CN115890623A - Three-branched-chain five-degree-of-freedom parallel machining robot - Google Patents
Three-branched-chain five-degree-of-freedom parallel machining robot Download PDFInfo
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Abstract
The invention discloses a three-branch-chain five-degree-of-freedom parallel processing robot, which comprises a static platform used as a supporting foundation and a movable platform used for posture adjustment, wherein a processing output unit used for executing actions is arranged in the movable platform, an unconstrained branch chain group is arranged between the static platform and the movable platform, a constrained branch chain used for constraining is also arranged between the static platform and the movable platform, one end of the constrained branch chain is connected with the static platform through a third moving pair, and the moving direction of the third moving pair is intersected with the plane where the unconstrained branch chain group is located. According to the five-freedom-degree parallel processing robot, the first Hooke joint and the second Hooke joint move in a coupling mode to adjust one side of the movable platform, the movable joints connected with the movable platform and the static platform and the unconstrained branched chain form a triangle, the position and the corner rigidity of the robot are guaranteed by constraining the proportional relation of the two triangles, and the static platform adopts a moving pair connection mode, so that the five-freedom-degree parallel processing robot has the advantages of high rigidity and good flexibility.
Description
Technical Field
The invention belongs to the technical field of processing robots, and particularly relates to a three-branched-chain five-degree-of-freedom parallel processing robot.
Background
At present, the processing robot plays an important role in the manufacturing industry, and particularly, the parallel robot plays a very important role in the aspects of important advanced equipment, core components, high-performance materials, high-technology manufacturing processes and the like. Along with the development of national major projects, the requirements of the high-end equipment industry on the efficiency and the quality of core parts of the high-end equipment are higher, and in order to meet the requirement of high rigidity and good flexibility of the core parts of the high-end equipment, the design of the robot with five-axis linkage machining capability is an effective solution.
At present, a part of five-degree-of-freedom processing robots have the problems of large rigidity and small working space, for example, a chinese patent CN113319827a discloses a five-degree-of-freedom parallel processing robot structure, although the rigidity advantage is obvious, due to the characteristics of the mechanism arrangement form, the swing range of a tail end execution mechanism is limited, and the requirement of efficient processing of large structural members is difficult to meet.
In order to overcome the defects of the five-degree-of-freedom parallel machining robot and better meet the machining requirements of large-sized complex parts, the invention provides a five-degree-of-freedom parallel machining robot with high rigidity and good flexibility, and provides a solution for high-efficiency and high-quality machining of great high-end equipment.
Disclosure of Invention
The invention is provided for solving the problems in the prior art, and aims to provide a three-branched-chain five-degree-of-freedom parallel processing robot.
The technical scheme of the invention is as follows: a parallel processing robot with three branched chains and five degrees of freedom comprises a static platform used as a supporting foundation and a movable platform used as a pose adjusting function, wherein a processing output unit used for finishing execution actions is arranged in the movable platform, an unconstrained branch chain group is arranged between the static platform and the movable platform, a constrained branched chain used for constraining is further arranged between the static platform and the movable platform, one end of the constrained branched chain is connected with the static platform through a third moving pair, and the moving direction of the third moving pair is intersected with the plane where the unconstrained branched chain group is located.
Furthermore, the third moving pair is arranged in a static platform, and an installation position for installing the third moving pair is formed in the static platform.
Furthermore, the moving base of the third moving pair is connected with the static platform, the moving unit of the third moving pair moves linearly along the moving base, and the moving unit is connected with the second hook joint.
Furthermore, one end of the second hook hinge is connected with a branched chain rod, and the other end of the branched chain rod is connected with the movable platform through a movable joint.
Furthermore, the unconstrained branched chain group comprises a first branched chain and a second branched chain, and the first branched chain and the second branched chain are symmetrically arranged on two sides of a symmetrical plane of the static platform.
Further, the constraint branch is arranged between the first branch and the second branch.
Furthermore, an installation inclined plane is formed in the static platform, the first branched chain and the second branched chain are arranged on the installation inclined plane, and extension lines of two first moving pairs in the first branched chain and the second branched chain are parallel or intersected.
