A multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability

Abstract

The present invention discloses a multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability. 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 movably connected to the static platform through a third Hooke's joint, and the sixth branch chain rotates with the static platform at an angle. The present invention is formed by five unconstrained branch chains and one constrained branch chain in parallel. The rigidity of the whole machine is high. The branch chain structure of the five unconstrained branch chains can facilitate the plane installation of the multi-branch five-degree-of-freedom parallel processing robot, and the cost is lower. The sixth branch chain is used as a constrained branch chain, wherein the second Hooke's joint and the third Hooke's joint realize the AB two-way rotation of the five-degree-of-freedom parallel robot by independently or in cooperation. The multi-branch five-degree-of-freedom parallel processing robot of the present invention also has a strong turning angle output capability.

Description

Technical Field

[0001] The invention belongs to the technical field of processing robots, and in particular relates to a multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability. 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 of the 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-DOF parallel processing robot structure described in 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 described in 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 described in 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 multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability.

[0009] The technical solution of the present invention is: a multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability, 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, and the branch chain group includes an unconstrained branch chain group and a sixth branch chain. The sixth branch chain is movably connected to the static platform through a third Hooke's joint, and the sixth branch chain rotates at an angle with the static platform.

[0010] Furthermore, a corner matching structure is formed in the static platform, and the corner matching structure provides support for the rotation of the sixth branch chain.

[0011] Furthermore, the third Hooke's joint is connected to the telescopic end of the second movable pair, and the second movable pair is arranged in the branch link.

[0012] Furthermore, a second Hooke's joint is arranged on the top of the branch link, and the second Hooke's joint is movably connected to the moving platform.

[0013] 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.

[0014] Furthermore, the second Hooke's joint is movably connected to the third-layer moving platform.

[0015] 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.

[0016] Furthermore, the upper branch chain and the middle branch chain are both provided with a telescopic first moving pair.

[0017] Furthermore, the posture adjustment of the second mobile sub-following platform realizes follow-up sliding, and under the constraint of the sixth branch chain, the extension and retraction of the unconstrained branch chain in the unconstrained branch chain group is controlled to realize the five-degree-of-freedom movement of the moving platform.

[0018] 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 branch chain structure of the five unconstrained branch chains can facilitate the planar installation of the multi-branch five-degree-of-freedom parallel processing robot with lower cost; the sixth branch chain is used as a constrained branch chain, in which the second Hooke's joint and the third Hooke's joint realize the AB two-way rotation of the five-degree-of-freedom parallel processing robot independently or in cooperation. The multi-branch five-degree-of-freedom parallel processing robot of the present invention also has a strong angle output capability.

[0019] 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

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 is a schematic structural diagram of the first branch chain in the present invention;

[0022] Figure 3 is a schematic structural diagram of the fourth branch chain in the present invention;

[0023] Figure 4 is a schematic structural diagram of the sixth branch chain in the present invention;

[0024] Figure 5 is another structural schematic diagram of the sixth branch chain in the present invention;

[0025] Figure 6 It is a structural schematic diagram of Embodiment 2 of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of Embodiment 3 of the present invention;

[0027] Figure 8 It is a structural schematic diagram of Embodiment 4 of the present invention;

[0028] in:

[0029] 1 Static platform 2 Electric spindle

[0030] 3 Moving platform 4 Ball joint

[0031] 31 First floor moving platform 32 Second floor moving platform

[0032] 33 Third floor dynamic platform

[0033] L1 First branch L2 Second branch

[0034] L3 The third branch L4 The fourth branch

[0035] L5 Fifth branch chain L6 Sixth branch chain

[0036] P1 First moving pair P2 Second moving pair

[0037] U1 First Hooke's hinge U2 Second Hooke's hinge

[0038] U3 Third Hooke's hinge. DETAILED DESCRIPTION

[0039] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and embodiments:

[0040] like Figures 1 to 8As shown, a multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability includes 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. An electric spindle 2 is arranged in the dynamic platform 3 as an output unit. The branch chain group includes an unconstrained branch chain group and a sixth branch chain L6. The sixth branch chain L6 is movably connected to the static platform 1 through a third Hooke's joint U3. The sixth branch chain L6 rotates at an angle with the static platform 1.

[0041] A corner matching structure is formed in the static platform 1, and the corner matching structure provides support for the rotation of the sixth branch chain L6.

[0042] The third Hooke's joint U3 is connected to the telescopic end of the second movable pair P2, and the second movable pair P2 is arranged in the branch link.

[0043] A second Hooke's joint U2 is provided on the top of the branch chain rod, 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 L6 are connected to the moving platform 3 in three layers, so as to adjust the position and posture of the electric spindle 2.

[0047] The upper branch chain and the middle branch chain are both provided with a telescopic first moving pair.

[0048] The first moving pair P1 is driven by a motor driving a lead screw through a synchronous belt.

[0049] The second mobile pair P2 adjusts the posture of the follower platform 3 to achieve follow-up sliding. Under the constraint of the sixth branch chain L6, the extension and retraction of the unconstrained branch chain in the unconstrained branch chain group are controlled to achieve five-degree-of-freedom movement of the moving platform 3.

