A six-branch five-degree-of-freedom parallel machining robot for complex surfaces

Abstract

The invention discloses a six-branch five-degree-of-freedom parallel processing robot for complex curved surfaces. The parallel processing robot includes a static platform as an assembly basis, a branch chain group as a posture adjustment, and a dynamic platform as an output assembly. An electric spindle as an output unit is arranged in the dynamic platform. The branch chain group includes an unconstrained branch chain group and a sixth branch chain. The sixth branch chain is connected to the static platform through a second moving pair, and the moving direction of the second moving pair is perpendicular to the end face of the static platform. The whole machine of the invention has large rigidity and strong angular output. The five unconstrained branches adopt the upper and lower double joints and the middle telescopic mode, which is suitable for plane installation and low cost. Under the separate connection and adjustment of the unconstrained branch chain group, the output assembly realizes six-degree-of-freedom changes. The sixth branch chain is connected to the output assembly by a second Hooke's joint, so that the flexibility of the output assembly is better. The second Hooke's joint and the third Hooke's joint in the constrained branch chain realize the AB two-way rotation of the five-degree-of-freedom parallel robot through independent or coordinated movement.

Description

Technical Field

[0001] The invention belongs to the technical field of processing robots, and in particular relates to a six-branch five-degree-of-freedom parallel processing robot for complex curved surfaces. Background Art

[0002] At present, processing robots play an important role in the manufacturing industry, especially in the manufacturing of core components with spatial free-form surface features and complex structural parts in key equipment in the high-tech field, parallel robots play a vital role. Advanced manufacturing has an increasingly extensive demand for processing complex surfaces and components with large dynamic loads, such as steel structures and aerospace components, so the design and development of a high-performance robot with five-axis processing capabilities is an inevitable trend in the development of key industries.

[0003] At present, most five-degree-of-freedom processing robots have the following main shortcomings:

[0004] First, the flexibility of the mechanism is not enough. For example, the five-degree-of-freedom parallel processing robot structure disclosed in Chinese patent CN113319828A has a limited swing range of its end actuator due to the characteristics of the mechanism layout, making it difficult to meet the requirements of efficient processing of complex curved surfaces.

[0005] Second, the working space of the mechanism is small. For example, the five-DOF parallel processing robot structure disclosed in Chinese patent CN102490187A has a limited working range of its end actuator due to the characteristics of the mechanism layout, making it difficult to meet the requirements of efficient processing of large structural parts.

[0006] Third, the cost of using motors is high. For example, the five-DOF parallel processing robot structure disclosed in Chinese patent CN103753235B has a high manufacturing cost because the driving pair is a hollow brushless motor.

[0007] In order to solve the shortcomings of the above-mentioned five-degree-of-freedom parallel processing robot and better meet the processing needs of large and complex parts, it is urgently necessary to invent a five-degree-of-freedom parallel processing robot with high rigidity, high precision, good flexibility, large workspace and low cost, and propose a solution for efficient and high-quality processing of complex curved surface structural parts in high-tech equipment. Summary of the invention

[0008] The present invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a six-branch five-degree-of-freedom parallel processing robot for complex curved surfaces.

[0009] The technical solution of the present invention is: a six-branch five-degree-of-freedom parallel processing robot for complex surfaces, the parallel processing robot includes a static platform as an assembly basis, a branch group as a posture adjustment, and a dynamic platform as an output assembly. An electric spindle as an output unit is arranged in the dynamic platform, and the branch group includes an unconstrained branch group and a sixth branch. The sixth branch is connected to the static platform through a second moving pair, and the moving direction of the second moving pair is perpendicular to the end face of the static platform.

[0010] Furthermore, the second movable pair includes a pair of support seats arranged at the upper end of the static platform, and the installation sides of the support seats are opposite to each other.

[0011] Furthermore, a movable base is provided at the installation side of the support seat, and a movable unit that moves up and down along the movable base is provided on the movable base, and the movable unit drives the sixth branch chain to move up and down in a direction perpendicular to the static platform.

[0012] Furthermore, a third Hooke's joint is provided at the lifting end of the second movable pair, and the third Hooke's joint is movably connected to the branch link.

