CN221561340U

CN221561340U - Series-parallel robot

Info

Publication number: CN221561340U
Application number: CN202323400517.3U
Authority: CN
Inventors: 曾严; 邹宇; 李麒麟; 黄蓓
Original assignee: Hanyu Ningbo Intelligent Equipment Co ltd
Current assignee: Hanyu Ningbo Intelligent Equipment Co ltd
Priority date: 2023-12-13
Filing date: 2023-12-13
Publication date: 2024-08-20
Anticipated expiration: 2033-12-13

Abstract

The utility model relates to an industrial robot field discloses a series-parallel robot, include: the base and the movable platform rotate on the base and are provided with a first rotating frame, a second rotating frame and a third rotating frame, the first rotating frame is rotationally provided with a first adjusting device, the second rotating frame is rotationally provided with a second adjusting device, the third rotating frame is rotationally provided with a third adjusting device, the first adjusting device, the second adjusting device and the third adjusting device can independently stretch out and draw back, the end parts of the first adjusting device, the second adjusting device and the third adjusting device are respectively hinged with the movable platform, and the movable platform is provided with a swinging head assembly for installing a machining tool. According to the hybrid robot, the three adjusting devices are correspondingly arranged on the three rotating frames, so that the structural rigidity is improved, the processing difficulty of the rotating frames is low, and the assembly difficulty is low; the three rotating frames can rotate independently relative to the base, and the machining freedom degree is high.

Description

Series-parallel robot

Technical Field

The utility model relates to the field of industrial robots, in particular to a hybrid robot.

Background

The series-parallel robot integrates the characteristics of the series-parallel robot and the parallel robot, has the advantages of high precision, large working space, strong bearing capacity, high response speed and the like, provides an effective solution for high-precision machining and manufacturing of large complex structural members, and is successfully applied to the fields of high-precision drilling and milling processing, space thick plate friction stir welding, high-precision assembly and the like of aerospace and rail transit at present.

Some existing series-parallel robots comprise a base and three independently telescopic adjusting devices, wherein two adjusting devices are rotatably arranged on the same long-strip-shaped rotating frame, two ends of the rotating frame are rotatably arranged on the base, and the processing difficulty is high because the length of the rotating frame is long, and the length of the rotating frame is inversely proportional to the rigidity, so that the rigidity of the rotating frame is poor, and the processing precision is low; in addition, when the rotating frame rotates, the two adjusting devices synchronously rotate relative to the base, the two adjusting devices cannot be independently controlled to rotate, the machining freedom degree is limited, and complex workpieces cannot be machined conveniently.

Disclosure of utility model

First, the technical problem to be solved

The utility model aims to solve the problem of providing a series-parallel robot, which is characterized in that three adjusting devices are correspondingly arranged on three rotating frames, so that the structural rigidity is improved, the processing difficulty of the rotating frames is low, and the assembly difficulty is low; the three rotating frames can rotate independently relative to the base, and the machining freedom degree is high.

(II) technical scheme

In order to solve the technical problem, the utility model provides a series-parallel robot, comprising: the base is rotatably provided with a first rotating frame, a second rotating frame and a third rotating frame, the first rotating frame is rotatably provided with a first adjusting device, the second rotating frame is rotatably provided with a second adjusting device, the third rotating frame is rotatably provided with a third adjusting device, the first adjusting device, the second adjusting device and the third adjusting device can be independently stretched, the end parts of the first adjusting device, the second adjusting device and the third adjusting device are respectively hinged with the movable platform, and the movable platform is provided with a swinging head assembly for installing a machining tool; during processing, the swing head assembly is conveyed to a position to be processed by respective telescopic adjustment of the three adjusting devices so as to be processed, and the telescopic amounts of the three adjusting devices are calculated through a program. According to the hybrid robot, the three adjusting devices are correspondingly arranged on the three rotating frames, so that the structural rigidity is improved, the processing difficulty of the rotating frames is low, and the assembly difficulty is low; the three rotating frames can rotate independently relative to the base, and the machining freedom degree is high.

Further, the first rotating frame rotates relative to the base and has a first axis of rotation, and the second rotating frame rotates relative to the base and has a second axis of rotation, the first axis of rotation being collinear with the second axis of rotation.

Further, the third rotating frame rotates relative to the base and has a third rotation axis, and the third rotation axis is perpendicular to the first rotation axis.

Further, the first adjusting device rotates relative to the first rotating frame and has a fourth rotating axis, and the fourth rotating axis is perpendicular to the first rotating axis.

Further, two opposite first installation blocks, two opposite second installation blocks and two opposite third installation blocks are fixedly arranged on the base, the first rotating frame is rotationally connected between the two first installation blocks, the second rotating frame is rotationally connected between the two second installation blocks, and the third rotating frame is rotationally connected between the two third installation blocks.

