces.
Background
The five-degree-of-freedom machining machine tool is important equipment in the field of machining and manufacturing, and is widely applied to machining of complex parts in the fields of airplanes, automobiles, ships and the like. In order to ensure the rigidity of a machine tool, a five-degree-of-freedom series open chain structure needs to use a high-rigidity member, so that the size of the member is overlarge, the weight of the member is overweight, the dynamic response capability is insufficient, and the precision of a tail end machining tool is reduced finally; the tail end processing working space of the five-degree-of-freedom pure parallel structure is extremely small, especially the attitude space. Therefore, the existing series five-degree-of-freedom processing equipment is difficult to process and finish large complex workpieces at one time due to small working space, needs to clamp for many times, and seriously influences the processing precision and the processing efficiency; and the five-degree-of-freedom processing equipment with a pure parallel structure is difficult to realize flexible processing of complex curved surfaces due to limited attitude space. The series-parallel-series five-degree-of-freedom robot can combine the characteristics of large working space in series connection and high rigidity and high precision in parallel connection, and is an optimal scheme for efficiently processing large complex components.
The existing five-degree-of-freedom hybrid mechanism is few in types, the existing mechanism is generally formed by combining a two-rotation one-movement parallel module and a two-rotation series module, a ball joint or a Hooke joint formed by a composite rotation joint exists in the parallel module, the stress state is complex, the movement working space is completely realized through the parallel module, the working space is small, and an additional movement shaft which moves integrally needs to be added when a large workpiece is machined.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a five-freedom-degree series-parallel robot for processing workpieces, which combines the advantages of a series structure and a parallel structure and can be applied to processing large complex workpieces.
The invention is realized by the following technical scheme:
the invention comprises the following steps: three-freedom-degree parallel mechanism moving relative to the base and a swinging head component connected with the three-freedom-degree parallel mechanism and provided with an operation main shaft, wherein the three-freedom-degree parallel mechanism comprises: move platform, frame and set up three groups of branch chain mechanisms of parallelly connected setting between them, wherein: two ends of the branched chain mechanisms are respectively connected with the movable platform and the frame in a rotating way, and the three groups of branched chain mechanisms are arranged in a left-right asymmetrical way.
The movement relative to the base is realized by two groups of linear driving components arranged on the upper plane of the base.
The branched chain mechanism comprises: base, guide rail, branched chain motor and branched chain slider, wherein: the two parallel guide rails are fixed on the branched chain base, the branched chain sliding block and the guide rails can slide relatively along the direction of the guide rails, and the branched chain sliding block are movably arranged on the guide rail rods.
The asymmetric mode arrangement refers to that: the three groups of branched chains have the same structural form and are arranged in a left, middle and right mode, and the extension lines of the three groups of branched chain mechanisms do not intersect at one point.
Furthermore, the branched chain mechanisms are respectively connected with the frame and the movable platform in a rotating mode through the first rotating shaft and the second rotating shaft, in order to ensure that the extension lines of the three groups of branched chain mechanisms are not intersected with one point, the first rotating shaft of the branched chain mechanism connected with the frame in the middle is not positioned on the bilateral symmetry center of the frame, and the second rotating shaft of the branched chain mechanism connected with the movable platform is not positioned on the bilateral symmetry center of the movable platform, so that singularity of the mechanisms is avoided.
The linear driving component adopts but not limited to a screw rod sliding block set driven by a motor, wherein: the motor is connected with the lead screw, and the lead screw passes through the nut and links to each other with the slider, and the slider activity sets up on the lead screw.
The yaw subassembly be single yaw or two yaw structure, wherein: the simple pendulum head structure is realized by a pendulum joint with a pendulum axis parallel to the frame; the double-swing head structure comprises: a first swing joint perpendicular to the movable platform for generating a rotational degree of freedom in the Z-axis direction and a second swing joint perpendicular thereto and along the X-axis or Y-axis direction.
The linear driving component and the swing head component form a series connection part and respectively provide a movement freedom degree and a (or two) rotation freedom degrees, and the three-freedom-degree parallel component assembly provides two movement freedom degrees and one rotation freedom degree.
The operation main shaft adopts a cutter driven by a motor.
The three-degree-of-freedom parallel mechanism is arranged on the base in a sliding mode but is not limited to be arranged on the base in a sliding mode.
