A three-branch, five-degree-of-freedom laser processing robot with a large workspace

Abstract

The present invention relates to a three-branch five-degree-of-freedom ultra-large workspace laser processing robot, which belongs to the field of robotics; the robot comprises a frame, a moving platform, five drive motors, an end effector, and a first, a second, and a third branch connected in parallel between the frame and the moving platform; the first branch is sequentially connected with a guide rail one, a slider one, and a connecting rod one from the frame to the moving platform; the second branch has the same structure as the first branch; the third branch is sequentially connected with a guide rail three, a slider three, a motor mounting seat, and a connecting rod three from the frame to the moving platform; the present invention adopts a three-branch parallel mechanism to achieve five-degree-of-freedom motion, has a compact structure, low manufacturing cost, and at the same time has high rigidity and an ultra-large workspace, and has good application prospects in the aerospace field.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a three-branch five-degree-of-freedom ultra-large workspace laser processing robot. Background Art

[0002] Laser processing, characterized by minimal thermal deformation, high precision, and high efficiency, holds great promise for application in the aerospace sector. Currently, laser processing robots used in aerospace applications, both domestically and internationally, can be categorized primarily as gantry and cantilever types. While gantry-type processing robots offer superior precision, their moving parts are heavy and have high inertia, making high-speed motion difficult. Furthermore, their relatively fixed axis of motion results in poor flexibility. Cantilever processing robots, which utilize multiple serial robotic arms as actuators, are more compact and flexible than gantry-type systems. However, due to their serial mechanism, they suffer from poor rigidity and reduced precision.

[0003] As a closed-loop mechanism, the parallel robot's end effector is connected to a fixed platform through at least two independent branches. Compared with gantry-type processing equipment that uses a serial mechanism, its manufacturing cost and difficulty are greatly reduced while ensuring rigidity. Compared with cantilever-type processing equipment, its structure is more compact, and its rigidity and processing accuracy are better. However, most parallel robots have a small workspace and cannot meet the requirements of laser processing of large-sized parts.

[0004] A Chinese patent (CN108858142A) proposes a five-degree-of-freedom parallel robot capable of welding and laser processing complex surfaces, but this structure has a small workspace and places high demands on assembly precision. A Chinese patent (CN101497193A) proposes a three-branch five-degree-of-freedom hybrid laser processing robot, which uses a three-branch three-degree-of-freedom parallel mechanism in series with a two-degree-of-freedom serial mechanism to achieve five-axis motion. However, its moving platform is equipped with a heavy serial mechanism rotor, resulting in poor dynamic performance and a limited positional workspace. Existing parallel laser processing robot solutions have a very small workspace, rods are prone to interference, rods have high inertia, and speed is insufficient. They do not combine the advantages of gantry machine tools and serial robots, and cannot meet the laser processing requirements of large-scale thin-walled structural parts in fields such as aerospace. Summary of the Invention

[0005] The technical solution adopted to achieve the purpose of the present invention is: a three-branch five-degree-of-freedom ultra-large workspace laser processing robot, which belongs to the field of robot technology; it includes a frame, a moving platform, five drive motors, an end effector, and a first, second, and third branches connected in parallel between the frame and the moving platform; wherein the structures of the first branch and the second branch are exactly the same and are symmetrically distributed; the first branch is sequentially connected with a guide rail 1, a slider 1, and a connecting rod 1 from the frame to the moving platform; the above-mentioned slider 1 is connected to the guide rail 1 through a moving pair 1, and the connecting rod 1 is connected to the slider 1 through a rotating pair 1 and a rotating pair 2; the connecting rod 1 is connected to the moving platform through a rotating pair 3 and a rotating pair 4; the above-mentioned rotating pair 1 axis and the rotating pair 2 axis intersect perpendicularly; the above-mentioned rotating pair 3 axis and the rotating pair 4 axis intersect perpendicularly; the above-mentioned rotating pair 1 axis and the rotating pair 4 axis are parallel to each other; the above-mentioned rotating pair 2 axis and the rotating pair 3 axis are parallel to each other;

[0006] The third branch is connected to the movable platform in sequence with guide rail 3, slider 3, motor mounting seat, and connecting rod 3; the slider 3 is connected to the guide rail 3 via a movable pair 3, and the connecting rod 3 is connected to the motor mounting seat via a rotating pair 5 and a rotating pair 6; the connecting rod 3 is connected to the movable platform via a rotating pair 7 and a rotating pair 8; the motor mounting seat is fixedly connected to the slider 3; the axis of the rotating pair 5 and the axis of the rotating pair 6 intersect perpendicularly; the axis of the rotating pair 7 and the axis of the rotating pair 8 intersect perpendicularly; the axis of the rotating pair 5 and the axis of the rotating pair 8 are parallel to each other; the axis of the rotating pair 6 and the axis of the rotating pair 7 are parallel to each other;

