A few-branched chain five-degree-of-freedom parallel robot for large curved surface component machining

Abstract

This invention discloses a five-DOF parallel robot with few branches for machining large curved surface components. It includes a static platform as a supporting base and a moving platform for posture adjustment. An unconstrained branch group is arranged between the static and moving platforms. A constraint branch is also arranged between the static and moving platforms, providing tilt adjustment support for the moving platform. A second revolute joint is provided at the upper end of the constraint branch, which is movably connected to the moving platform. In this invention, a third branch inclined between the static and moving platforms is used as a constraint branch. This third branch acts as a supporting constraint chain and is movably connected to the second revolute joint on the back of the moving platform. The tilt length support adjustment and rotation angle adjustment are achieved through a second ball joint and a third sliding joint. With the cooperation of the unconstrained branches on both sides, five-DOF parallel machining is realized. The five-DOF parallel robot of this invention has high rigidity and a large workspace, enabling it to be used for machining complex components.

Description

Technical Field

[0001] This invention belongs to the field of machining robot technology, specifically relating to a parallel robot with few branches and five degrees of freedom for machining large curved surface components. Background Technology

[0002] Currently, machining robots play a vital role in the manufacturing industry, especially in the production of major advanced equipment and core components, high-performance materials, and high-tech manufacturing processes, where parallel robots hold a crucial position. With the implementation of major national projects, the high-end equipment industry has higher requirements for the efficiency and quality of its core components. To meet the high rigidity and flexibility requirements of machining core components for high-end equipment, designing a robot with five-axis linkage machining capabilities is an effective solution.

[0003] Currently, some five-degree-of-freedom machining robots suffer from high stiffness but small working space. For example, Chinese patent application CN113319827A discloses a five-degree-of-freedom parallel machining robot structure. Although it has obvious stiffness advantages, the characteristics of its mechanism arrangement limit the swing range of its end effector, making it difficult to meet the requirements for efficient machining of large structural parts.

[0004] To address the shortcomings of the aforementioned five-degree-of-freedom parallel machining robots and better meet the processing needs of large and complex parts, it is urgent to invent a five-degree-of-freedom parallel machining robot that simultaneously possesses high rigidity and good flexibility, and to propose a solution for efficient and high-quality processing of major high-end equipment. Summary of the Invention

[0005] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a parallel robot with few branches and five degrees of freedom for machining large curved surface components.

[0006] The technical solution of the present invention is: a parallel robot with few branches and five degrees of freedom for machining large curved surface components. The parallel machining robot includes a static platform as a supporting foundation and a moving platform as a posture adjustment platform. The moving platform is provided with a machining output unit that performs the execution action. An unconstrained branch group is provided between the static platform and the moving platform. A constrained branch is also provided between the static platform and the moving platform. The constrained branch provides tilt adjustment support for the moving platform. A second revolute joint is provided at the upper end of the constrained branch joint, and the second revolute joint is movably connected to the moving platform.

[0007] Furthermore, the moving platform is connected to the unconstrained branch assembly via a movable joint.

[0008] Furthermore, the constraint branch also includes a third sliding joint and a second ball joint for angle adjustment.

[0009] Furthermore, the unconstrained branch group includes a first branch and a second branch, which are symmetrically arranged on both sides of the static platform's plane of symmetry.

[0010] Furthermore, the first branch and the second branch are connected to the moving platform through movable joints, and the movable joints of the first branch and the second branch are symmetrically arranged on the side wall or end face of the moving platform (2).

[0011] Furthermore, the first branch and the second branch each include a first sliding joint, the sliding base of which is disposed on the side wall of the stationary platform, and the sliding bases of the first branch and the second branch are parallel.

[0012] Furthermore, the first branch and the second branch include a first ball joint, which is movably connected to the side wall of the moving platform.

[0013] Furthermore, a second sliding joint is provided between the first ball joint and the first rotating joint. The second sliding joint extends and retracts to adjust the distance between the first ball joint and the first rotating joint. The first rotating joint is connected to the sliding unit of the first sliding joint, and the first rotating joint adjusts the angle between the first sliding joint and the second sliding joint.

[0014] Furthermore, an assembly portion is formed on the back of the moving platform, and the assembly portion is connected to the second rotating joint.

[0015] Furthermore, the hinge position of the second revolute joint and the hinge positions of the two first ball joints are arranged in a triangular shape.