Further, the first adjusting device comprises a support arm, a sliding component and a driving part for driving the sliding component to slide relative to the support arm, one end of the support arm is hinged to the movable platform, the sliding component comprises a screw and a hanging lug connected with the screw, the screw is rotationally connected with the first rotating frame through the hanging lug, the driving part comprises a first motor and a screw rod connected with the output end of the first motor, the first motor is fixed to the support arm, and the screw is correspondingly sleeved on the screw rod.

Further, a guide rail is arranged on the support arm, and a sliding block corresponding to the guide rail is connected to the nut.

Further, the first adjusting device, the second adjusting device and the third adjusting device have the same structure, and the first rotating frame, the second rotating frame and the third rotating frame have the same structure.

Further, the first rotating frame is provided with a first through groove, and the first adjusting device is arranged in the first through groove; the second rotating frame is provided with a second through groove, and the second adjusting device is arranged in the second through groove; the third rotating frame is provided with a third through groove, and the third adjusting device is arranged in the third through groove.

Further, the swing head assembly comprises a rotating support and a rotating block rotatably connected to the rotating support, a second motor used for driving the rotating support to rotate is arranged on the movable platform, the output end of the second motor is connected with the rotating support, a third motor used for driving the rotating block to rotate is arranged on the rotating support, and the output end of the third motor is in transmission connection with the rotating block.

(III) beneficial effects

According to the hybrid robot, the three adjusting devices are correspondingly arranged on the three rotating frames, so that the structural rigidity is improved, the processing difficulty of the rotating frames is low, and the assembly difficulty is low; the three rotating frames can rotate independently relative to the base, so that the machining freedom degree is high; the base is rotatably provided with a first rotating frame, a second rotating frame and a third rotating frame, the three rotating frames are short in length, low in processing difficulty and good in rigidity; the first mounting block, the second mounting block and the third mounting block are fixed on the base through a plurality of bolts, so that the mounting is convenient, and the assembly cost is low; a first bearing is arranged between the mounting block and the corresponding rotating frame, so that the rotation is stable, and the machining precision is improved; the first rotating frame is provided with a first through groove, the second rotating frame is provided with a second through groove, the third rotating frame is provided with a third through groove, and the three rotating frames are hollow, so that the weight is small, and the assembly is convenient; the support arm is provided with the guide rail, is connected with the slider that corresponds with the guide rail on the nut, and it is more steady to slide, promotes machining precision.

Drawings

FIG. 1 is a perspective view of a hybrid robot of the present utility model;

FIG. 2 is a schematic structural diagram of the hybrid robot of the present utility model;

FIG. 3 is an exploded view of a portion of a sliding assembly of a hybrid robot of the present utility model;

FIG. 4 is a schematic structural view of a first rotation axis of the hybrid robot of the present utility model;

The corresponding component names for each reference number in the figures are: the device comprises a base 1, a first rotating frame 2, a first through groove 201, a second rotating frame 3, a second through groove 301, a third rotating frame 4, a third through groove 401, a first adjusting device 5, a support arm 51, a sliding component 52, a screw 521, a hanging lug 522, a slider 523, a guide rail 53, a second adjusting device 6, a third adjusting device 7, a moving platform 8, a first mounting block 9, a swinging head component 90, a rotating bracket 91, a rotating block 92, a mounting part 921, a second motor 93, a third motor 94, a first rotating axis L, a second rotating axis M, a third rotating axis N, a fourth rotating axis P, a second mounting block 10, a third mounting block 11, a first motor 12, a bolt 13, a first bearing 14, a second bearing 15, a driving belt 16 and a screw 17.

Detailed Description

The following describes in further detail the embodiments of the present utility model with reference to the drawings and examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.

Referring to fig. 1-4, the present utility model provides a hybrid robot, comprising: the base 1 and the movable platform 8 are rotatably provided with a first rotating frame 2, a second rotating frame 3 and a third rotating frame 4 on the base 1, and the three rotating frames are short in length, low in processing difficulty and good in rigidity; the first rotary frame 2 is rotatably provided with a first adjusting device 5, the second rotary frame 3 is rotatably provided with a second adjusting device 6, the third rotary frame 4 is rotatably provided with a third adjusting device 7, the first adjusting device 5, the second adjusting device 6 and the third adjusting device 7 can be independently stretched, the end parts of the first adjusting device 5, the second adjusting device 6 and the third adjusting device 7 are respectively hinged with a movable platform 8, and the movable platform 8 is provided with a swinging head assembly 90 for installing a processing cutter; during machining, the swing head assembly 90 is conveyed to a position required to be machined by means of telescopic adjustment of each of the three adjusting devices, so that machining is performed, and the telescopic amounts of the three adjusting devices are calculated through a program. According to the hybrid robot, the three adjusting devices are correspondingly arranged on the three rotating frames, so that the structural rigidity is improved, the processing difficulty of the rotating frames is low, and the assembly difficulty is low; the three rotating frames can rotate independently relative to the base, so that the machining freedom degree is high, and complex workpieces can be machined conveniently.