[0007] The above-mentioned moving platform is connected to the first branch by the four-axis rotating pair, the second branch by the four-axis rotating pair, and the third branch by the eight-axis rotating pair. The guide rails of the three branches are parallel to each other, and the end effector is connected to the moving platform through the nine-axis rotating pair. The nine-axis rotating pair is perpendicular to the plane of the moving platform. A motor is installed on the slider of the first branch, and the moving pair of the first branch is the driving pair. The second branch has the same drive as the first branch. Two motors are installed on the slider of the third branch, and the moving pair of the third and the rotating pair of the third branch are the driving pairs. A motor is installed on the moving platform to drive the end effector to rotate.

[0008] The technical solutions provided by the embodiments of the present invention provide the following beneficial effects: The present invention proposes a five-degree-of-freedom, ultra-large workspace laser processing robot, a hybrid structure capable of outputting three movements and two rotations. This robot's key advantages over other laser processing robots include fewer joint rotation restrictions and a large workspace, similar to the advantages of a gantry-type processing robot. Its multi-joint coupled kinematic structure offers the flexibility of a serial processing robot. All drives are located close to the base, resulting in a lightweight end-end and superior kinematic performance. The dynamic platform can be connected to a variety of processing heads, including laser heads, enabling composite processing and ensuring the machining accuracy of complex curved surfaces on large workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of the overall structure of a three-branch, five-degree-of-freedom, ultra-large space composite processing robot according to the present invention;

[0010] Figure 2 This is a schematic diagram of the first branch structure of a three-branch, five-degree-of-freedom, ultra-large space composite processing robot according to the present invention;

[0011] Figure 3 This is a schematic diagram of the third branch structure of a three-branch, five-degree-of-freedom, ultra-large space composite processing robot according to the present invention;

[0012] Figure 4 This is a schematic diagram of the meshing of the rack of the guide rail and the gear of the slider in a three-branch five-degree-of-freedom ultra-large space composite processing robot of the present invention.

[0013] Among them, 1-frame, 2-moving platform, 3-end effector, 4-processing part, 5-processing platform, M1-motor one, M2-motor two, M3-motor three, M4-motor four, M5-motor five, B1-motor mounting base, H1-slider one, H2-slider two, H3-slider three, D1-guide rail one, D2-guide rail two, D3-guide rail three, Ⅰ-first branch, Ⅱ-second branch, Ⅲ-third branch, C1-gear, C2-rack, W1-groove pulley, L1-connecting rod one, L2-connecting rod two, L3-connecting rod three, Y1-moving pair one, Y2 moving pair two, Y3-moving pair three, R1-rotation pair one, R2 rotation pair two, R3-rotation pair three, R4-rotation pair four, R5-rotation pair five, R6-rotation pair, R7-rotation pair, R8-rotation pair eight, R9-rotation pair nine. DETAILED DESCRIPTION

[0014] The pivot axis described in the following embodiments refers to the centerline about which the pivoting pair rotates. References to "up," "down," "left," "right," and "horizontal" are based on the directions shown in the accompanying drawings and are provided for the convenience of describing the present invention and to simplify the description. They do not indicate or imply that the components referred to must have a specific orientation.