Furthermore, the first branched chain, the second branched chain and the constraint branched chain are connected with the movable platform through movable joints.
Furthermore, the movable joint is arranged at the back or the side wall of the movable platform.
Further, the movable joints are arranged in a triangular shape.
The invention has the following beneficial effects:
the robot comprises two days of unconstrained branched chains and one constrained branched chain, wherein a first hook joint and a second hook joint in the constrained branched chain move in a coupling manner to adjust one side of a movable platform, the unconstrained branched chain and the constrained branched chain, the movable joints connected with the movable platform and a static platform all form a triangle, the position and the corner rigidity of the robot are ensured by constraining the proportional relation of the two triangles, and the unconstrained branched chain, the constrained branched chain and the static platform are all connected by a moving pair, so that the five-freedom parallel processing robot has the advantages of high rigidity and good flexibility.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of a first branch chain according to the present invention;
FIG. 3 is a schematic diagram of the structure of a third branch chain according to the present invention;
FIG. 4 is a schematic structural diagram of a second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a third embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a fourth embodiment of the present invention;
wherein:
1. static platform 2 moves platform
3. Electric spindle 4 spherical hinge
L1 first Branch L2 second Branch
L3 third branch
P1 first moving pair P2 second moving pair
P3 third moving pair
R1 revolute pair
U1 first hook joint U2 second hook joint.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings and examples:
as shown in fig. 1 to 6, the parallel processing robot with three branched chains and five degrees of freedom comprises a static platform 1 serving as a support foundation and a movable platform 2 serving as a pose adjustment, wherein a processing output unit for finishing execution actions is arranged in the movable platform 2, an unconstrained branch chain group is arranged between the static platform 1 and the movable platform 2, a constrained branched chain for constraint is further arranged between the static platform 1 and the movable platform 2, one end of the constrained branched chain is connected with the static platform 1 through a third moving pair P3, and the moving direction of the third moving pair P3 is intersected with the plane where the unconstrained branch chain group is located.
The third moving pair P3 is arranged in the static platform 1, and an installation position for installing the third moving pair P is formed in the static platform 1.
The moving base of the third moving pair P3 is connected with the static platform 1, the moving unit of the third moving pair P3 linearly moves along the moving base, and the moving unit is connected with the second Hooke hinge U2.
And one end of the second hook hinge U2 is connected with a branched chain rod, and the other end of the branched chain rod is connected with the movable platform 2 through a movable joint.
The unconstrained branched chain group comprises a first branched chain L1 and a second branched chain L2, and the first branched chain L1 and the second branched chain L2 are symmetrically distributed on two sides of the symmetrical plane of the static platform 1.
The constraint branched chain is arranged between the first branched chain L1 and the second branched chain L2.
An installation inclined plane is formed in the static platform 1, the first branched chain L1 and the second branched chain L2 are arranged on the installation inclined plane, and extension lines of two first sliding pairs in the first branched chain L1 and the second branched chain L2 are parallel or intersected.
The first branched chain L1, the second branched chain L2 and the constraint branched chain are connected with the movable platform 2 through movable joints.
The movable joint is arranged at the back or the side wall of the movable platform 2.
The movable joints are arranged in a triangular shape.
Specifically, the pose of the unconstrained branched chain group is adjusted by combining the unconstrained branched chain group with the constrained branched chain, the movable platform 2 provides mounting support for the processing output unit, and the processing output unit adjusts the pose along with the movable platform 2 to realize five-degree-of-freedom motion.
Specifically, the machining output unit may be, but is not limited to, an electric spindle 3, and the electric spindle 3 provides power output for machining.
The moving base of the first moving pair P3 is arranged on the installation inclined plane of the static platform 1, the moving unit of the first moving pair P1 moves linearly along the moving base, and the moving unit of the first moving pair P1 is provided with a revolute pair R1.
One end of the revolute pair R1 is connected with the second revolute pair P2, and the second revolute pair P2 moves in a telescopic mode.
One end of the second sliding pair P2 is connected with the movable platform 2 through a movable joint.