Referring to fig. 1, 2 and 4, the first rotating frame 2 rotates relative to the base 1 and has a first rotation axis L, and the second rotating frame 3 rotates relative to the base 1 and has a second rotation axis M, the first rotation axis L being collinear with the second rotation axis M; the third rotating frame 4 rotates relative to the base 1 and has a third rotation axis N perpendicular to the first rotation axis L; the first adjusting device 5 rotates relative to the first rotating frame 2 and is provided with a fourth rotating axis P, the fourth rotating axis P is perpendicular to the first rotating axis L, the machining freedom degree is high, and the machining is flexible; the base 1 is fixedly provided with two opposite first mounting blocks 9, two opposite second mounting blocks 10 and two opposite third mounting blocks 11, the first rotating frame 2 is rotationally connected between the two first mounting blocks 9, the second rotating frame 3 is rotationally connected between the two second mounting blocks 10, and the third rotating frame 4 is rotationally connected between the two third mounting blocks 11; the first mounting block 9, the second mounting block 10 and the third mounting block 11 are fixed on the base 1 through a plurality of bolts 13, so that the mounting is convenient, and the assembly cost is low; the first bearing 14 is arranged between the mounting block and the corresponding rotating frame, so that the rotation is smoother, and the machining precision is improved.

Referring to fig. 1-3, the first adjusting device 5 includes a support arm 51, a sliding component 52, and a driving part for driving the sliding component 52 to slide relative to the support arm 51, one end of the support arm 51 is hinged on the moving platform 8, the sliding component 52 includes a nut 521 and a hanging lug 522 connected with the nut 521, a second bearing 15 is disposed between the hanging lug 522 and the nut 521, the nut 521 is rotatably connected with the first rotating frame 2 through the hanging lug 522, the driving part includes a first motor 12 and a screw rod 17 connected with an output end of the first motor 12, the first motor 12 is fixed on the support arm 51, and the nut 521 is correspondingly sleeved on the screw rod 17; the screw rod 17 is correspondingly driven to rotate by the forward rotation or the reverse rotation of the first motor 12, so that the screw 521 axially moves along the screw rod 17, and the hanging lugs 522 are driven to be close to or far away from the hinging part of the support arm 51 and the movable platform 8; the support arm 51 is provided with the guide rail 53, the nut 521 is connected with the slide block 523 corresponding to the guide rail 53, so that the slide is stable, and the processing precision is improved; the first adjusting device 5, the second adjusting device 6 and the third adjusting device 7 have the same structure, and the first rotating frame 2, the second rotating frame 3 and the third rotating frame 4 have the same structure; the movable platform 8 is transported to a required position by controlling the feeding amount of the respective motors of the three adjusting devices respectively.

Referring to fig. 1 and 2, the first rotating frame 2 is provided with a first through groove 201, and the first adjusting device 5 is disposed in the first through groove 201; the second rotating frame 3 is provided with a second through groove 301, and the second adjusting device 6 is arranged in the second through groove 301; the third rotating frame 4 is provided with a third through groove 401, the third adjusting device 7 is arranged in the third through groove 401, and the three rotating frames are hollow, so that the weight is small and the assembly is convenient; the swinging head assembly 90 comprises a rotating bracket 91 and a rotating block 92 rotatably connected to the rotating bracket 91, a second motor 93 for driving the rotating bracket 91 to rotate is arranged on the movable platform 8, and the rotating direction of a motor shaft of the second motor 93 is consistent with the rotating direction of the rotating bracket 91; the output end of the second motor 93 is connected with the rotating bracket 91, a third motor 94 for driving the rotating block 92 to rotate is arranged on the rotating bracket 91, the output end of the third motor 94 is in transmission connection with the rotating block 92 through the transmission belt 16, and the rotating of the rotating block 92 in two degrees of freedom is realized through the second motor 93 and the third motor 93, so that the degree of freedom of processing is further improved; the rotary block 92 is provided with a mounting portion 921 for mounting a tool holder.