[0015] The present invention provides a three-branch five-degree-of-freedom ultra-large workspace laser processing robot, the structure of which is as follows: Figure 1As shown, it includes a frame 1, a moving platform 2, five drive motors, an end effector 3, and a first I, a second II, and a third III branch connected in parallel between the frame 1 and the moving platform 2; the first I branch is sequentially connected to a guide rail D1, a slider H1, and a connecting rod L1 from the frame to the moving platform; the second II branch is sequentially connected to a guide rail D2, a slider H2, and a connecting rod L2 from the frame to the moving platform; the third III branch is sequentially connected to a guide rail D3, a slider H3, a motor mounting base B1, and a connecting rod L3 from the frame to the moving platform; the slider H1 of the first I branch is connected to the guide rail D1 through a groove wheel W1, and the gear C1 and the rack C2 are meshed, and the connecting rod L1 is connected to the guide rail D1 through a rotating pair R1 And the rotating pair 2 R2 is connected to the slider 1 H1, and the connecting rod 1 L1 is connected to the moving platform 2 through the rotating pair 3 R3 and the rotating pair 4 R4; the axis of the rotating pair 1 R1 is perpendicular to the axis of the rotating pair 2 R2, the axis of the rotating pair 3 R3 is perpendicular to the axis of the rotating pair 4 R4, the axis of the rotating pair 1 R1 is perpendicular to the plane of the slider 1 H1, the axis of the rotating pair 1 R1 is parallel to the axis of the rotating pair 4 R4, and the axis of the rotating pair 2 R2 is parallel to the axis of the rotating pair 3 R3; the structure of the second II branch is the same as the first I branch; the slider 3 H3 of the third III branch is connected to the guide rail 3 D3 through the groove wheel W1, and the gear C1 and the rack C2 are meshed, and the connecting rod 3 L3 is connected to the moving platform 2 through the rotating pair 5 R5 and the rotating pair 6 R6. The motor four M4 is connected, the connecting rod three L3 is connected to the moving platform 2 through the rotating pair seven R7 and the rotating pair eight R8, the rotating pair five R5 axis and the rotating pair six R6 axis are perpendicular to each other, the rotating pair seven R7 axis and the rotating pair eight R8 axis are perpendicular to each other, the rotating pair five R5 axis is perpendicular to the slider one H1 plane and parallel to the slider three H3 plane, the rotating pair five R5 axis and the rotating pair eight R8 axis are parallel to each other, the rotating pair six R6 axis and the rotating pair seven R7 axis are parallel to each other; the rotating pair four R4 axis connected to the first I branch, the rotating pair four R4 axis connected to the second II branch, and the rotating pair eight R8 axis connected to the third III branch are parallel to each other; the end effector 3 is connected to the moving platform 2 through the rotating pair nine R9 The movable platform 2 is connected; the axis of the rotating pair nine R9 is perpendicular to the plane of the movable platform 2; the motor one M1, the motor two M2, and the motor three M3 are respectively installed on the slider one H1, the slider two H2, and the slider three H3, respectively driving the movement of the slider one H1 on the guide rail one D1, the slider two H2 on the guide rail two D2, and the slider three H3 on the guide rail three D3; the motor four M4 is installed on the slider three H3, driving the rotation pair nine R9 of the connecting rod three L3 to rotate; the motor five M5 is installed on the movable platform 2, driving the rotation of the end effector 3; the first I and the second II branches are symmetrically arranged, respectively arranged on the right side and the left side of the frame 1, and the third III branch is vertically arranged, arranged on the upper side of the frame 1; the workpiece 4 is fixed on the processing platform 5.

Claims

1. A three-branch, five-degree-of-freedom, ultra-large workspace laser processing robot, characterized by: It includes a frame, a moving platform, five drive motors, an end effector, and first, second, and third branches connected in parallel between the frame and the moving platform; wherein the first branch and the second branch have identical structures and are symmetrically distributed; the first branch is sequentially connected to a guide rail 1, a slider 1, and a connecting rod 1 from the frame to the moving platform; the slider 1 is connected to the guide rail 1 through a moving pair 1, and the connecting rod 1 is connected to the slider 1 through a rotating pair 1 and a rotating pair 2; the connecting rod 1 is connected to the moving platform through a rotating pair 3 and a rotating pair 4; the axis of the rotating pair 1 and the axis of the rotating pair 2 intersect perpendicularly; the axis of the rotating pair 3 and the axis of the rotating pair 4 intersect perpendicularly; the axis of the rotating pair 1 and the axis of the rotating pair 4 are parallel to each other; the axis of the rotating pair 2 and the axis of the rotating pair 3 are parallel to each other; The third branch is connected to the movable platform in sequence with guide rail 3, slider 3, motor mounting seat, and connecting rod 3; the slider 3 is connected to the guide rail 3 via a movable pair 3, and the connecting rod 3 is connected to the motor mounting seat via a rotating pair 5 and a rotating pair 6; the connecting rod 3 is connected to the movable platform via a rotating pair 7 and a rotating pair 8; the motor mounting seat is fixedly connected to the slider 3; the axis of the rotating pair 5 and the axis of the rotating pair 6 intersect perpendicularly; the axis of the rotating pair 7 and the axis of the rotating pair 8 intersect perpendicularly; the axis of the rotating pair 5 and the axis of the rotating pair 8 are parallel to each other; the axis of the rotating pair 6 and the axis of the rotating pair 7 are parallel to each other; The above-mentioned moving platform is connected to the first branch by the four-axis rotating pair, the second branch by the four-axis rotating pair, and the third branch by the eight-axis rotating pair. The guide rails of the three branches are parallel to each other, and the end effector is connected to the moving platform through the nine-axis rotating pair. The nine-axis rotating pair is perpendicular to the plane of the moving platform. A motor is installed on the slider of the first branch, and the moving pair of the first branch is the driving pair. The second branch has the same drive as the first branch. Two motors are installed on the slider of the third branch, and the moving pair of the third and the rotating pair of the third branch are the driving pairs. A motor is installed on the moving platform to drive the end effector to rotate.

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