Specifically, the constraint branched chain is a third branched chain L3, and the first branched chain L1, the second branched chain L2, and the third branched chain L3 are all driving branched chains, that is, the first sliding pair P1 and the second sliding pair P2 in the first branched chain L1 and the second branched chain L2 are driven by a driving member.
Specifically, each unconstrained branched chain group comprises two unconstrained branched chains, namely a first branched chain L1 and a second branched chain L2, one ends of the first branched chain L1 and the second branched chain L2 are connected with the static platform 1 through a first sliding pair P1, the other ends of the first branched chain L1 and the second branched chain L2 are connected with the movable platform through a spherical hinge 4, and a revolute pair R1 is arranged between the first sliding pair P1 and the second sliding pair P2.
Specifically, one end of a third branched chain L3 is connected with the static platform through a third moving pair P3, and the other end of the third branched chain L3 is connected with the moving platform 2 through a first hook joint U1.
More specifically, the moving unit of the third moving pair P3 is triangular, and one end of the second hooke joint U2 is fixed to the moving unit.
Specifically, the movable joints of the first branched chain L1, the second branched chain L2 and the third branched chain L3 are arranged in a triangular shape at the outer wall of the movable platform 2, wherein the movable joints of the first branched chain L1 and the second branched chain L2 are spherical hinges 4, and the movable joint of the third branched chain L3 is a first hooke hinge U1.
Specifically, the hinge point of the second hook hinge U2 and the hinge point of the two revolute pairs R1 are arranged in a triangular shape.
Specifically, a first moving pair P1, a second moving pair P2 and a third moving pair P3 in a first branched chain L1, a second branched chain L2 and a third branched chain L3 are independently driven by a lead screw or a hydraulic cylinder respectively, and five-degree-of-freedom motion of the movable platform 2 is realized by controlling the positions of three branched chains relative to the static platform and the lengths of the three branched chains.
Example one
As shown in fig. 1 to 3, a parallel processing robot with three branched chains and five degrees of freedom includes a static platform 1, a dynamic platform 2, an electric spindle 3, a first branched chain L1, a second branched chain L2, and a third branched chain L3.
Specifically, two ends of a first branched chain L1, a second branched chain L2 and a third branched chain L3 are respectively connected with a static platform 1 and a movable platform 2, and an electric spindle 3 is fixedly installed in the center of the movable platform 2 to jointly form the five-degree-of-freedom parallel processing robot.
Specifically, the first branched chain L1 and the second branched chain L2 each include a first sliding pair P1, a second sliding pair P2, a spherical hinge 4, and a revolute pair R1. Wherein the revolute pair R1 is arranged between the first revolute pair P1 and the second revolute pair P2, and the spherical hinge 4 is arranged at one end of the second revolute pair P2.
Specifically, the third branched chain L3 includes a third moving pair P3, a first hooke joint U1 and a second hooke joint U2; the second hook joint U2 is arranged between the first hook joint U1 and the third moving pair P3.
Specifically, the first branch chain L1 and the second branch chain L2 have the same structure, one end of each branch chain is connected with the static platform 1 through the first sliding pair P1, the other end of each branch chain is connected with the movable platform 2 through the spherical hinge 4, the revolute pair R1 is arranged between the first sliding pair P1 and the second sliding pair P2, and the other end of the second sliding pair P2 is provided with the spherical hinge 4. One end of a third branched chain L3 is connected with the static platform 1 through a third moving pair P3, and the other end of the third branched chain L is connected with the moving platform 2 through a first hook joint U1.
Specifically, the spherical hinges 4 of the first branch chain L1 and the second branch chain L2 are arranged at two sides of the movable platform 2, the first moving pairs P1 in the first branch chain L1 and the second branch chain L2 are symmetrically arranged relative to the symmetrical plane of the static platform 1, a certain included angle is formed between the two first moving pairs P1, and the installation plane on the static platform 1 is obliquely arranged; the first branch L1 and the second branch L2 are triangular in shape.
The hinge point of the first hook joint U1 and the spherical joint 4 are arranged in a triangular shape, and the hinge point of the second hook joint U2 and the revolute pair R1 are arranged in a triangular shape. The area ratio of the two triangles is 1:2 to 1:9.
