Five-branch super large workspace a / b axis compound machining robot

Abstract

The application relates to a five-branch super-large work space A / B-axis composite machining robot, and belongs to the technical field of robots; the robot comprises a rack, a movable platform, a terminal work head, a first branch, a second branch and a third branch which are connected in parallel between the rack and the movable platform, and a fourth branch and a fifth branch which are connected in parallel between a sliding block and the terminal work head; the five-branch parallel mechanism configuration is adopted to realize five-degree-of-freedom motion, A / B-axis rotation can be realized, the structure is compact, the manufacturing cost is low, high rigidity and super-large work space are simultaneously achieved, and the robot has a good application prospect in the field of aerospace.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and particularly relates to a five-branch super-large workspace A / B-axis composite machining robot. BACKGROUND

[0002] In recent years, in the fields of aerospace manufacturing, automobile manufacturing and large ship machining and manufacturing, the same robot can complete multiple machining tasks such as laser machining, cutting machining and friction stir welding by replacing different end working heads, which is called a composite machining robot.

[0003] At present, most composite machining robots adopt gantry type and cantilever type. Although the gantry type machining robot has high precision, it has heavy moving parts, large floor space, large inertia, poor flexibility, low motion speed and high manufacturing cost. Compared with the gantry type robot, the cantilever type machining robot has compact structure and high flexibility, but due to the use of a serial mechanism, it has the disadvantages of poor rigidity and low machining precision.

[0004] A few existing documents have used parallel robots to complete composite machining tasks. Chinese patent (CN108858142A) proposes a five-degree-of-freedom parallel robot, which can realize welding, laser machining and other work of complex surfaces, but the structure has small workspace and the link is prone to interference; Chinese patent (CN101497193A) proposes a three-branch five-degree-of-freedom hybrid laser machining robot, which adopts a three-branch three-degree-of-freedom parallel mechanism and a two-degree-of-freedom A / C swing angle head in series to realize five-axis motion, but the moving platform is installed with a large weight serial mechanism rotary head, so the link inertia is large and the speed is not high enough. SUMMARY

[0005] The technical scheme adopted to achieve the object of the present application is a five-branch super-large working space A / B axis compound machining robot, which belongs to the technical field of robots and comprises a rack, a moving platform, three driving motors, an end working head, a first branch, a second branch and a third branch connected in parallel between the rack and the moving platform, and a fourth branch and a fifth branch connected in parallel between a sliding block and the end working head; the second branch and the third branch are structurally identical to the first branch, and the fifth branch is structurally identical to the fourth branch; characterized in that the first branch is sequentially connected with a guide rail one, the sliding block one, the upper edge rod, the left edge rod, the right edge rod and the lower edge rod from the rack to the moving platform; the guide rail one is fixed on the rack, the sliding block one is connected with the guide rail one through a moving pair one, the upper edge rod is connected with the sliding block one through a rotating pair one, the upper edge rod is connected with the left edge rod through a rotating pair two, the upper edge rod is connected with the right edge rod through a rotating pair three, the lower edge rod is connected with the left edge rod through a rotating pair four, the lower edge rod is connected with the right edge rod through a rotating pair five, and the lower edge rod is connected with the moving platform through a rotating pair six; the upper edge rod, the lower edge rod, the left edge rod, the right edge rod, the rotating pair one, the rotating pair two, the rotating pair three, the rotating pair four, the rotating pair five and the rotating pair six together constitute a forty thousand direction hinge parallelogram mechanism one; the rotating pair two, the rotating pair three, the rotating pair four and the rotating pair five are parallel to each other in axis, the rotating pair one and the rotating pair six are parallel to each other in axis, the axis of the rotating pair one is perpendicular to the axes of the rotating pair two and the rotating pair three, and the axis of the rotating pair six is perpendicular to the axes of the rotating pair four and the rotating pair five.

[0006] The fourth branch is provided with a linear driving telescopic rod one between the sliding block one and the end working head; the linear driving telescopic rod one is connected with the sliding block one through a rotating pair seven and a rotating pair eight, and the end working head is connected with the linear driving telescopic rod one through a rotating pair nine, a rotating pair ten and a rotating pair eleven; the axes of the rotating pair seven and the rotating pair eight are perpendicular to each other; the axes of the rotating pair nine, the rotating pair ten and the rotating pair eleven are convergent; and the rotating pair nine, the rotating pair ten and the rotating pair eleven are replaced by a spherical pair.

