WO2021017204A1 - 一种大型回转类构件移动式加工机器人 - Google Patents

一种大型回转类构件移动式加工机器人 Download PDF

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Publication number
WO2021017204A1
WO2021017204A1 PCT/CN2019/112867 CN2019112867W WO2021017204A1 WO 2021017204 A1 WO2021017204 A1 WO 2021017204A1 CN 2019112867 W CN2019112867 W CN 2019112867W WO 2021017204 A1 WO2021017204 A1 WO 2021017204A1
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Prior art keywords
branch
workpiece
guide rail
rail
parallel processing
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PCT/CN2019/112867
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English (en)
French (fr)
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刘辛军
谢福贵
黄晨晖
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清华大学
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Publication of WO2021017204A1 publication Critical patent/WO2021017204A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • 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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  • the present invention relates to the technical field of mechanical manufacturing. Specifically, the present invention particularly relates to a processing device for large-scale rotating components.
  • the processing equipment in the related technology mostly uses a series mechanism, which has the problems of large mass of moving parts and accumulation of errors.
  • the parallel mechanism is a closed loop composed of two or more kinematic branches and can control the terminal to achieve a certain output movement. Because of its compact layout, high rigidity, high dynamic performance and modularization, etc.
  • the modular parallel mechanism is one of the effective solutions to the urgent needs of various key technical fields.
  • the five-degree-of-freedom parallel mechanism is an important category of the few-degree-of-freedom parallel mechanism, there are few successful application cases of the five-degree-of-freedom parallel mechanism with practical value.
  • the invention aims to solve the problem that the current traditional machine tools are incapable of processing large components due to the limitation of working space.
  • a mobile processing robot for large-scale rotary components is now provided, which can quickly match the module moving track of the corresponding size according to the processing requirements, realize the processing of large-scale rotary components of any size, and has high integration and efficiency. High, small footprint, convenient disassembly and transportation, etc.
  • the embodiment of the present invention proposes a large-scale rotary component mobile processing robot, which includes a workpiece turning platform 300, a plurality of parallel processing modules 100 and a plurality of module moving guide rails 200, a workpiece turning platform 300, Used for clamping the workpiece and realizing the rotational movement of the workpiece, the module moving guide rail 200 is arranged around the workpiece rotating platform 300, and a connecting frame 220 is provided on it, and the parallel processing module 100 is fixed to the connecting frame 220 and used to align the surface of the workpiece. Processing; the parallel processing module 100 can move on the module moving rail 200, the parallel processing module 100 cooperates with the workpiece rotating platform 300 to realize the circumferential movement of the parallel processing module 100 relative to the surface of the workpiece;
  • the module moving rail 200 further includes a vertical rail 210 and a horizontal rail 240.
  • the vertical rail 210 is connected to the horizontal rail 240 and moves along the horizontal rail 240
  • the connecting frame 220 is connected to the vertical rail 210. Connect and move along the vertical guide rail 210, the parallel processing module 100 is driven by the connecting frame 220 to move on the vertical guide rail 210;
  • the module moving guide 200 further includes a bottom plate 260, a vertical guide screw 230, and a horizontal guide screw 250.
  • the horizontal guide 240 is installed on the bottom plate 260, and the horizontal guide screw 250 is installed on the horizontal In the middle position of the vertical guide rail 240, the vertical guide rail screw 230 penetrates the middle position of the vertical guide rail 210;
  • the parallel processing module 100 includes a frame 110, first to fifth branches, and a main shaft 120.
  • the first to fifth branches move linearly and cooperate with each other to achieve five-axis linkage.
  • a first motor 121, a first connecting rod 123, a first Hooke hinge 122, and a first spherical hinge 124 are provided.
  • the first connecting rod 123 and the first motor 121 are connected by a screw pair, and the second branch II is provided with a
  • the second motor 131, the second link 133, the second Hooke hinge 132 and the second revolute joint 134, the third branch III, the fourth branch IV and the fifth branch V have the same structure as the first branch I and the
  • the connecting rod structures of the first to fifth branches are independently driven by five motors;
  • the vertical guide screw 230 and the horizontal guide screw 250 of the module moving guide are both driven by a motor;
  • the parallel processing module 100 cooperates with the workpiece rotating platform 300 to realize simultaneous processing of multiple faces at one time.
  • the present invention is a mobile processing robot for large-scale rotating components, which has the ability to process large-scale rotating components. It meets the needs of modern processing equipment.
  • the robot In order to improve labor productivity, processing flexibility, flexibility and expand the scope of application, the robot is the first
  • the setting and coordination of the fifth branch chain can realize five-axis linkage and meet the ability of five-sided processing at one time.