[0013] Furthermore, the upper end of the branch link is connected to a second Hooke's joint, and the second Hooke's joint is movably connected to the moving platform.

[0014] Furthermore, the moving platform includes a first moving platform, a second moving platform, and a third moving platform, and the first moving platform, the second moving platform, and the third moving platform are fixed to each other.

[0015] Furthermore, the second Hooke's joint is movably connected to the third-layer moving platform.

[0016] Furthermore, the unconstrained branch chain group includes an upper branch chain and a middle branch chain, and the upper branch chain, the middle branch chain, and the top of the sixth branch chain are connected to the moving platform in three layers, so as to adjust the position and posture of the electric spindle.

[0017] Furthermore, an assembly groove is formed in the static platform, and the assembly groove corresponds to the second movable pair.

[0018] Furthermore, the upper branch chain and the middle branch chain are both provided with a first moving pair capable of self-driving extension and retraction.

[0019] The beneficial effects of the present invention are as follows:

[0020] The present invention is composed of five unconstrained branch chains and one constrained branch chain in parallel, and the whole machine has high rigidity. The five unconstrained branch chains adopt the method of upper and lower double joints and middle telescopic movement, which is more suitable for plane installation and has lower cost. Under the separate connection and adjustment of the unconstrained branch chain group, the output assembly can realize six-degree-of-freedom changes, and the sixth branch chain is connected to the output assembly by the second Hooke's hinge, so that the output assembly has better flexibility. The sixth branch chain serves as a constrained branch chain, and the second Hooke's hinge and the third Hooke's hinge in the constrained branch chain realize the AB two-way rotation of the five-degree-of-freedom parallel robot through independent or coordinated movement. The five-degree-of-freedom parallel processing robot in the present invention also has a powerful angle output capability.

[0021] The present invention has the advantages of high rigidity, high precision, good flexibility, large working space and low cost, and can realize efficient processing of complex curved surface components in high-end equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 is a schematic structural diagram of the first branch chain in the present invention;

[0024] Figure 3 is a schematic structural diagram of the fourth branch chain in the present invention;

[0025] Figure 4 is a schematic structural diagram of the sixth branch chain in the present invention;

[0026] Figure 5 It is another structural schematic diagram of the present invention;

[0027] in:

[0028] 1 Static platform 2 Electric spindle

[0029] 3 Moving platform 4 Ball joint

[0030] 31 First floor moving platform 32 Second floor moving platform

[0031] 33 Third floor dynamic platform

[0032] L1 First branch L2 Second branch

[0033] L3 The third branch L4 The fourth branch

[0034] L5 Fifth branch chain L6 Sixth branch chain

[0035] P1 First moving pair P2 Second moving pair

[0036] U1 First Hooke's hinge U2 Second Hooke's hinge

[0037] U3 Third Hooke's hinge. DETAILED DESCRIPTION

[0038] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and embodiments:

[0039] like Figures 1 to 5 As shown, a six-branch five-degree-of-freedom parallel processing robot for complex surfaces includes a static platform 1 as an assembly basis, a branch group as a posture adjustment, and a dynamic platform 3 as an output assembly. An electric spindle 2 is arranged in the dynamic platform 3 as an output unit. The branch group includes an unconstrained branch group and a sixth branch L6. The sixth branch L6 is connected to the static platform 1 through a second moving pair P2. The moving direction of the second moving pair P2 is perpendicular to the end face of the static platform 1.

[0040] The second movable pair P2 includes a pair of support seats arranged at the upper end of the static platform 1, and the installation sides of the support seats are opposite to each other.

[0041] A moving unit is provided on the mounting side of the support seat, and the moving unit drives the sixth branch chain to rise and fall in a direction perpendicular to the static platform (1).

[0042] The lifting end of the second movable pair P2 is provided with a third Hooke's joint U3, and the third Hooke's joint U3 is movably connected to the branch link.

[0043] The upper end of the branch chain rod is connected to the second Hooke's joint U2, and the second Hooke's joint U2 is movably connected to the moving platform 3.

[0044] The moving platform 3 includes a first moving platform 31, a second moving platform 32, and a third moving platform 33, and the first moving platform 31, the second moving platform 32, and the third moving platform 33 are fixed to each other.