[0007] The moving platform and the end working head are connected through a rotating pair twelve and a rotating pair thirteen, and the axes of the rotating pair twelve and the rotating pair thirteen are perpendicular to each other.

[0008] The guide rails of the first branch, the second branch and the third branch are parallel to each other; the moving pair one of the first branch, the moving pair two of the second branch and the moving pair three of the third branch are driving pairs; and the linear driving telescopic rod one in the fourth branch and the linear driving telescopic rod two in the fifth branch jointly drive the rotation of the end working head.

[0009] The first, second and third branches can be replaced by a guide rail one, a sliding block one, an upper edge rod two, an upper edge rod two left end, an upper edge rod two right end, a left edge rod, a right edge rod, a lower edge rod two, a lower edge rod two left end and a lower edge rod two right end sequentially connected from the rack to the moving platform; the guide rail one is fixed on the rack, the sliding block one is connected with the guide rail one through a moving pair one, the upper edge rod two is fixedly connected with the sliding block one, the upper edge rod two left end is connected with the left edge rod through a rotating pair fourteen and a rotating pair fifteen, the upper edge rod two right end is connected with the right edge rod through a rotating pair sixteen and a rotating pair seventeen, the lower edge rod two left end is connected with the left edge rod through a rotating pair eighteen and a rotating pair nineteen, the lower edge rod two right end is connected with the right edge rod through a rotating pair twenty and a rotating pair twenty one, and the lower edge rod two is fixedly connected with the moving platform; the upper edge rod two, the upper edge rod two left end, the upper edge rod two right end, the lower edge rod two, the lower edge rod two left end, the lower edge rod two right end, the left edge rod, the right edge rod, the rotating pair fourteen, the rotating pair fifteen, the rotating pair sixteen, the rotating pair seventeen, the rotating pair eighteen, the rotating pair nineteen, the rotating pair twenty and the rotating pair twenty one jointly form a four-way hinge parallelogram mechanism two; the rotating pair fourteen and the rotating pair sixteen have coinciding axes, the rotating pair eighteen and the rotating pair twenty have coinciding axes, the rotating pair fifteen, the rotating pair seventeen, the rotating pair nineteen and the rotating pair twenty one have parallel axes, the rotating pair fifteen and the rotating pair nineteen have parallel axes, the axis of the rotating pair fourteen is perpendicular to the axes of the rotating pair fifteen and the rotating pair seventeen, and the axis of the rotating pair eighteen is perpendicular to the axes of the rotating pair nineteen and the rotating pair twenty one.

[0010] The fourth and fifth branches can be replaced by a telescopic rod three with linear driving arranged between the sliding block one and the end working head; the telescopic rod three with linear driving is connected with the sliding block one through a rotating pair twenty two, a rotating pair twenty three and a rotating pair twenty four, and the end working head is connected with the telescopic rod three with linear driving through a rotating pair twenty five and a rotating pair twenty six; the axes of the rotating pair twenty two, the rotating pair twenty three and the rotating pair twenty four meet; the axes of the rotating pair twenty five and the rotating pair twenty six are perpendicular to each other; and the rotating pair twenty two, the rotating pair twenty three and the rotating pair twenty four are replaced by ball pairs.

[0011] The technical scheme of the embodiment of the application has the beneficial effects that the application provides a five-branch super-large working space A / B axis composite machining robot, which is a hybrid structure and can output three movements and two rotations. The important advantages of the robot over other composite machining robots are few joint rotation restrictions, large working space and the advantages of a gantry type machining robot. The robot adopts a multi-joint coupled motion structure and has the flexibility of a serial machining robot. The driving of the A / B axis is close to the base, the end mass is light and the motion performance is superior. The moving platform can be connected with various machining heads including a laser head, can realize composite machining and ensure the machining precision of a large workpiece complex surface. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1Whole machine structure schematic diagram of a five-branch super large space A / B axis composite machining robot of the present application Figure 1 A form;

[0013] Figure 2 First branch structure schematic diagram of a five-branch super large space A / B axis composite machining robot embodiment 1 of the present application

[0014] Figure 3 Fourth branch structure schematic diagram of a five-branch super large space A / B axis composite machining robot embodiment 1 of the present application