Technical effects
Compared with the prior art, the invention adopts a novel five-degree-of-freedom parallel-serial mechanism, has simple structure, convenient installation and maintenance and easy realization of modularization; the rigidity, the response speed and the processing precision of the whole machine system in the processing process are enhanced by adopting a three-degree-of-freedom parallel mechanism; the series-parallel structure increases the working space of the system, particularly the attitude working space. The processing equipment with the hybrid structure can better meet the high-precision processing requirement of large-scale complex components.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a base portion of the present invention;
FIG. 3 is a parallel module portion of the invention
FIG. 4 is a schematic structural diagram of a branching mechanism of the present invention;
in the figure: the device comprises a Y-axis linear driving assembly 1, a Y-axis motion driving motor 2, a parallel module frame 3, a three-degree-of-freedom parallel mechanism 4, a parallel mechanism movable platform 5, a screw rod 6, a swing head assembly 7, an operation spindle 8, a base 9, a slider 10, a branched chain driving motor 11, a coupler 12, a branched chain first rotating shaft 13, a branched chain slider 14, a guide rail 15, a screw rod 16, a branched chain base 17, a branched chain second rotating shaft 18, a branched chain mechanism 19, a first swing joint 20, a guide rail 21, a first swing joint driving motor 22 and a second swing joint driving motor 23.
Detailed Description
As shown in fig. 1 to 3, the present embodiment includes: a sliding three-freedom parallel mechanism 4 and a swinging head component 7 connected with the same and provided with an operation main shaft 8, wherein the three-freedom parallel mechanism 4 comprises: the movable platform 5, the frame 3 and three groups of branch chain mechanisms 19 which are arranged in parallel and are arranged between the movable platform and the frame, wherein: two ends of each branched chain mechanism 19 are respectively connected with the movable platform 5 and the frame 3 in a rotating way through a branched chain first rotating shaft 13 and a branched chain second rotating shaft 18, and the three groups of branched chain mechanisms 19 are arranged in an asymmetric way, namely, the three branched chain mechanisms arranged on the left, the middle and the right are asymmetric left and right.
The sliding arrangement is realized by two groups of linear driving assemblies 1 respectively connected with two ends of the frame 3, and the linear driving assemblies 1 are arranged on the base 9.
As shown in fig. 3, the branch mechanism 19 includes: base 17, guide rail pole 15, branch chain driving motor 11 and branch chain slider 14, wherein: the base 17 is fixedly connected with a guide rail 15, the branched chain sliding block 14 is movably arranged on the guide rail 15, the branched chain sliding block 14 moves through a screw rod 16, and the screw rod 16 moves under the drive of a branched chain driving motor 11.
As shown in fig. 1 and 2, the asymmetric arrangement means that: the branched chain mechanisms 19 on the two sides are arranged in bilateral symmetry, the branched chain mechanism 19 in the middle has the same direction as any branched chain mechanism 19 on the two sides, and the extension lines of the three groups of branched chain mechanisms 19 do not intersect at one point.
Furthermore, the branched chain mechanism 19 is rotatably connected with the frame 3 and the movable platform 5 through a first rotating shaft 18 and a second rotating shaft 16 respectively, the first rotating shaft 13 of the branched chain mechanism 19 located in the middle and connected with the frame 3 is not on the bilateral symmetry axis of the frame 3, and the second rotating shaft 16 of the branched chain mechanism 19 and connected with the movable platform 5 is also not on the symmetry axis of the movable platform 5, so that the singularity of the mechanism is avoided.
The linear driving assembly 2 comprises: motor 1, lead screw 6 and slider 10, wherein: the motor 1 is connected with the screw rod 6, and the sliding block 10 is movably arranged on the screw rod 6.
The linear driving component 1 and the swing head component 7 form a serial part and respectively provide a moving degree of freedom and a rotating degree of freedom, and the three-degree-of-freedom parallel mechanism 4 provides two moving degrees of freedom and one rotating degree of freedom.
The working spindle 8 is mounted with, but not limited to, a tool.
And the branched chain mechanism driving motor 11 is fixedly connected with the screw rod through a coupler 12.
The above device works in the following way: the tandem portion provides one degree of freedom of movement, i.e., movement in the Y-axis direction provided by the linear drive assembly 2, and one degree of freedom of rotation, i.e., provided by the yaw assembly 7. The three-degree-of-freedom parallel mechanism 4 provides two degrees of freedom of movement and one degree of freedom of rotation, wherein each branched chain mechanism 19 sequentially comprises: revolute joints, prismatic joints and revolute joints. These three kinematic joints correspond respectively: the first rotating shaft 13 is matched with the frame 3 to rotate; the guide rail 15 is matched with the branched chain sliding block 14 to realize the movement of the branched chain sliding block 14 relative to the base 17; the second rotating shaft 18 is matched with the movable platform 5 to realize rotation. Through the movement of the sliding block 13 on each branch chain mechanism 19 along the guide rail 15, three combinations of different lengths from the first rotating shaft 13 to the movable platform 5 are formed, so that the moving freedom degrees of the movable platform 5 of the three-freedom-degree parallel mechanism 4 relative to the frame 3 on the X axis and the Z axis and the rotating freedom degree on the Y axis are realized.
The parallel mechanism part adopts three groups of completely same branched chain structures, is easy to realize modularization and maintain, and has better rigidity performance because the three branched chains bear the loads in the Z-axis direction and the Y-axis direction together. The parallel mechanism module integrally moves in the Y-axis direction through the Y-axis movement driving component, can move in a large range in the Y-axis direction, and is suitable for machining large-sized workpieces.