[0045] The second Hooke's joint is movably connected to the third layer moving platform 33 .

[0046] The unconstrained branch chain group includes an upper branch chain and a middle branch chain. The upper branch chain, the middle branch chain, and the top of the sixth branch chain are connected to the moving platform 3 in three layers, so as to adjust the position and posture of the electric spindle 2.

[0047] An assembly groove is formed in the static platform 1, and the assembly groove corresponds to the second moving pair.

[0048] The upper branch chain and the middle branch chain are both provided with a first moving pair P1 capable of self-driving extension and retraction.

[0049] Specifically, the sixth branch chain L6 adjusts the lower end of the dynamic platform 3, the unconstrained branch chain group provides joint support for the outer wall of the dynamic platform 3, and the sixth branch chain L6 and the unconstrained branch chain group combine to adjust the posture of the dynamic platform 3.

[0050] Specifically, the electric spindle 2 is fixed to the moving platform 3 , so that the sixth branch chain L6 and the unconstrained branch chain group are combined to adjust the posture of the electric spindle 2 .

[0051] The machining output in the present invention may be, but is not limited to, the electric spindle 2 .

[0052] Specifically, the support seat is an L-shaped structure, and the lower end of the support seat is connected to the static platform 1 through a flange structure.

[0053] Specifically, a support rib is provided on the back of the support seat, and the overall rigidity of the support seat is ensured by the support rib.

[0054] Specifically, the second movable pair P2 is lifted and lowered in the direction of its movable base, and the movable base is perpendicular to the static platform 1 .

[0055] Specifically, the second Hooke's joint U2 in the sixth branch chain L6 is movably connected to the third layer movable platform 33 .

[0056] Specifically, one end of the upper branch chain is articulated with the outer wall of the first layer moving platform 31 , and the other end of the upper branch chain is articulated with the static platform 1 .

[0057] The middle layer branch chain is articulated with the outer wall of the second layer moving platform 32 , and the other end of the middle layer branch chain is articulated with the static platform 1 .

[0058] Specifically, the joint connection is a ball joint connection or a Hooke's joint connection.

[0059] The upper branch chain and the middle branch chain are both provided with a first moving pair P1, and the first moving pair P1 can realize its own extension and retraction along the length direction.

[0060] Specifically, the sixth branch chain L6 adjusts the lower end of the dynamic platform 3, the unconstrained branch chain group provides joint support for the outer wall of the dynamic platform 3, and the sixth branch chain L6 and the unconstrained branch chain group combine to adjust the posture of the dynamic platform 3.

[0061] Specifically, the first layer moving platform 31, the second layer moving platform 32, and the third layer moving platform 33 are fixed separately or integrally formed.

[0062] Specifically, assembly holes corresponding to the upper branch chain and the middle branch chain are formed on the outer walls of the first layer moving platform 31 and the second layer moving platform 32 .

[0063] Specifically, the unconstrained branch chain group includes five unconstrained branch chains, namely, a first branch chain L1, a second branch chain L2, a third branch chain L3, a fourth branch chain L4, and a fifth branch chain L5.

[0064] Embodiment 1

[0065] like Figures 1 to 4 As shown, a six-branch five-degree-of-freedom parallel processing robot for complex surfaces includes a static platform 1, an electric spindle 2, a dynamic platform 3, a first branch chain L1, a second branch chain L2, a third branch chain L3, a fourth branch chain L4, a fifth branch chain L5, and a sixth branch chain L6.

[0066] Specifically, the first branch chain L1, the second branch chain L2, the third branch chain L3, the fourth branch chain L4, the fifth branch chain L5 and the sixth branch chain L6 are respectively connected to the static platform 1 and the dynamic platform 3. The dynamic platform 3 includes a first-layer dynamic platform 31, a second-layer dynamic platform 32 and a third-layer dynamic platform 33, and adjacent platforms are in fixed contact. The electric spindle 2 is fixedly installed in the center of the dynamic platform 3, and together they constitute a five-degree-of-freedom parallel processing robot.