  • the frame structure is compact, after topology optimization, the weight is small, and the bearing capacity is strong.
  • the present invention has a footprint The advantages of small space, high integration, convenient disassembly and assembly, flexible processing, and high efficiency can meet the processing needs of large and complex structural parts.
  • Fig. 1 is a schematic diagram of a large-scale mobile processing robot for rotating components including workpieces according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a mobile processing robot for large-scale rotary components according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a parallel processing module 100 of a mobile processing robot for large-scale rotary components according to an embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of the frame 110 of the parallel processing module 100 of a mobile processing robot for large-scale rotary components according to an embodiment of the present invention
  • FIG. 5 is a structural schematic diagram of a branch chain and a main shaft 120 of a mobile processing robot for large-scale rotary components according to an embodiment of the present invention
  • Fig. 6 is a schematic structural diagram of a modular moving guide rail of a large-scale rotary component mobile processing robot according to an embodiment of the present invention
  • Figure 7 is a multi-machine combined processing device according to still another embodiment of the present invention.
  • Parallel processing module 110, rack; 120, main shaft; 200, module moving rail; 210, vertical rail; 220, connecting frame; 230, vertical rail screw; 240, horizontal rail; 250, horizontal Guide screw; 260, bottom plate; 300, workpiece rotating platform; 400, large rotating components to be processed
  • the first chain I 121, the first motor; 123, the first connecting rod; 122, the first Hooke hinge; 124, the first spherical hinge;
  • the second branch II 131, the second motor; 133, the second link; 132, the second Hooke hinge; 134, the second rotating joint;
  • a large-scale rotary component mobile processing robot of this embodiment includes a workpiece rotating platform 300, a plurality of parallel processing modules 100 and a plurality of module moving guides 200, the workpiece rotating platform 300, used for clamping the workpiece and realizing the rotating movement of the workpiece, the movable guide rail 200 is arranged around the workpiece rotating platform 300, and the connecting frame 220 is provided on it, and the parallel processing module 100 is fixedly connected with the connecting frame 220 , Used for processing the surface of the workpiece; the parallel processing module 100 can move on the module moving rail 200, and the parallel processing module 100 cooperates with the workpiece rotating platform 300 to realize the circumferential movement of the parallel processing module 100 relative to the workpiece surface.
  • Embodiment 1 As shown in the figure, it includes a workpiece rotating platform 300, several parallel processing modules 100 and several modular moving guide rails 200.
  • the workpiece rotating platform 300 is used for clamping the workpiece and realizing the rotational movement of the workpiece, and the module moves
  • the guide rail 200 is arranged around the workpiece rotating platform 300, on which a connecting frame 220 and the parallel processing module 100 are fixedly connected to the connecting frame 220 for processing the surface of the workpiece; the parallel processing module 100 can be mounted on the module moving guide 200 When moving, the parallel processing module 100 cooperates with the workpiece rotating platform 300 to realize the circumferential movement of the parallel processing module 100 relative to the surface of the workpiece;
  • the module moving guide 200 also includes a vertical guide rail 210, a horizontal guide rail 240, a vertical guide rail 210 and a horizontal guide rail 240 is connected and moves along the horizontal guide rail 240.
  • the connecting frame 220 is connected to the vertical guide rail 210 and moves along the vertical guide rail 210.
  • the parallel processing module 100 is driven by the connecting frame 220 to move on the vertical guide rail 210; the module moves
  • the guide rail 200 also includes a bottom plate 260, a vertical guide screw 230, and a horizontal guide screw 250.
  • the horizontal guide rail 240 is installed on the bottom plate 260.
  • the horizontal guide screw 250 is installed in the middle of the horizontal guide rail 240.
  • the guide screw 230 penetrates and is arranged at the middle position of the vertical guide rail 210; the parallel processing module 100 includes a frame 110, a first to a fifth branch chain, and a main shaft 120.
  • the first to fifth branch chains move linearly and cooperate with each other to achieve five Shaft linkage
  • the first branch I is provided with a first motor 121, a first link 123, a first Hooke hinge 122 and a first spherical hinge 124, the first link 123 and the first motor 121 are connected by a screw pair
  • the second branch II is provided with a second motor 131, a second link 133, a second Hooke hinge 132 and a second revolute joint 134
  • the third branch III, the fourth branch IV and the fifth branch V are
  • One chain I has the same structure and the connecting rod structures of the first to fifth branches are independently driven by five motors; the vertical guide screw 230 and the horizontal guide screw 250 of the module moving guide are both driven by motors.