In this embodiment, the axis of the second hooke joint U2 and the third revolute pair P3 is coplanar with the symmetry plane.
Specifically, in this embodiment, the first branch chain L1, the second branch chain L2, and the third branch chain 3 are independently driven by a motor or hydraulic pressure. A first moving pair P1 contained in a first branched chain L1 and a second branched chain L2 is independently driven by a motor to complete the translational motion of a hinge point of a revolute pair R1 and the first moving pair P1, a second moving pair P2 is independently driven by a motor or hydraulic pressure to complete the telescopic motion, a spherical hinge 4 connected with two ends of the second moving pair P2 is matched with the revolute pair R1 to complete the corresponding motion under the preset pose, the third moving pair P3 contained in a third branched chain L3 is independently driven by a motor to complete the sliding motion, a first hook hinge U1 and a second hook hinge U2 in the third branched chain 3 are also matched with the first hook hinge U1 and the second hook hinge U2 to complete the corresponding motion under the preset pose, and the moving platform 2 realizes the five-degree-of-freedom motion.
Specifically, the installation position in quiet platform 1 is the mounting groove, the mounting groove satisfies the installation that removes the basis in the vice P3 of third removal, second hook joint U2 stretches out from the mounting groove to when second hook joint U2 moves, avoid taking place the motion with the mounting groove and interfere.
Specifically, the mounting groove is positioned at the upper part of the static platform 1.
Example two
As shown in fig. 4, the three-branched-chain five-degree-of-freedom parallel processing robot in the present embodiment has the same motion form as that in the first embodiment, and the kinematic pairs and branched chains have the same composition form.
The difference lies in that: in this embodiment, the hinge axes of the second hooke joint U2 and the first kinematic pair P1 are orthogonal to the symmetry plane, and the hinge axes of the first hooke joint U1 and the second hooke joint U2 are parallel.
The installation position in the quiet platform 1 is the mounting groove, form the guide slot in the tank bottom of mounting groove, the guide slot is convenient for third branch chain L3's action, avoids taking place the motion with quiet platform 1 and interferes.
EXAMPLE III
In the embodiment, the three-branched-chain five-degree-of-freedom parallel processing robot has the same motion form as that in the embodiment one, and all kinematic pairs, branched chains and the like have the same composition form.
The difference lies in that: in the embodiment, the mounting groove is arranged at the bottom end of the static platform 1, so that the third moving pair P3 is always arranged below the first moving pair P1; under the structural arrangement, the upper and lower mounting directions of the movable platform 2 in the embodiment are opposite to that in the first embodiment; namely, the first branched chain L1, the second branched chain L2, the third branched chain L3 and the movable platform 2 are integrally turned.
The spherical hinges 4 of the first branched chain L1 and the second branched chain L2 are arranged at two sides of the movable platform 2, wherein the first moving pairs P1 are symmetrically arranged relative to the symmetrical plane of the static platform 1, the two first moving pairs P1 are parallel to each other, and the installation plane on the static platform 1 is vertically arranged. The movable joint of the first hook joint U1 connected with the movable platform 2 and the ball joint 4 are arranged in a triangular shape, the hinge point of the second hook joint U2 and the hinge point of the revolute pair R1 are in a triangular shape, and the area ratio of the two triangles is 1:2 to 1:9.
Specifically, the hinge point of the second hook hinge U2 is coplanar with the symmetry plane.
The first moving pair P1 and the second moving pair P2 are independently driven by a lead screw or a hydraulic cylinder to move or extend and contract. The spherical hinge 4 and the revolute pair 5 move in a matched mode, so that the preset pose of the movable platform 2 is met. The third moving pair P3 is independently driven by a motor to complete sliding motion, and the first hook joint U1 and the second hook joint U2 are matched with the moving pair to meet the preset pose of the moving platform 2. Thereby realizing five-degree-of-freedom motion of the movable platform 2.
Example four
The motion form of the parallel processing robot with three branched chains and five degrees of freedom in the embodiment is the same as that of the embodiment III, and the composition forms of each kinematic pair, branched chain and the like are completely the same.