[0067] Specifically, the unconstrained branches in the unconstrained branch group include a first branch L1, a second branch L2, a third branch L3, a fourth branch L4, and a fifth branch L5, and the unconstrained branches include a first moving pair P1, a ball joint 4, and a first Hooke's joint U1. The first moving pair P1 is arranged between the ball joint 4 and the first Hooke's joint U1.

[0068] Specifically, the sixth branch chain L6 includes a second mobile pair P2, a second Hooke's joint U2, and a third Hooke's joint U3, wherein the third Hooke's joint U3 is arranged between the second Hooke's joint U2 and the second mobile pair P2.

[0069] Specifically, one end of the unconstrained branch chain is connected to the static platform 1 through the first Hooke's joint U1 or the ball joint 4, and the other end of the unconstrained branch chain is connected to the dynamic platform 3 through the ball joint 4 or the first Hooke's joint U1, and a first moving pair P1 is arranged between the ball joint 4 and the first Hooke's joint U2; the sixth branch chain L6 is a constrained branch chain, and one end of the constrained branch chain is connected to the static platform 1 through the second moving pair P3, and the other end is connected to the dynamic platform 3 through the second Hooke's joint U2.

[0070] Specifically, the first branch chain L1, the second branch chain L2, the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 in the unconstrained branch chain group are divided into upper branch chains and middle branch chains. The upper branch chain is composed of the first branch chain L1, the second branch chain L2, and the third branch chain L3. The structure of each branch chain in the upper branch chain is as follows: Figure 2 As shown in , the middle-level branch chain is composed of the fourth branch chain L4 and the fifth branch chain L5. The structure of each branch chain of the middle-level branch chain is as follows Figure 3 As shown in . The upper joints of the first branch chain L1, the second branch chain L2, and the third branch chain L3 are arranged at intervals in the circumferential direction of the first layer moving platform 31. The lower joints of the first branch chain L1, the second branch chain L2, and the third branch chain L3 are connected to the three protrusions extending circumferentially from the static platform 1 in a one-to-one correspondence, and the protrusions extend upward. The first branch chain L1, the second branch chain L2, and the third branch chain L3 form a triangle shape.

[0071] The upper joints of the fourth branch chain L4 and the fifth branch chain L5 are arranged at intervals in the circumferential direction of the second layer moving platform 32, and the lower joints of the fourth branch chain L4 and the fifth branch chain L5 are arranged at intervals in the circumferential direction on the lower layer of the static platform 1, and the fourth branch chain L4 and the fifth branch chain L5 are in a triangular shape; the top of the sixth branch chain L6 is movably connected to the third layer moving platform 33, and the other end of the second moving pair P2 is connected to the static platform through the supporting seat on the static platform. The lower joints of the first branch chain L1, the second branch chain L2, and the third branch chain L3 are in a triangular shape, and a symmetry plane passing through the axis of the second moving pair P2 is formed in the triangle, and the lower joints of the fourth branch chain L4 and the fifth branch chain L5 are symmetrical about the above symmetry plane.

[0072] Specifically, the first branch chain L1, the second branch chain L2, the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 are independently driven by motors. The first mobile pair P1 included in the first branch chain L1, the second branch chain L2, the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 is independently driven by a motor to complete the telescopic movement, the ball joint 4 and the first Hooke's joint U1 connected at both ends of the first mobile pair P1 cooperate with it to complete the corresponding movement of the moving platform 3 under the predetermined posture, the second mobile pair P2 included in the sixth branch chain L6 follows the movement of the moving platform 3 to complete the sliding movement, and the second Hooke's joint U2 and the third Hooke's joint U3 at one end of the second mobile pair P2 also cooperate to make it meet the corresponding movement of the moving platform 3 under the predetermined posture; thereby realizing the five-degree-of-freedom movement of the moving platform 3.

[0073] The sleeve structure of the first movable pair P1 in the first branch chain L1, the second branch chain L2 and the third branch chain L3 is hollow, and ensures that the telescopic rod constituting the first movable pair P1 always maintains a certain distance from the ground.

[0074] Embodiment 2

[0075] like Figure 5 As shown, a six-branch five-degree-of-freedom parallel processing robot for complex surfaces has the same motion form as the above-mentioned parallel processing robot, and the composition form of each motion pair, branch chain, etc.