  • the workpiece is clamped on the workpiece rotating platform 300, the horizontal guide screw 250 is driven by the motor to control the movement of the vertical guide 210 on the horizontal guide 240, and the vertical guide screw 230 is driven by the motor to control parallel processing
  • the movement of the module 100 on the vertical guide rail 210 cooperates with the workpiece rotating platform 300 and uses the module movable guide rail 200 to complete the effect of simultaneous processing of multiple sides.
  • Embodiment 2 As shown in the figure, a large-scale rotating component mobile processing robot, which includes a workpiece rotating platform 300, several parallel processing modules 100 and several modular moving guide rails 200, and a workpiece rotating platform 300 for clamping The work piece realizes the rotational movement of the work piece.
  • the module moving guide rail 200 is arranged around the work piece rotating platform 300.
  • a connecting frame 220 is provided on it.
  • the parallel processing module 100 is fixedly connected to the connecting frame 220 for processing the surface of the work piece; The processing module 100 can move on the module moving rail 200.
  • the parallel processing module 100 cooperates with the workpiece rotating platform 300 to realize the circumferential movement of the parallel processing module 100 relative to the surface of the workpiece;
  • the module moving rail 200 also includes a vertical rail 210 and a horizontal rail 240.
  • the vertical rail 210 is connected to the horizontal rail 240 and moves along the horizontal rail 240.
  • the connecting frame 220 is connected to the vertical rail 210 and moves along the vertical rail 210.
  • the parallel processing module 100 is driven by the connecting frame 220 Move on the vertical rail 210.
  • the module moving rail 200 also includes a bottom plate 260, a vertical rail screw 230, and a horizontal rail screw 250.
  • the horizontal rail 240 is installed on the bottom plate 260, and the horizontal rail screw 250 is installed therethrough.
  • the parallel processing module 100 includes the frame 110, the first to fifth branches and the main shaft 120, the first to the fifth The branch chains move linearly and cooperate with each other to achieve five-axis linkage.
  • the first branch chain I is provided with a first motor 121, a first connecting rod 123, a first Hooke hinge 122 and a first spherical hinge 124, and the first connecting rod 123 and The first motor 121 is connected by a screw pair
  • the second branch II is provided with a second motor 131, a second connecting rod 133, a second Hooke hinge 132 and a second rotating joint 134
  • the chain IV and the fifth branch V have the same structure as the first branch I, and the linkage structures of the first to fifth branch chains are independently driven by five motors.
  • the vertical guide screw 230 and the horizontal guide rail of the module move the guide rail.
  • the lead screws 250 are all driven by motors, and multiple mobile processing robots are provided to match different processing efficiency requirements.
  • the parallel processing module 100 cooperates with the workpiece rotating platform 300 to achieve simultaneous processing of multiple sides at one time.
  • Large workpieces require multiple degrees of freedom for overall processing, so multiple mobile processing robots can be set around the workpiece to perform full coverage processing on the circumferential surface of the workpiece, and the number of mobile robots can be adjusted according to specific processing requirements.
  • a large-scale robot parallel processing mode can greatly improve work efficiency.
  • Embodiment 3 As shown in the figure, the parallel processing module 100 is equipped with a main shaft 120, a first branch I, a second branch II, a third branch III, a fourth branch IV, and a fifth branch V.
  • Each branch chain includes a motor, a connecting rod, and a connecting joint.
  • the Hooke hinges between the connecting rods of the first branch I, the third branch III, the fourth branch IV, and the fifth branch V and the frame 110 are replaced by three revolute joints with mutually perpendicular rotation axes.
  • the ball joints between the connecting rods of the fourth branch IV and the fifth branch V and the main shaft 120 are replaced by two rotating pairs with vertical rotation axes.
  • the plane formed by the axes of the two rotating pairs They are perpendicular to the connecting rod axes of the first branch I, the third branch III, the fourth branch IV, and the fifth branch V respectively.
  • Embodiment 4 As shown in the figure, the parallel processing module 100 is equipped with a main shaft 120, a first branch I, a second branch II, a third branch III, a fourth branch IV, and a fifth branch as shown in the figure.
  • Chain V where each branch chain includes a motor, a connecting rod, and a connecting joint.
  • the Hooke hinge between the connecting rods of the first branch I, the second branch II, the third branch III, the fourth branch IV, and the fifth branch V and the frame 110 are perpendicular to each other with two rotation axes Rotate joints instead.
  • the ball joints between the connecting rods of the first chain I, the third chain III, the fourth chain IV, and the fifth chain V and the main shaft 120 are replaced by a compound joint consisting of a Hooke hinge and a rotating pair.