The difference lies in that: in this embodiment, the hinge axis of the second hooke joint U2 and the static platform 1 is orthogonal to the symmetry plane, the two hinge axes of the first hooke joint U1 and the second hooke joint U2 are parallel, and the hinge axis of the second hooke joint U2 is parallel to the hinge point between the first branch chain L1, the second branch chain L2 and the movable platform 2.
Having thus described the basic principles, principal features and advantages of the invention, several embodiments of the invention have been shown and described, and any changes, modifications, substitutions and alterations to these embodiments without departing from the spirit and scope of the invention are intended to be covered by the following claims.
Claims (10)
1. A three-branch five-degree-of-freedom parallel processing robot is characterized in that: the parallel machining robot comprises a static platform (1) serving as a supporting foundation and a movable platform (2) serving as a pose adjusting function, wherein a machining output unit for finishing execution actions is arranged in the movable platform (2), an unconstrained branch chain group is arranged between the static platform (1) and the movable platform (2), a constrained branch chain for constraining is further arranged between the static platform (1) and the movable platform (2), one end of the constrained branch chain is connected with the static platform (1) through a third moving pair, and the moving direction of the third moving pair is intersected with the plane where the unconstrained branch chain group is located.
2. The parallel processing robot with three branched chains and five degrees of freedom as claimed in claim 1, wherein: the third moving pair is arranged in the static platform (1), and an installation position for installing the third moving pair is formed in the static platform (1).
3. The parallel processing robot with three branched chains and five degrees of freedom according to claim 1, wherein: the moving base of the third moving pair is connected with the static platform (1), the moving unit of the third moving pair linearly moves along the moving base, and the moving unit is connected with the second hook joint.
4. The parallel processing robot with three branched chains and five degrees of freedom as claimed in claim 3, wherein: one end connected with the second hook hinge is connected with the branched chain rod, and the other end of the branched chain rod is connected with the movable platform (2) through a movable joint.
5. The parallel processing robot with three branched chains and five degrees of freedom according to claim 1, wherein: the unconstrained branched chain group comprises a first branched chain and a second branched chain, and the first branched chain and the second branched chain are symmetrically distributed on two sides of a symmetrical plane of the static platform (1).
6. The parallel processing robot with three branched chains and five degrees of freedom as claimed in claim 5, wherein: the constraint branched chain is arranged between the first branched chain and the second branched chain.
7. The parallel processing robot with three branched chains and five degrees of freedom according to claim 5, wherein: an installation inclined plane is formed in the static platform (1), the first branched chain and the second branched chain are arranged on the installation inclined plane, and extension lines of two first moving pairs in the first branched chain and the second branched chain are parallel or intersected.
8. The parallel processing robot with three branched chains and five degrees of freedom according to claim 5, wherein: the first branched chain, the second branched chain and the constraint branched chain are connected with the movable platform (2) through movable joints.
9. The parallel processing robot with three branched chains and five degrees of freedom according to claim 8, wherein: the movable joint is arranged on the back or the side wall of the movable platform (2).
10. The parallel processing robot with three branched chains and five degrees of freedom as claimed in claim 8, wherein: the movable joints are arranged in a triangular shape.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211432084.7A CN115890623A (en) | 2022-11-16 | 2022-11-16 | Three-branched-chain five-degree-of-freedom parallel machining robot |
| PCT/CN2023/103883 WO2024103759A1 (en) | 2022-11-16 | 2023-06-29 | Three-branch-chain five-degree-of-freedom parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211432084.7A CN115890623A (en) | 2022-11-16 | 2022-11-16 | Three-branched-chain five-degree-of-freedom parallel machining robot |
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| CN115890623A true CN115890623A (en) | 2023-04-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024103759A1 (en) * | 2022-11-16 | 2024-05-23 | 天津大学 | Three-branch-chain five-degree-of-freedom parallel robot |
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2022
- 2022-11-16 CN CN202211432084.7A patent/CN115890623A/en active Pending
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| CN101411631A (en) * | 2008-11-21 | 2009-04-22 | 南开大学 | Controlling mechanism of five-freedom degree vertebral column minimally invasive robot |
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