[0076] In this embodiment, the unconstrained branched structures are Figure 3In the structure shown, the first branch chain L1, the second branch chain L2, the third branch chain L3, and the fourth branch chain L4 in the unconstrained branch chain are divided into two groups A and B. The group A branch chain consists of the first branch chain L1 and the second branch chain L2, and the group B branch chain consists of the third branch chain L3 and the fourth branch chain L4; the upper joints of the first branch chain L1 and the second branch chain L2 are arranged adjacent to each other on the first layer moving platform 31 to form a group, the upper joints of the third branch chain L3 and the fourth branch chain L4 are arranged adjacent to each other on the first layer moving platform 31 to form a group, and the upper joints of the fifth branch chain L5 are independently arranged in a group on the first layer moving platform 31, and the three groups form a triangle shape; the lower joints of the first branch chain L1, the second branch chain L2, the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 are arranged at intervals along the circumferential direction on the same layer of the static platform 1, and the adjacent branches form a triangle shape; the upper part of the sixth branch chain L6 is movably connected to the third layer moving platform 33. The lower joints of the first branch chain L1, the second branch chain L2, the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 form a pentagonal surface, and the lower part of the sixth branch chain L6 passes through the pentagonal surface and is connected to the static platform.

[0077] The basic principles, main features and beneficial effects of the present invention are described above, and several specific implementation methods of the present invention have been shown and scanned. Without departing from the scope and purpose of the present invention, any changes, modifications, substitutions and variations made to these implementations shall fall within the scope of the claims of the present invention.

Claims

1. A six-branch five-degree-of-freedom parallel processing robot for complex curved surfaces, characterized by: The parallel processing robot comprises a static platform (1) as an assembly basis, a branch chain group as a posture adjustment, and a dynamic platform (3) as an output assembly, wherein an electric spindle (2) as an output unit is arranged in the dynamic platform (3), and the branch chain group comprises an unconstrained branch chain group and a sixth branch chain, wherein the sixth branch chain is connected to the static platform (1) via a second moving pair, and the moving direction of the second moving pair is perpendicular to the end face of the static platform (1); The second movable pair comprises a pair of support seats arranged at the upper end of the static platform (1), the mounting sides of the support seats being opposite to each other; A movable base is provided at the installation side of the support seat, and a movable unit is provided on the movable base for lifting along the movable base, and the movable unit drives the sixth branch chain to lift in a direction perpendicular to the static platform (1); The sixth branch chain L6 comprises a second mobile pair P2, a second Hooke's joint U2, and a third Hooke's joint U3, wherein the third Hooke's joint U3 is arranged between the second Hooke's joint U2 and the second mobile pair P2; the rotation axes of the third Hooke's joint U3 and the second Hooke's joint U2 are parallel or perpendicular; The lower joints of the first branch chain L1, the second branch chain L2, and the third branch chain L3 are connected one by one with three protrusions extending circumferentially from the static platform (1), and the protrusions extend upward; The lifting end of the second moving pair is provided with a third Hooke's joint, and the third Hooke's joint is movably connected to the branch link; The upper end of the branch link is connected to a second Hooke's joint, and the second Hooke's joint is movably connected to the moving platform (3); The moving platform (3) comprises a first moving platform (31), a second moving platform (32), and a third moving platform (33); the first moving platform (31), the second moving platform (32), and the third moving platform (33) are fixed to each other; The unconstrained branch chain group comprises an upper branch chain and a middle branch chain, and the upper branch chain, the middle branch chain, and the sixth branch chain are connected to the moving platform (3) in a multi-layer movable manner, thereby adjusting the position and posture of the electric spindle (2).

2. The six-branch five-degree-of-freedom parallel processing robot for complex curved surfaces according to claim 1, characterized in that: The second Hooke's joint is movably connected to the third layer moving platform (33).

3. The six-branch five-degree-of-freedom parallel processing robot for complex curved surfaces according to claim 1, characterized in that: An assembly groove is formed in the static platform (1), and the assembly groove corresponds to the second movable pair.

4. The six-branch five-degree-of-freedom parallel processing robot for complex curved surfaces according to claim 1, characterized in that: The upper branch chain and the middle branch chain are both provided with a first moving pair capable of self-driving extension and retraction.

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