  • the first branch I includes a first motor 121, a first link 123, a first Hooke hinge 122, and a first spherical hinge 124.
  • the first connecting rod 123 and the first motor 121 are connected by a screw pair
  • the first connecting rod 123 and the frame 110 are connected by a first Hooke hinge 122
  • the first connecting rod 123 and the main shaft 120 are connected by a second connecting rod.
  • a first spherical hinge 124 with a vertical axis of the connecting rod 123 is connected.
  • the second branch II includes a second motor 131, a second link 133, a second Hooke hinge 132, and a second rotating joint 134.
  • the second link 133 is connected with the second motor 131 by a screw pair, the second link 133 is connected with the frame 110 by a second Hooke hinge 132, and the second link 133 is connected with the main shaft 120 by a second rotating joint 134 connection;
  • the third branch III, the fourth branch IV, and the fifth branch V have the same structure as the first branch I, so as to realize the linear movement of the five connecting rods driven by the motor.
  • Embodiment 6 As shown in the figure, it includes a workpiece rotating platform 300, several parallel processing modules 100 and several modular moving guide rails 200.
  • the workpiece rotating platform 300 is used for clamping workpieces and realizing the rotational movement of the workpieces.
  • the moving guide rail 200 Set around the workpiece rotating platform 300, on which there is a connecting frame 220, and the parallel processing module 100 is fixed to the connecting frame 220 for processing the surface of the workpiece; the parallel processing module 100 can move on the module moving guide 200 ,
  • the parallel processing module 100 cooperates with the workpiece rotating platform 300 to realize the circumferential movement of the parallel processing module 100 relative to the surface of the workpiece.
  • the parallel processing module 100 includes a frame 110, a first to a fifth branch chain and a main shaft 120, the first to the fifth branch The chain moves linearly and cooperates with each other to achieve five-axis linkage.
  • the first branch I is provided with a first motor 121, a first connecting rod 123, a first Hooke hinge 122 and a first spherical hinge 124.
  • the first connecting rod 123 and the A motor 121 is connected by a screw pair
  • the second branch II is provided with a second motor 131, a second link 133, a second Hooke hinge 132 and a second revolute joint 134
  • the IV and the fifth branch V have the same structure as the first branch I, and the linkage structures of the first to fifth branch chains are independently driven by five motors.
  • the upper part of the frame 110 is a semi-arched truss structure. , This truss-type frame 110 has a compact structure, is topology optimized, has a small weight and a strong carrying capacity.
  • the module moving rail 200 also includes a vertical rail 210 and a horizontal rail 240.
  • the vertical rail 210 is connected to the horizontal rail 240 and moves along the horizontal rail 240.
  • the connecting frame 220 is connected to the vertical rail 240.
  • the guide rail 210 is connected and moves along the vertical guide rail 210.
  • the parallel processing module 100 is driven by the connecting frame 220 to move on the vertical guide rail 210.
  • the module moving guide 200 also includes a bottom plate 260, a vertical guide screw 230 and a horizontal guide rail.
  • the screw 250, the horizontal guide rail 240 is installed on the bottom plate 260, the horizontal guide screw 250 is installed in the middle position of the horizontal guide rail 240, and the vertical guide screw 230 is installed in the middle position of the vertical guide rail 210.
  • Clamped on the workpiece rotating platform 300 the workpiece rotating platform 300 realizes the rotating movement of the workpiece, so as to completely realize the surface processing of the large-scale rotating component.
  • the shape of the connecting frame 220 fits the shape of the upper part of the frame 110, and the connecting frame 220 is also a topological structure, which improves strength and stability, saves materials, and reduces costs.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, a fixed connection, a detachable connection, or a Integral; is a mechanical connection as well as an electrical connection; it is a direct connection and an indirect connection through an intermediate medium. It is the internal communication between two elements or the interaction relationship between two elements, unless specifically defined otherwise. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention are understood according to specific circumstances.