[0015] Figure 4 First branch structure schematic diagram of a five-branch super large space A / B axis composite machining robot embodiment 2 of the present application

[0016] Figure 5 Fourth branch structure schematic diagram of a five-branch super large space A / B axis composite machining robot embodiment 2 of the present application

[0017] Figure 6 Gear meshing schematic diagram of rack and pinion of guide rail in a five-branch super large space A / B axis composite machining robot of the present application

[0018] Figure 7 Another form of whole layout schematic diagram of a five-branch super large space A / B axis composite machining robot embodiment 3 of the present application

[0019] Wherein 1-Frame, 2-Moving platform, 3-End working head, a-Motor one, b-Motor two, c-Motor three, I-First branch, II-Second branch, III-Third branch, IV-Fourth branch, V-Fifth branch, M1-Guide rail one, H1-Slider one, C1-Gear, C2-Rack, W1-Groove wheel, X1-Four universal hinge parallelogram mechanism one, X2-Four universal hinge parallelogram mechanism two, U1-U-shaped fork one, U2-U-shaped fork two, T1-Short rod one, T2-Short rod two, G1-Telescopic rod with linear drive one, G2-Telescopic rod with linear drive two, G3-Telescopic rod with linear drive three, L1-Upper edge rod, L2-Left edge rod, L3-Right edge rod, L4-Lower edge rod, L5-Upper edge rod two, L6-Upper edge rod two left end, L7-Upper edge rod two right end, L8-Lower edge rod two, L9-Lower edge rod two left end, L10-Lower edge rod two right end, R1-Rotating pair one, R2-Rotating pair two, R3-Rotating pair three, R4-Rotating pair four, R5-Rotating pair five, R6-Rotating pair six, R7-Rotating pair seven, R8-Rotating pair eight, R9-Rotating pair nine, R10-Rotating pair ten, R11-Rotating pair eleven, R12-Rotating pair twelve, R13-Rotating pair thirteen, R14-Rotating pair fourteen, R15-Rotating pair fifteen, R16-Rotating pair sixteen, R17-Rotating pair seventeen, R18-Rotating pair eighteen, R19-Rotating pair nineteen, R20-Rotating pair twenty, R21-Rotating pair twenty one, R22-Rotating pair twenty two, R23-Rotating pair twenty three, R24-Rotating pair twenty four, R25-Rotating pair twenty five, R26-Rotating pair twenty six, P1-Moving pair one, P2-Moving pair two, P3-Moving pair three. DETAILED DESCRIPTION

[0020] The rotating pair axis described in the following examples refers to the center line around which the rotating pair rotates when rotating. The "upper", "lower", "left", "right", "front", "rear", "horizontal" directions are all based on the directions indicated in the drawings, and are all for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated elements must have a particular orientation.

[0021] Example 1:

[0022] The present application provides a five-branch ultra-large workspace A / B-axis composite machining robot, which has the structure as shown in Figure 1 , Figure 2 , Figure 3As shown, it comprises a rack 1, a moving platform 2, a driving motor a, a driving motor b, a driving motor c, a terminal working head 3, a first I branch, a second II branch, a third III branch connected in parallel between the rack 1 and the moving platform 3, and a fourth IV branch and a fifth V branch connected in parallel between the sliding block H1 and the terminal working head 3; the second II branch and the third III branch are the same in structure as the first I branch, and the fifth V branch is the same in structure as the fourth IV branch; characterized in that the first I branch sequentially connects a guide rail one M1, a sliding block one H1, an upper edge rod L1, a left edge rod L2, a right edge rod L3, and a lower edge rod L4 from the rack 1 to the moving platform 2; the guide rail one M1 is fixed on the rack 1, the sliding block one H1 is connected with the guide rail one M1 through a grooved wheel W1, meanwhile a gear C1 and a rack C2 are engaged, the upper edge rod L1 is connected with the sliding block one H1 through a rotary pair one R1, the upper edge rod L1 is connected with the left edge rod L2 through a rotary pair two R2, the upper edge rod L1 is connected with the right edge rod L3 through a rotary pair three R3, the lower edge rod L4 is connected with the left edge rod L2 through a rotary pair four R4, the lower edge rod L4 is connected with the right edge rod L3 through a rotary pair five R5, and the lower edge rod L4 is connected with the moving platform 3 through a rotary pair six R6; the upper edge rod L1, the lower edge rod L4, the left edge rod L2, the right edge rod L3, the rotary pair one R1, the rotary pair two R2, the rotary pair three R3, the rotary pair four R4, the rotary pair five R5, and the rotary pair six R6 together constitute a four-way hinge parallelogram mechanism one X1; the rotary pair two R2, the rotary pair three R3, the rotary pair four R4, and the rotary pair five R5 are parallel in axis, the rotary pair one R1 and the rotary pair six R6 are parallel in axis, the rotary pair one R1 is perpendicular to the rotary pair two R2 and the rotary pair three R3 in axis, and the rotary pair six R6 is perpendicular to the rotary pair four R4 and the rotary pair five R5 in axis;

