Modular three-degree-of-freedom machining robot

Abstract

The invention relates to a modular three-degree-of-freedom machining robot. The modular three-degree-of-freedom machining robot comprises a mounting plate, a fixed mounting base, a first linear driving unit, a second linear driving unit, a tail end executing member posture adjusting mechanism and a tail end executing member; the fixed mounting base and external equipment are fixedly connected together, when a first lead screw rotates, the mounting plate moves up and down, so that the tail end executing member has a Z-axis movement degree of freedom; a small slide plate in the second linear drive unit moves and drives the tail end posture adjusting mechanism to rotate through a connecting rod, so that the tail end executing member has an A-axis rotation degree of freedom; and the tail end executing member is rotated by a torque motor in the posture adjusting mechanism, so that the tail end executing member has a B-axis rotation degree of freedom. The modular three-degree-of-freedom machining robot is high in integration degree, small in size, low in manufacturing cost and convenient to install and use. The device can be mounted on a gantry machine tool or a truss robot, and can be used for milling, drilling, grinding, deburring, laser machining and other multi-working procedures.

Description

technical field [0001] The invention relates to the field of robots, in particular to a modular three-degree-of-freedom processing robot. Background technique [0002] In actual processing and production, when processing some larger workpieces, the partial processing of the workpiece may require the machine tool to have multiple degrees of freedom. In order to meet the processing requirements, a larger gantry machine tool or machining center is required. Some factories with small or single processing products cannot afford expensive machine tool costs, or it is not economical to use machining centers to complete the process, such as deburring some workpieces, although the cutting feed is not large for chamfering work, However, the end-effector needs to have multiple degrees of freedom, which is difficult for ordinary three-axis machine tools, and ordinary multi-axis series manipulators are used for deburring or local grinding, drilling and other work due to the limited worki...

AI Technical Summary

Problems solved by technology

[0005] Chinese patent CN201710197043.7 proposes a two-branch three-degree-of-freedom industrial robot. This invention has two motion branches, one of which has two drives, and the other has one drive. The invention has good rigidity, simple structure, and good manufacturability. and other characteristics, but the invention takes up a lot of workshop space, the working space is small, and it is not easy to move.

In this invention, the control programming of the three-axis robot is not easy, the rigidity is not good, the repeated positioning accuracy is poor, and it is difficult to meet the high precision machining requirements

[0007] Chinese patent CN201610874845.2 proposes a three-freedom robot mechanism that can realize two levels and one rotation. This invention discloses a three-degree-of-freedom robot mechanism that can realize two levels and one rotation. It has three branch chains, each of which includes nearly There are two parallel and equal long remote rods, and the moving platform is connected with the three branch chains through spherical hinges. Long, easy to deform during work, resulting in inaccurate movement angle of the moving platform

[0008] Chinese patent CN201610985666.6 discloses a three-degree-of-freedom robot mechanism that can realize two levels and one rotation. There are two coaxial U frames and a rotating pair on the fixed frame, which are connected to the moving platform through three driving branches. The invention has the characteristics of compact structure, good overall rigidity, and high precision, but the working space of the invention is small, and debugging is difficult

In this invention, each rotating part is directly connected by the reducer and the servo motor, resulting in a larger overall size and a small processing space, and the size of the multi-terminal actuators has more stringent requirements.

[0012] Chinese patent CN201810570722.9 proposes a large-stroke hybrid processing robot device for complex curved surfaces. This invention proposes a large-stroke hybrid processing robot device for complex curved surfaces. The three-degree-of-freedom force-controlled processing module is installed on a plane On the two-degree-of-freedom hybrid robotic arm, there is a full-stroke linear guide rail at the bottom of the device, which can be used to process workpieces with large strokes and complex curved surfaces. The invention has a large working space and can realize multi-degree-of-freedom movements, but the structure of the device is complex and difficult to control. , high cost of production and application

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