[0050] 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.

[0051] 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 .

[0052] The machining output in the present invention may be, but is not limited to, the electric spindle 2 .

[0053] Specifically, a guide groove is formed at the outer wall of the branch link, a telescopic end connecting portion sliding along the guide groove is provided in the guide groove, and the third Hooke's hinge U3 is connected to the telescopic end connecting portion.

[0054] Specifically, a mounting position is formed in the static platform 1 , and the third Hooke's joint U3 is movably connected to the mounting position, so as to achieve angular rotation of the sixth branch chain L6 and the static platform 1 .

[0055] 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 .

[0056] The middle-layer branch chain is articulated with the outer wall of the second-layer dynamic platform 32 , and the other end of the middle-layer branch chain is articulated with the static platform 1 .

[0057] Specifically, the joint connection is a ball joint connection or a Hooke's joint connection.

[0058] The upper branch chain and the middle branch chain are both provided with a first moving pair P1, and the first moving pair P1 drives itself to extend and retract along the length direction.

[0059] 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.

[0060] Specifically, the first moving platform 31, the second moving platform 32, and the third moving platform 33 are fixed separately or integrally formed.

[0061] 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 .

[0062] 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.

[0063] Embodiment 1

[0064] like Figures 1 to 4 As shown, a multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability 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.

[0065] Specifically, the two ends of 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 is composed of a first-layer dynamic platform 31, a second-layer dynamic platform 32 and a third-layer dynamic platform 33, and adjacent platforms are fixedly connected. The electric spindle 2 is fixedly installed in the dynamic platform 3, together constituting a multi-branch five-degree-of-freedom parallel processing robot.

[0066] Specifically, there are five unconstrained branches, namely the first branch L1, the second branch L2, the third branch L3, the fourth branch L4, and the fifth branch L5, and each of the unconstrained branches includes a first moving pair P1, a ball joint 4, and a first Hooke's joint U1. Among them, the first moving pair P1 is arranged between the ball joint 4 and the first Hooke's joint U1.

[0067] Specifically, the sixth branch chain L6 includes a second moving pair P2, a second Hooke's joint U2 and a third Hooke's joint U3, wherein the second moving pair P2 is arranged between the second Hooke's joint U2 and the third Hooke's joint U3.

[0068] Specifically, the upper joint of the unconstrained branch chain is movably connected to the dynamic platform 3, the lower joint of the unconstrained branch chain is movably connected to the static platform 1, the top of the sixth branch chain L6 is movably connected to the dynamic platform 3, and the bottom of the sixth branch chain L6 is movably connected to the static platform 1.

[0069] Specifically, the five unconstrained branches are divided into upper branches and middle branches. The upper branch consists of the first branch L1, the second branch L2, and the third branch L3. The structure of each branch of the upper branch 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 upper branch chains are arranged at intervals in the circumference of the first-layer moving platform 31, and the lower joints of the upper branch chains are connected to the three mounting platforms at the circumference of the static platform 1 in a one-to-one correspondence. The mounting platforms are arranged at intervals, and the mounting platforms are inclined upward, that is, the adjacent two branches of the first branch chain L1, the second branch chain L2, and the third branch chain L3 form a triangle shape. The upper joints of the fourth branch chain L4 and the fifth branch chain L5 are arranged at intervals in the circumference 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 circumference on the lower layer of the static platform 1, and the fourth branch chain L4 and the fifth branch chain L5 form a triangle shape. The sixth branch chain L6 is connected to the third-layer moving platform 33, and the sixth branch chain L6 is enclosed on the static platform 1 through the lower joints of the unconstrained branches to form the center of the figure.

[0070] In this embodiment, the second Hooke's joint U2 or the third Hooke's joint U3 is a hollow structure, the second movable pair P2 is a hollow cylinder, and the electric spindle 2 can be routed inside the moving platform and the sixth branch chain L6 structure.

[0071] 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, and 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 predetermined posture of the moving platform 3; 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 both ends of the second mobile pair P2 also cooperate to make it meet the predetermined posture of the moving platform 3, so that the moving platform 3 can achieve five-degree-of-freedom movement.

[0072] 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.

[0073] Specifically, in this embodiment, the corner matching structure is a hollow installation frame, which is located at the center of the three installation platforms. The static platform 1 includes a bottom support body, and the lower joints of the fourth branch chain L4 and the fifth branch chain L5 are arranged on the bottom support body.

[0074] More specifically, the bottom support body is connected to the mounting frame via an inclined connecting plate, and the mounting frame provides a rotation space for the rotation of the sixth branch chain L6.

[0075] Embodiment 2

[0076] like Figure 5 and Figure 6 As shown, a multi-branch five-DOF parallel processing robot with large turning angle capability has the same motion form as that of the first embodiment, and the components of each kinematic pair, branch chain, etc. are exactly the same.