  • the first feature is “on” or “under” the second feature when the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature means that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种大型回转类构件移动式加工机器人，包括：并联加工模块（100），并联加工模块（100）包括主轴（120）和第一至第五支链，通过五个支链的直线驱动实现五自由度的转动；工件回转平台（300），工件回转平台（300）用于装卡工件和实现工件的回转运动；模块移动导轨（200），模块移动导轨（200）实现并联加工模块（100）的移动。该加工机器人具有加工灵活、集成化高、加工效率高、占地面积小的优点，满足不便用于传统机床加工的大型回转类构件的加工需求。

Description

一种大型回转类构件移动式加工机器人 技术领域
本发明涉及机械制造技术领域，具体地，本发明特别涉及一种面向大型回转构件的加工装置。
背景技术
从某种意义上说，机械制造技术担负着支持最新科学发展和发明的重要使命，它正在成为经济发展和人民生活的主要技术支撑，成为加速高新技术发展和国防现代化的主要技术支撑。大型成套设备的开发成功使得各种重点工程的建设成为可能，应现代加工装备的需求，为提高劳动生产率、加工的灵活性、柔顺性和扩大应用范围，加工装备应至少具有五轴联动的加工能力，同时满足一次装卡五面加工的能力。应国家重大项目和工程的需求，大型回转类构件已被广泛应用于各项关键技术领域，如航空航天、船舶舰艇等，其高效高质量制造对国家安全至关重要。一方面，由于大型回转类构件的尺寸和质量均较大，往往超出目前现有的传统加工中心的加工能力，尤其在工作空间这方面，另一方面，开发对应的专用大型加工设备的成本极高，且利用率低，容易造成资源的浪费。
在现有的技术中，针对大型构件和复杂结构件的加工往往是通过高架式龙门加工中心，其移动部件质量大，能耗高。此外，造价也普遍偏昂贵，同时存在加工模式固定，加工柔性及加工效率较低等缺陷，传统的龙门式多轴数控机床已不能满足国家各项重大项和工程的需求。
相关技术中的加工装备多采用串联机构，其存在运动部件质量大、误差累 积等问题。相对串联机构，并联机构是由两个或多个运动学支链构成的闭环并且能控制终端实现一定输出运动的机构，由于具有布局紧凑、刚度高、高动态性能以及可实现模块化等特点，模块化的并联机构是各项关键技术领域迫切需求的有效解决方案之一。虽然五自由度并联机构是少自由度并联机构中重要的一类，但具有实用价值的五自由度并联机构的成功应用案例很少。
发明内容
本发明是为解决目前传统机床由于工作空间的限制，在加工大型构件时无法胜任的问题。现提供一种面向大型回转类构件移动式加工机器人，可实现根据加工需求来快速配套与之对应尺寸的模块移动轨道，实现对任意尺寸的大型回转类构件的加工，并且具有集成化高、效率高、占地空间小，拆装运输方便等优点。
为达到上述目的，本发明的实施例提出了一种大型回转类构件移动式加工机器人，它包括一个工件回转平台300、若干个并联加工模块100和若干个模块移动导轨200，工件回转平台300，用于装卡工件并实现工件的回转运动，模块移动导轨200，设于工件回转平台300周围，其上设有连接架220，并联加工模块100，与连接架220固接，用于对工件表面进行加工；并联加工模块100能够在模块移动导轨200上进行移动，并联加工模块100配合工件回转平台300实现并联加工模块100相对于工件表面的周向运动；
在优选的实施方案中，模块移动导轨200还包括立式导轨210、卧式导轨240，立式导轨210与卧式导轨240连接，并沿卧式导轨240运动，连接架220与立式导轨210连接，并沿立式导轨210运动，并联加工模块100通过连接架220的带动在立式导轨210上进行运动；
在优选的实施方案中，模块移动导轨200还包括底板260、立式导轨丝杠230以及卧式导轨丝杠250，卧式导轨240安装于底板260上，卧式导轨丝杠250贯穿设置于卧式导轨240的中间位置，立式导轨丝杠230贯穿设置于立式导轨210的中间位置；
在优选的实施方案中，并联加工模块100包括机架110、第一至第五支链和主轴120，第一至第五支链进行直线运动并彼此配合实现五轴联动，第一支链I设置有第一电机121、第一连杆123、第一虎克铰122和第一球铰124，第一连杆123与第一电机121之间通过螺旋副连接，第二支链II设置第二电机131、第二连杆133、第二虎克铰132和第二转动关节134，第三支链III、第四支链IV和第五支链V与第一支链I结构相同且第一至第五支链的连杆结构由五个电机分别独立驱动；
在优选的实施方案中，模块移动导轨的立式导轨丝杠230和卧式导轨丝杠250均由电机驱动；