According to the hybrid robot, the guide rail is arranged on the support arm, the nut is connected with the sliding block corresponding to the guide rail, so that the sliding is stable, and the machining precision is improved; the three adjusting devices are correspondingly arranged on the three rotating frames, so that the structural rigidity is improved, the processing difficulty of the rotating frames is low, and the assembly difficulty is low; the three rotating frames can rotate independently relative to the base, so that the machining freedom degree is high; the base is rotatably provided with a first rotating frame, a second rotating frame and a third rotating frame, the three rotating frames are short in length, low in processing difficulty and good in rigidity; the first mounting block, the second mounting block and the third mounting block are fixed on the base through a plurality of bolts, so that the mounting is convenient, and the assembly cost is low; a first bearing is arranged between the mounting block and the corresponding rotating frame, so that the rotation is stable, and the machining precision is improved; the first swivel mount is provided with first groove that link up, and the second swivel mount is provided with the second groove that link up, and the third swivel mount is provided with the third groove that link up, and three swivel mount are cavity form, and weight is little, the assembly of being convenient for.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the technical principle of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.

Claims

1. The utility model provides a series-parallel robot which characterized in that includes: the automatic cutting machine comprises a base (1) and a movable platform (8), wherein a first rotating frame (2), a second rotating frame (3) and a third rotating frame (4) are rotatably arranged on the base (1), a first adjusting device (5) is rotatably arranged on the first rotating frame (2), a second adjusting device (6) is rotatably arranged on the second rotating frame (3), a third adjusting device (7) is rotatably arranged on the third rotating frame (4), the first adjusting device (5), the second adjusting device (6) and the third adjusting device (7) can be independently stretched, the ends of the first adjusting device (5), the second adjusting device (6) and the third adjusting device (7) are respectively hinged with the movable platform (8), and a swinging head assembly (90) for installing a machining tool is arranged on the movable platform (8).

2. The hybrid robot according to claim 1, characterized in that the first rotating frame (2) rotates with respect to the base (1) and has a first axis of rotation (L), the second rotating frame (3) rotates with respect to the base (1) and has a second axis of rotation (M), the first axis of rotation (L) being collinear with the second axis of rotation (M).

3. The hybrid robot according to claim 2, characterized in that the third rotating frame (4) rotates with respect to the base (1) and has a third rotation axis (N), which is perpendicular to the first rotation axis (L).

4. The hybrid robot according to claim 2, characterized in that the first adjustment device (5) rotates with respect to the first rotation frame (2) and has a fourth rotation axis (P), which is perpendicular to the first rotation axis (L).

5. The parallel-serial robot according to claim 1, wherein two opposite first mounting blocks (9), two opposite second mounting blocks (10) and two opposite third mounting blocks (11) are fixedly arranged on the base (1), the first rotating frame (2) is rotatably connected between the two first mounting blocks (9), the second rotating frame (3) is rotatably connected between the two second mounting blocks (10), and the third rotating frame (4) is rotatably connected between the two third mounting blocks (11).

6. The hybrid robot according to claim 1, wherein the first adjusting device (5) comprises a support arm (51), a sliding component (52) and a driving part for driving the sliding component (52) to slide relative to the support arm (51), one end of the support arm (51) is hinged to the movable platform (8), the sliding component (52) comprises a nut (521) and a hanging lug (522) connected with the nut (521), the nut (521) is rotationally connected with the first rotating frame (2) through the hanging lug (522), the driving part comprises a first motor (12) and a screw rod (17) connected with an output end of the first motor (12), the first motor (12) is fixed on the support arm (51), and the nut (521) is correspondingly sleeved on the screw rod (17).

7. The hybrid robot according to claim 6, wherein a guide rail (53) is provided on the arm (51), and a slider (523) corresponding to the guide rail (53) is connected to the nut (521).

8. The hybrid robot according to claim 1, wherein the first adjusting device (5), the second adjusting device (6) and the third adjusting device (7) have the same structure, and the first rotating frame (2), the second rotating frame (3) and the third rotating frame (4) have the same structure.

9. The hybrid robot according to claim 1, wherein the first rotating frame (2) is provided with a first through slot (201), the first adjusting device (5) being placed in the first through slot (201); the second rotating frame (3) is provided with a second through groove (301), and the second adjusting device (6) is arranged in the second through groove (301); the third rotating frame (4) is provided with a third through groove (401), and the third adjusting device (7) is arranged in the third through groove (401).

10. The hybrid robot according to any one of claims 1 to 9, wherein the swing assembly (90) comprises a rotating bracket (91) and a rotating block (92) rotatably connected to the rotating bracket (91), a second motor (93) for driving the rotating bracket (91) to rotate is arranged on the moving platform (8), an output end of the second motor (93) is connected with the rotating bracket (91), a third motor (94) for driving the rotating block (92) to rotate is arranged on the rotating bracket (91), and an output end of the third motor (94) is in transmission connection with the rotating block (92).