[0023] The fourth IV branch sequentially connects a short rod one T1, a U-shaped fork one U1, a telescopic rod G1 with linear drive, a U-shaped fork two U2, and a short rod two T2 from the sliding block one H1 to the terminal working head 3; the short rod one T1 is connected with the sliding block one H1 through a rotary pair seven R7, the U-shaped fork one U1 is connected with the short rod one T1 through a rotary pair eight R8, the telescopic rod one G1 with linear drive is fixedly connected with the U-shaped fork one U1, the U-shaped fork two U2 is connected with the telescopic rod one G1 with linear drive through a rotary pair nine R9, the short rod two T2 is connected with the U-shaped fork two U2 through a rotary pair ten R10, and the terminal working head 3 is connected with the short rod two T2 through a rotary pair eleven R11; the rotary pair seven R7 and the rotary pair eight R8 are perpendicular in axis; the rotary pair nine R9, the rotary pair ten R10, and the rotary pair eleven R11 are convergent in axis;

[0024] The moving platform 2 and the terminal working head 3 are connected through a cross S, the cross S is connected with the moving platform 2 through a rotary pair twelve R12, and the terminal working head 3 is connected with the cross S through a rotary pair thirteen R13; the rotary pair twelve R12 and the rotary pair thirteen R13 are perpendicular in axis;

[0025] The guide rails of the first branch, the second branch, and the third branch are parallel to each other; the sliding joint P1 of the first branch, the sliding joint P2 of the second branch, and the sliding joint P3 of the third branch are driving joints; the telescopic rod G1 with linear drive located in the fourth branch and the telescopic rod G2 with linear drive located in the fifth branch jointly drive the rotation of the end working head 3.

[0026] Example 2:

[0027] The difference between Example 2 and Example 1 is as follows:

[0028] like Figure 4 As shown, the first I, second II, and third III branches are sequentially connected from the frame 1 to the moving platform 2 by a guide rail M1, a slider H1, an upper rod L5, the left end of the upper rod L6, the right end of the upper rod L7, the left rod L2, the right rod L3, the lower rod L8, the left end of the lower rod L9, and the right end of the lower rod L10. The guide rail M1 is fixed on the frame 1. The slider H1 is connected to the guide rail M1 through a grooved wheel W1. At the same time, gear C1 and rack C2 mesh. The upper rod L5 is connected to the slider H1. H1 is fixedly connected. The left end L6 of the upper rod 2 is connected to the left rod L2 via revolute joint fourteen R14 and revolute joint fifteen R15. The right end L7 of the upper rod 2 is connected to the right rod L3 via revolute joint sixteen R16 and revolute joint seventeen R17. The left end L9 of the lower rod 2 is connected to the left rod L2 via revolute joint eighteen R18 and revolute joint nineteen R19. The right end L10 of the lower rod 2 is connected to the right rod L3 via revolute joint twentieth R20 and revolute joint twenty-one R21. The lower rod 2 L8 is fixedly connected to the moving platform 2. Upper rod 2 L5, upper rod 2 L6 (left end), upper rod 2 (right end) L7, lower rod 2 L8, lower rod 2 (left end) L9, lower rod 2 (right end) L10, left rod L2, right rod L3, revolute joint 14 R14, revolute joint 15 R15, revolute joint 16 R16, revolute joint 17 R17, revolute joint 18 R18, revolute joint 19 R19, revolute joint 20 R20, and revolute joint 21 together constitute a four-universal joint parallelogram mechanism 2X2; the aforementioned revolute joint 14 R14, revolute joint 19, revolute joint 10, and revolute joint 21 together constitute a four-universal joint parallelogram mechanism 2X2; The axes of joint 16 (R16) coincide; the axes of joint 18 (R18) and joint 20 (R20) coincide; the axes of joint 15 (R15), joint 17 (R17), joint 19 (R19), and joint 21 (R21) are parallel; the axes of joint 15 (R15) and joint 19 (R19) are parallel; the axis of joint 14 (R14) intersects perpendicularly with the axes of joint 15 (R15) and joint 17 (R17); and the axis of joint 18 (R18) intersects perpendicularly with the axes of joint 19 (R19) and joint 21 (R21).