在优选的实施方案中，移动式加工机器人设置为多个，用以匹配不同的加工效率要求；
在优选的实施方案中，并联加工模块100与工件回转平台300相配合，能够实现一次装卡多面同时加工。
有益效果：
本发明一种大型回转类构件移动式加工机器人，具备加工大型回转类构件的能力，应现代加工装备的需求，为提高劳动生产率、加工的灵活性、柔顺性和扩大应用范围，机器人内部第一至第五支链的设置和配合能够实现五轴联动，满足一次装卡五面加工的能力，机架结构紧凑，经过拓扑优化，重量小， 承载能力强，总的来说本发明具有占地空间小、集成化高、拆装方便、加工灵活、效率高的优点，可满足进行大型复杂结构件的加工需求。
附图说明
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解。
图1是根据本发明实施例的一种大型回转类构件移动式加工机器人包含工件的结构示意图；
图2是根据本发明实施例的一种大型回转类构件移动式加工机器人的结构示意图；
图3是根据本发明一个实施例的一种大型回转类构件移动式加工机器人的并联加工模块100的结构示意图；
图4是根据本发明一个实施例的一种大型回转类构件移动式加工机器人的并联加工模块100的机架110的结构示意图；
图5是根据本发明一个实施例的一种大型回转类构件移动式加工机器人的支链、主轴120的结构示意图；
图6是根据本发明一个实施例的一种大型回转类构件移动式加工机器人的模块移动导轨的结构示意图；
图7是根据本发明再一个实施例的多机联合加工装置；
附图标记：
100、并联加工模块；110、机架；120、主轴；200、模块移动导轨；210、立式导轨；220、连接架；230、立式导轨丝杠；240、卧式导轨；250、卧式导轨丝杠；260、底板；300、工件回转平台；400、待加工大型回转类构件
第一支链I：121、第一电机；123、第一连杆；122、第一虎克铰；124、第一球铰；
第二支链II：131、第二电机；133、第二连杆；132、第二虎克铰；134、第二转动关节；
第三支链III；第四支链IV：第五支链V；
具体实施方式
具体实施方式参照图1至图7具体说明本实施方式，本实施方式的一种大型回转类构件移动式加工机器人，它包括一个工件回转平台300、若干个并联加工模块100和若干个模块移动导轨200，工件回转平台300，用于装卡工件并实现工件的回转运动，移动导轨200，设于工件回转平台300周围，其上设有连接架220，并联加工模块100，与连接架220固接，用于对工件表面进行加工；并联加工模块100能够在模块移动导轨200上进行移动，并联加工模块100配合工件回转平台300实现并联加工模块100相对于工件表面的周向运动。
下面详细描述本发明的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解 为对本发明的限制。
实施例1：如图所示，它包括一个工件回转平台300、若干个并联加工模块100和若干个模块移动导轨200，工件回转平台300，用于装卡工件并实现工件的回转运动，模块移动导轨200，设于工件回转平台300周围，其上设有连接架220，并联加工模块100，与连接架220固接，用于对工件表面进行加工；并联加工模块100能够在模块移动导轨200上进行移动，并联加工模块100配合工件回转平台300实现并联加工模块100相对于工件表面的周向运动；模块移动导轨200还包括立式导轨210、卧式导轨240，立式导轨210与卧式导轨240连接，并沿卧式导轨240运动，连接架220与立式导轨210连接，并沿立式导轨210运动，并联加工模块100通过连接架220的带动在立式导轨210上进行运动；模块移动导轨200还包括底板260、立式导轨丝杠230以及卧式导轨丝杠250，卧式导轨240安装于底板260上，卧式导轨丝杠250贯穿设置于卧式导轨240的中间位置，立式导轨丝杠230贯穿设置于立式导轨210的中间位置；并联加工模块100包括机架110、第一至第五支链和主轴120，第一至第五支链进行直线运动并彼此配合实现五轴联动，第一支链I设置有第一电机121、第一连杆123、第一虎克铰122和第一球铰124，第一连杆123与第一电机121之间通过螺旋副连接，第二支链II设置第二电机131、第二连杆133、第二虎克铰132和第二转动关节134，第三支链III、第四支链IV和第五支链V与第一支链I结构相同且第一至第五支链的连杆结构由五个电机分别独立驱动；模块移动导轨的立式导轨丝杠230和卧式导轨丝杠250均由电机驱动，运行过程中先将工件装卡在工件回转平台300上，通过电机带动卧式导轨丝杠250来控制立式导轨210在卧式导轨240上的移动，通过电机带动立式导轨丝杠230来控制并联加工模块100在立式导轨210上的移动，配合工 件回转平台300并利用模块移动导轨200完成多面同时加工的效果。