The foregoing embodiments may be modified in many different ways by one skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and not by the preceding embodiments, and all embodiments within their scope are intended to be limited by the scope of the invention.
Claims (7)
1. A five-degree-of-freedom hybrid robot for workpiece processing, comprising: three-freedom parallel mechanism moving relative to the base and a swinging head component connected with the three-freedom parallel mechanism and provided with an operation main shaft, wherein the three-freedom parallel mechanism comprises: move platform, frame and set up three group's the branch chain mechanism of parallel arrangement between them, wherein: two ends of the branched chain mechanisms are respectively connected with the movable platform and the frame in a rotating way, and the three groups of branched chain mechanisms are arranged in a left-right asymmetrical way;
the movement relative to the base is realized by two groups of linear driving components arranged on the upper plane of the base;
the branched chain mechanism comprises: base, guide rail, branched chain motor and branched chain slider, wherein: the two parallel guide rails are fixed on the branched chain base, the branched chain sliding block and the guide rails can slide relatively along the guide rail direction, and the branched chain sliding block is movably arranged on the guide rail rod;
the asymmetrical arrangement is that: the branched chain mechanisms on two sides are arranged oppositely, the branched chain mechanism in the middle has the same direction with any branched chain mechanism on two sides, and the extension lines of the three branched chain mechanisms are not crossed at one point.
2. The five-degree-of-freedom hybrid robot for workpiece processing according to claim 1, wherein the branched mechanism is rotatably connected to the movable platform and the frame via a first rotating shaft and a second rotating shaft, respectively, the first rotating shaft of the branched mechanism connected to the frame in the middle is not on the symmetry axis of the frame, and the second rotating shaft of the branched mechanism connected to the movable platform is not on the symmetry axis of the movable platform, thereby avoiding mechanism singularity.
3. The five-degree-of-freedom hybrid robot for workpiece processing according to claim 1, wherein the linear driving assembly adopts a motor-driven lead screw slider group, wherein: the motor is connected with the screw rod, and the sliding block is movably arranged on the screw rod.
4. The five-degree-of-freedom hybrid robot for workpiece processing according to claim 3, wherein the head swinging assembly is of a single head swinging or double head swinging structure, wherein: the simple pendulum head structure is realized by a pendulum joint with a pendulum axis parallel to the frame; the double-swing structure comprises: a first swing joint perpendicular to the movable platform for generating a rotational degree of freedom in the Z-axis direction and a second swing joint perpendicular thereto and along the X/Y-axis direction.
5. The five-degree-of-freedom hybrid robot for workpiece processing according to claim 3, wherein the linear driving assembly and the swing head assembly constitute a serial part and respectively provide one degree of freedom of movement and one degree of freedom of rotation, and the three-degree-of-freedom parallel mechanism provides two degrees of freedom of movement and one degree of freedom of rotation.
6. The five-degree-of-freedom hybrid robot for workpiece processing according to claim 1, wherein the working spindle is a tool with a motor drive.
7. The five-degree-of-freedom hybrid robot for workpiece processing according to claim 1, wherein couplings are provided on both sides of the base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910433035.7A CN110053026B (en) | 2019-05-23 | 2019-05-23 | Five-freedom-degree series-parallel robot for workpiece machining |
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| CN201910433035.7A CN110053026B (en) | 2019-05-23 | 2019-05-23 | Five-freedom-degree series-parallel robot for workpiece machining |
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| CN110053026A CN110053026A (en) | 2019-07-26 |
| CN110053026B true CN110053026B (en) | 2022-07-26 |
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| CN111151867A (en) * | 2020-01-19 | 2020-05-15 | 天津大学 | Pressure control method of friction stir welding system of series-parallel robot |
| CN111844011B (en) * | 2020-06-16 | 2022-07-15 | 天津大学 | Robot tail end cutter compensation mechanism |
| 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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| KR101419897B1 (en) * | 2012-04-26 | 2014-07-15 | 고려대학교 산학협력단 | 5-dof micro robot of parallel-type |
| CN103252774B (en) * | 2013-05-07 | 2015-04-15 | 天津大学 | Space five-degree-of-freedom hybrid robot |
| 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 |
| PL237444B1 (en) * | 2015-07-13 | 2021-04-19 | Akademia Gorniczo Hutnicza Im Stanislawa Staszica W Krakowie | Hybrid robot |
| CN105945954B (en) * | 2016-06-21 | 2017-11-28 | 天津大学 | A kind of double-closed-loop control method of series parallel robot in five degrees of freedom |
| CN106002342B (en) * | 2016-07-01 | 2018-07-03 | 中国地质大学（武汉） | A kind of five-axle linkage Series-parallel Machine |
| WO2019083635A1 (en) * | 2017-10-24 | 2019-05-02 | Ludban Neil | Hybrid delta robot |
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