Five-degree-of-freedom hybrid robot for workpiece processing

Abstract

A five-degree-of-freedom hybrid robot for workpiece processing, comprising: a three-degree-of-freedom parallel mechanism moving relative to a base and a swing head assembly with a work spindle connected to it, the three-degree-of-freedom parallel mechanism comprising: a moving platform , a frame and three groups of branched chain mechanisms arranged in parallel, wherein: the two ends of the branched chain mechanism are respectively connected with the moving platform and the frame in rotation, and the three groups of branched chain mechanisms are arranged in a left-right asymmetric manner. The invention adopts a novel hybrid mechanism, which has simple structure, convenient installation and maintenance, and is easy to realize modularization; adopts a three-degree-of-freedom parallel mechanism to enhance the rigidity, response speed and machining accuracy of the whole machine system during processing; the series-parallel hybrid structure Increased system workspace, especially gesture workspace. The processing equipment of this hybrid structure can better meet the high-precision processing requirements of large and complex components.

Description

technical field [0001] The invention relates to a technology in the field of processing and manufacturing, in particular to a five-degree-of-freedom hybrid robot for workpiece processing. Background technique [0002] The five-degree-of-freedom processing machine tool is an important equipment in the field of processing and manufacturing, and is widely used in the processing of complex parts in aircraft, automobiles, ships and other fields. In order to ensure the rigidity of the machine tool, the five-degree-of-freedom serial open-chain structure requires the use of high-rigidity components, resulting in excessively large components, excessive weight, insufficient dynamic response capability, and ultimately reduced end machining tool accuracy; five-degree-of-freedom pure parallel structure The end processing workspace is extremely small, especially the posture space. Therefore, due to the small working space of the existing serial five-degree-of-freedom processing equipment...

AI Technical Summary

Problems solved by technology

In order to ensure the rigidity of the machine tool, the five-degree-of-freedom series open-chain structure requires the use of high-rigidity components, resulting in excessive size and weight of the components, and insufficient dynamic response capability, which ultimately reduces the precision of the end processing tool; the five-degree-of-freedom pure parallel structure The working space of end processing is extremely small, especially the attitude space

[0003] There are few types of existing five-degree-of-freedom hybrid mechanisms, and the existing mechanisms are generally composed of two-rotation-one-movement parallel modules and two-rotation series modules. There are ball joints or Hookes composed of compound rotation joints in the parallel modules. hinge, the force state is complex, and because its mobile work space is completely realized through parallel modules, the work space is small, and when processing large workpieces, it is necessary to increase the additional motion axis for overall movement

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