实施例2：如图所示，种大型回转类构件移动式加工机器人，它包括一个工件回转平台300、若干个并联加工模块100和若干个模块移动导轨200，工件回转平台300，用于装卡工件并实现工件的回转运动，模块移动导轨200，设于工件回转平台300周围，其上设有连接架220，并联加工模块100，与连接架220固接，用于对工件表面进行加工；并联加工模块100能够在模块移动导轨200上进行移动，并联加工模块100配合工件回转平台300实现并联加工模块100相对于工件表面的周向运动；模块移动导轨200还包括立式导轨210、卧式导轨240，立式导轨210与卧式导轨240连接，并沿卧式导轨240运动，连接架220与立式导轨210连接，并沿立式导轨210运动，并联加工模块100通过连接架220的带动在立式导轨210上进行运动，模块移动导轨200还包括底板260、立式导轨丝杠230以及卧式导轨丝杠250，卧式导轨240安装于底板260上，卧式导轨丝杠250贯穿设置于卧式导轨240的中间位置，立式导轨丝杠230贯穿设置于立式导轨210的中间位置，并联加工模块100包括机架110、第一至第五支链和主轴120，第一至第五支链进行直线运动并彼此配合实现五轴联动，第一支链I设置有第一电机121、第一连杆123、第一虎克铰122和第一球铰124，第一连杆123与第一电机121之间通过螺旋副连接，第二支链II设置第二电机131、第二连杆133、第二虎克铰132和第二转动关节134，第三支链III、第四支链IV和第五支链V与第一支链I结构相同且第一至第五支链的连杆结构由五个电机分别独立驱动，模块移动导轨的立式导轨丝杠230和卧式导轨丝杠250均由电机驱动，移动式加工机器人设置为多个，用以匹配不同的加工效率要求，并联加工模块100与工件回转平台300相配合，能够实现一次装卡多面同时加工。大型工件需要多自由度整体加工，因此 可以在工件周边设置多个移动式加工机器人，对工件周向表面进行全覆盖式加工，且可根据具体的加工要求控制移动式机器人的数量进行调整，多个大型机器人并行加工模式可以大幅度提升工作效率。
实施例3：如图所示并联加工模块100装设有主轴120、第一支链I、第二支链II、第三支链III、第四支链IV、第五支链V，其中，每个支链包括电机、连杆、连接关节。第一支链I、第三支链III、第四支链IV、第五支链V的连杆与机架110之间的虎克铰用三个旋转轴线相互垂直的转动关节代替。当第一支链I、第三支链III、第四支链IV、第五支链V的连杆与机架110之间设有三个转动副时、第一支链I、第三支链III、第四支链IV、第五支链V的连杆与主轴120之间的球铰用两个转动轴线垂直的转动副代替。当第一支链I、第三支链III、第四支链IV、第五支链V的连杆与主轴120之间设有两个转动副时，两个转动副的轴线所组成的平面分别与第一支链I、第三支链III、第四支链IV、第五支链V的连杆轴线垂直。
实施例4：如图所示，如图所示并联加工模块100装设有主轴120、第一支链I、第二支链II、第三支链III、第四支链IV、第五支链V，其中，每个支链包括电机、连杆、连接关节。第一支链I、第二支链II、第三支链III、第四支链IV和第五支链V的连杆与机架110之间的虎克铰用两个旋转轴线相互垂直的转动关节代替。第一支链I、第三支链III、第四支链IV、第五支链V的连杆与主轴120之间的球铰用一个虎克铰加一个转动副的复合关节代替。
实施例5：如图所示，第一支链I包括第一电机121、第一连杆123、第一虎克铰122和第一球铰124。第一连杆123与第一电机121之间通过螺旋副连接，第一连杆123与机架110之间通过第一虎克铰122连接、第一连杆123与主轴120间通过一个与第一连杆123轴线垂直的第一球铰124连接。第二支链 II包括第二电机131、第二连杆133、第二虎克铰132和第二转动关节134。第二连杆133分别与第二电机131以螺旋副连接，第二连杆133与机架110之间用第二虎克铰132连接、第二连杆133与主轴120间用第二转动关节134连接；第三支链III、第四支链IV和第五支链V与第一支链I结构相同，以实现五个连杆在电机驱动下直线运动。
实施例6：如图所示，包括一个工件回转平台300、若干个并联加工模块100和若干个模块移动导轨200，工件回转平台300，用于装卡工件并实现工件的回转运动，移动导轨200，设于工件回转平台300周围，其上设有连接架220，并联加工模块100，与连接架220固接，用于对工件表面进行加工；并联加工模块100能够在模块移动导轨200上进行移动，并联加工模块100配合工件回转平台300实现并联加工模块100相对于工件表面的周向运动，并联加工模块100包括机架110、第一至第五支链和主轴120，第一至第五支链进行直线运动并彼此配合实现五轴联动，第一支链I设置有第一电机121、第一连杆123、第一虎克铰122和第一球铰124，第一连杆123与第一电机121之间通过螺旋副连接，第二支链II设置第二电机131、第二连杆133、第二虎克铰132和第二转动关节134，第三支链III、第四支链IV和第五支链V与第一支链I结构相同且第一至第五支链的连杆结构由五个电机分别独立驱动，机架110的上部分是半拱球型的桁架式结构，这种桁架式的机架110，结构紧凑，经过拓扑优化，重量小，承载能力强。