[0077] In this embodiment, the sixth branch chain L6 includes two rotating joints, namely the second Hooke's joint U2 and the third Hooke's joint U3. The joint where the sixth branch chain L6 is connected to the moving platform 3 is the upper joint, and the joint where the sixth branch chain L6 is connected to the static platform is the lower joint. The rotation axes of the upper joint and the lower joint are vertical in space. That is, the two articulated axes of the upper joint and the lower joint are always vertically staggered. Due to the structure of the second Hooke's joint U2 or the third Hooke's joint U3, the electric spindle 2 needs to drill holes in the side wall of the moving platform 3 for wiring.

[0078] 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.

[0079] Embodiment 3

[0080] like Figure 7 As shown, a multi-branch five-DOF parallel processing robot with large turning angle capability has the same motion form as that in the first embodiment, and the components of each kinematic pair, branch chain, etc. are exactly the same.

[0081] In this embodiment, 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 divided into upper branch chains and middle branch chains. The upper branch chain is composed of the first branch chain L1 and the second branch chain L2. The structure of each branch chain of the upper branch chain is as follows: Figure 2 As shown in , the middle branch chain is composed of the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5. The structure of each branch chain of the middle branch chain is as follows Figure 3 As shown in . The upper joints of the first branch chain L1 and the second branch chain L2 are arranged at intervals in the circumferential direction on the first-layer moving platform 31, and the lower joints of the first branch chain L1 and the second branch chain L2 are connected to the two mounting platforms extending upward in the circumferential direction of the static platform 1 in a one-to-one correspondence; the first branch chain L1 and the second branch chain L2 are in a triangular shape. The upper joints of the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 are arranged at intervals in the circumferential direction on the second-layer moving platform 32, and the lower joints of the third branch chain L3, 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. That is, the adjacent middle-layer branches are in a triangular shape, and the three lower joints of the third branch chain L3, the fourth branch chain L4, and the fifth branch chain L5 on the static platform 1 are in a triangular shape; the lower part of the sixth branch chain L6 is surrounded by five lower joints to form the center line of the figure.

[0082] The sleeve structure of the first movable pair P1 in the first branch chain L1 and the second branch chain L2 is hollow, and the telescopic rod of the first movable pair P1 always maintains a certain distance from the ground.

[0083] Embodiment 4

[0084] like Figure 8 As shown, a multi-branch five-DOF parallel processing robot with large turning angle capability has the same motion form as that of the first embodiment, and the components of each kinematic pair, branch chain, etc. are exactly the same.

[0085] The structures of the five unconstrained branches in this embodiment are exactly the same. Figure 3 The structure shown.

[0086] Four of the five unconstrained branches, namely the first branch chain L1, the second branch chain L2, the third branch chain L3, and the fourth branch chain L4, are divided into two groups A and B. Group A consists of the first branch chain L1 and the second branch chain L1, and group B consists of the third branch chain L1 and the fourth branch chain L4. The first branch chain L1 and the second branch chain L2 are arranged in a group adjacent to the first layer moving platform 31, the third branch chain L1 and the fourth branch chain L4 are arranged in a group adjacent to the first layer moving platform 31, and the fifth branch chain L5 is independently arranged in a group at the first layer moving platform 31, and a triangle is formed between the three groups of hinge points.

[0087] 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 on the static platform 1. The adjacent unconstrained branches form a triangle shape. The top of the sixth branch chain L6 is movably connected to the third layer dynamic 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 are in the same plane, and the lower part of the sixth branch chain L6 passes through the central axis enclosed by the lower joints.

[0088] 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 multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability, characterized in that: 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 movably connected to the static platform (1) via a third Hooke's joint, and the sixth branch chain rotates with the static platform (1) at an angle; A corner matching structure is formed in the static platform (1), and the corner matching structure provides support for the rotation of the sixth branch chain; The third Hooke's joint is connected to the telescopic end of the second movable pair, and the second movable pair is arranged in the branch link; A guide groove is formed at the outer wall of the branch link, a telescopic end connecting portion sliding along the guide groove is provided in the guide groove, and the third Hooke's hinge U3 is connected to the telescopic end connecting portion; A mounting position is formed in the static platform (1), and the third Hooke's joint U3 is movably connected to the mounting position, thereby realizing an angular rotation between the sixth branch chain L6 and the static platform (1); A second Hooke's joint is provided at the top of the branch chain rod, 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 top of the sixth branch chain are connected to the moving platform (3) in three layers, thereby adjusting the position and posture of the electric spindle (2).

2. A multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability according to claim 1, characterized in that: The second Hooke's joint is movably connected to the third layer moving platform (33).

3. A multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability according to claim 1, characterized in that: The upper branch chain and the middle branch chain are both provided with a telescopic first moving pair.

4. A multi-branch five-degree-of-freedom parallel processing robot with large turning angle capability according to claim 1, characterized in that: The position adjustment of the second mobile sub-following platform (3) realizes follow-up sliding, and under the constraint of the sixth branch chain, controls the extension and retraction of the unconstrained branch chain in the unconstrained branch chain group to realize the five-degree-of-freedom movement of the moving platform (3).

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