[0029] like Figure 5As shown, the fourth IV and fifth V branches are sequentially connected from slider H1 to end working head 3 with short rod T1, U-shaped fork U1, telescopic rod G3 with linear drive, U-shaped fork U2, and short rod T2. Short rod T1 is connected to slider H1 via revolute joint R22, U-shaped fork U1 is connected to short rod T1 via revolute joint R23, telescopic rod G3 with linear drive is connected to U-shaped fork U1 via revolute joint R24, U-shaped fork U2 is fixedly connected to telescopic rod G3 with linear drive, short rod T2 is connected to U-shaped fork U2 via revolute joint R25, and end working head 3 is connected to short rod T2 via revolute joint R26. The axes of revolute joints R22, R23, and R24 intersect; the axes of revolute joints R25 and R26 intersect perpendicularly.

[0030] Example 3:

[0031] like Figure 7 As shown in Embodiments 1 and 2, the overall layout of the five-branch ultra-large workspace A / B axis composite machining robot can be rotated by a certain angle along the axis of the moving pair P1.

Claims

1. A five-branch super-large workspace A / B-axis compound machining robot, characterized in that: The machine frame, the moving platform, three driving motors, the end working head, the first, second and third branches connected in parallel between the machine frame and the moving platform, and the fourth and fifth branches connected in parallel between the slider and the end working head; The second and third branches have the same structure as the first branch, and the fifth branch has the same structure as the fourth branch; the first branch is sequentially connected with a guide rail one, a slider one, an upper edge rod, a left edge rod, a right edge rod and a lower edge rod from the machine frame to the moving platform; the guide rail one is fixed on the machine frame, the slider one is connected with the guide rail one through a moving pair one, the upper edge rod is connected with the slider one through a rotating pair one, the upper edge rod is connected with the left edge rod through a rotating pair two, the upper edge rod is connected with the right edge rod through a rotating pair three, the lower edge rod is connected with the left edge rod through a rotating pair four, the lower edge rod is connected with the right edge rod through a rotating pair five, and the lower edge rod is connected with the moving platform through a rotating pair six; the upper edge rod, the lower edge rod, the left edge rod, the right edge rod, the rotating pair one, the rotating pair two, the rotating pair three, the rotating pair four, the rotating pair five and the rotating pair six together form a four-way hinge parallelogram mechanism one; the rotating pair two, the rotating pair three, the rotating pair four and the rotating pair five have mutually parallel axes, the rotating pair one and the rotating pair six have mutually parallel axes, the axis of the rotating pair one is perpendicular to the axes of the rotating pair two and the rotating pair three, and the axis of the rotating pair six is perpendicular to the axes of the rotating pair four and the rotating pair five; The fourth branch is provided with a linearly driven telescopic rod one between the slider one and the end working head; the linearly driven telescopic rod one is connected with the slider one through a rotating pair seven and a rotating pair eight, and the end working head is connected with the linearly driven telescopic rod one through a rotating pair nine, a rotating pair ten and a rotating pair eleven; the axes of the rotating pair seven and the rotating pair eight are perpendicular to each other; the axes of the rotating pair nine, the rotating pair ten and the rotating pair eleven meet; The moving platform and the end working head are connected through a rotating pair twelve and a rotating pair thirteen, and the axes of the rotating pair twelve and the rotating pair thirteen are perpendicular to each other; The guide rails of the first, second and third branches are parallel to each other; the moving pair one of the first branch, the moving pair two of the second branch and the moving pair three of the third branch are driving pairs; The linearly driven telescopic rod one in the fourth branch and the linearly driven telescopic rod two in the fifth branch jointly drive the rotation of the end working head.

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