实施例7：如图所示，模块移动导轨200还包括立式导轨210、卧式导轨240，立式导轨210与卧式导轨240连接，并沿卧式导轨240运动，连接架220与立式导轨210连接，并沿立式导轨210运动，并联加工模块100通过连接架220的带动在立式导轨210上进行运动，模块移动导轨200还包括底板260、 立式导轨丝杠230以及卧式导轨丝杠250，卧式导轨240安装于底板260上，卧式导轨丝杠250贯穿设置于卧式导轨240的中间位置，立式导轨丝杠230贯穿设置于立式导轨210的中间位置，工件装卡在工件回转平台300上，工件回转平台300实现工件的回转运动，以完全实现大型回转类构件表面的加工。本实施例中，连接架220的形状与机架110的上部分的形状贴合，连接架220也为拓扑结构，提高了强度和稳定性，节省了材料，降低了成本。
在本发明的描述中，需要理解的是，术语“中心”、“”、“”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，是固定连接，也是可拆卸连接，或成一体；是机械连接，也是电连接；是直接相连，也通过中间媒介间接相连，是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上” 或“下”是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内对上述实施例进行变化、修改、替换和变型。

Claims (7)

  1. 一种大型回转类构件移动式加工机器人，其特征在于，它包括一个工件回转平台(300)、若干个并联加工模块(100)和若干个模块移动导轨(200)，
    所述工件回转平台(300)，用于装卡工件并实现工件的回转运动；
    所述模块移动导轨(200)，设于所述工件回转平台(300)周围，其上设有连接架(220)；
    所述并联加工模块(100)，与所述连接架(220)固接，用于对工件表面进行加工；所述并联加工模块(100)能够在所述模块移动导轨(200)上进行移动；
    所述并联加工模块(100)配合所述工件回转平台(300)实现并联加工模块(100)相对于工件表面的周向运动。
  2. 根据权利要求1所述的一种大型回转类构件移动式加工机器人，其特征在于，所述模块移动导轨(200)还包括立式导轨(210)、卧式导轨(240)；
    所述立式导轨(210)与所述卧式导轨(240)连接，并沿所述卧式导轨(240)运动；
    所述连接架(220)与所述立式导轨(210)连接，并沿所述立式导轨(210)运动；
    所述并联加工模块(100)通过所述连接架(220)的带动在所述立式导轨(210)上进行运动。
  3. 根据权利要求2所述的一种大型回转类构件移动式加工机器人，其特征在于，所述模块移动导轨(200)还包括底板(260)、立式导轨丝杠(230)以及卧式导轨丝杠(250)，所述卧式导轨(240)安装于所述底板(260)上， 所述卧式导轨丝杠(250)贯穿设置于所述卧式导轨(240)的中间位置，所述立式导轨丝杠(230)贯穿设置于所述立式导轨(210)的中间位置。
  4. 根据权利要求3所述的一种大型回转类构件移动式加工机器人，其特征在于，
    所述并联加工模块(100)包括机架(110)、第一至第五支链和主轴(120)，所述第一至第五支链进行直线运动并彼此配合实现五轴联动；
    所述第一支链I设置有第一电机(121)、第一连杆(123)、第一虎克铰(122)和第一球铰(124)，所述第一连杆(123)与第一电机(121)之间通过螺旋副连接；
    所述第二支链II设置第二电机(131)、第二连杆(133)、第二虎克铰(132)和第二转动关节(134)，所述第三支链III、第四支链IV和第五支链V与所述第一支链I结构相同且第一至第五支链的连杆结构由五个电机分别独立驱动。
  5. 根据权利要求4所述的一种大型回转类构件移动式加工机器人，其特征在于，所述模块移动导轨的立式导轨丝杠(230)和卧式导轨丝杠(250)均由电机驱动。
  6. 根据权利要求1-5任一所述的一种大型回转类构件移动式加工机器人，其特征在于，所述移动式加工机器人设置为若干个，用以匹配不同的加工效率要求。
  7. 根据权利要求6所述的一种大型回转类构件移动式加工机器人，其特征在于，所述并联加工模块(100)与所述工件回转平台(300)配合联动，能够实现一次装卡多面同时加工。
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