[0016] The beneficial effects of this invention are as follows:

[0017] In this invention, a third inclined branch between the static platform and the moving platform is used as a constraint branch. The third branch serves as a support constraint chain and is movably connected through a second revolute joint on the back of the moving platform. The tilt length support adjustment and rotation angle adjustment are achieved through a second ball joint and a third sliding joint. With the cooperation of unconstrained branches on both sides, five-degree-of-freedom parallel processing is realized. The static platform enables the installation of the moving device. The five-degree-of-freedom parallel robot of this invention has high rigidity and a large working space, which can be used for complex component processing. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the first branch in this invention;

[0020] Figure 3 This is a schematic diagram of the structure of the third branch in this invention;

[0021] Figure 4 This is another structural schematic diagram of the present invention;

[0022] in:

[0023] 1 static platform 2 dynamic platform

[0024] 3 electric spindles

[0025] L1 First branch L2 Second branch

[0026] L3 Third Branch

[0027] P1 First moving joint P2 Second moving joint

[0028] P3 Third Moving Part

[0029] S1 First ball joint; S2 Second ball joint

[0030] R1 is the first revolute joint, and R2 is the second revolute joint. Detailed Implementation

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0032] like Figures 1 to 4 As shown, a parallel robot with few branches and five degrees of freedom for machining large curved surface components is disclosed. The parallel machining robot includes a static platform 1 as a supporting base and a moving platform 2 as a position adjustment base. The moving platform 2 is equipped with a machining output unit that performs the execution action. An unconstrained branch group is provided between the static platform 1 and the moving platform 2. A constrained branch is also provided between the static platform 1 and the moving platform 2 to provide constraint. The constrained branch provides tilt adjustment support for the moving platform 2. A second revolute joint R2 is provided at the upper end of the constrained branch, and the second revolute joint R2 is movably connected to the moving platform 2.

[0033] The moving platform 2 is connected to the unconstrained branch chain group via a movable joint.

[0034] The constraint branch also includes a third prismatic joint P3 and a second ball joint U2 for angle adjustment.

[0035] The unconstrained branch group includes a first branch L1 and a second branch L2, which are symmetrically arranged on both sides of the symmetry plane of the static platform 1.

[0036] The first branch L1 and the second branch L2 are connected to the moving platform 2 via movable joints. The movable joints of the first branch L1 and the second branch L2 are symmetrically arranged on the side wall or end face of the moving platform 2.

[0037] The first branch L1 and the second branch L2 each include a first prismatic joint P1, the movable base of which is located on the side wall of the stationary platform 1.

[0038] 2. The moving base is parallel.

[0039] The first branch L1 and the second branch L2 include a first ball joint S1, which is movably connected to the side wall of the moving platform 2.

[0040] A second sliding joint P2 is provided between the first ball joint S1 and the first rotary joint R1. The second sliding joint P2 extends and retracts to adjust the distance between the first ball joint S1 and the first rotary joint R1. The first rotary joint R1 is connected to the sliding unit of the first sliding joint P1. The first rotary joint R1 adjusts the rotation angle between the first sliding joint P1 and the second sliding joint P2.

[0041] An assembly portion is formed on the back of the moving platform 2, and the assembly portion is connected to the second rotating joint S2.

[0042] The hinge position of the second rotary joint S2 and the hinge positions of the two first ball joints S1 are arranged in a triangular shape.

[0043] Specifically, the static platform 1 includes a bottom mounting plate for fixing the static platform 1, and correspondingly, an assembly through hole is formed in the mounting plate.

[0044] The static platform 1 has a vertical plate on its mounting plate. The vertical plate is used to install and fix the first branch L1 and the second branch L2. Correspondingly, the movable bases of the first branch L1 and the second branch L2 are set on the side wall of the vertical plate. The movable bases are parallel and installed vertically.

[0045] The movable base is provided with a sliding unit that slides along it. An upper protrusion is formed on the side wall of the movable unit, and the upper protrusion is movably connected to the first rotary joint R1.

[0046] More specifically, the rotation axis of the first revolute joint R1 is parallel to the movement direction of the first prismatic joint P1.

[0047] Specifically, the first revolute joint R1 and the second prismatic joint P2 are connected, with the second prismatic joint P2 being a self-extension structure. The other movable end of the second prismatic joint P2 is connected to the first ball joint S1, which is disposed in the side wall of the moving platform 2.

[0048] Specifically, the constraint branch is the third branch L3, and the third prismatic joint P3 or the second ball joint U2 in the third branch L3 is connected to the static platform 1.

[0049] Specifically, a mounting position is formed in the static platform 1, and the mounting position is connected to the third branch L3 through a movable joint.

[0050] Specifically, the moving platform 2 is equipped with an execution unit for processing, which may be, but is not limited to, an electric spindle 3.

[0051] Specifically, the first branch L1, the second branch L2, and the third branch L3 are all driving branches.

[0052] Specifically, the first ball joints in the first branch L1 and the second branch L2 are arranged on both sides of the moving platform 2, and the first prismatic joints P1 in the first branch L1 and the second branch L2 are arranged symmetrically about the stationary platform 1. The first prismatic joints P1 are parallel to each other or have a certain angle between them. The first branch L1 and the second branch L2 arranged as described above form a triangular shape.

[0053] Specifically, the hinge point of the second rotary joint R2 at the moving platform 2 forms a triangular shape with the hinge point of the first ball joint S1, and the hinge point of the second ball joint S2 forms a triangular shape with the hinge point of the first rotary joint R1.

[0054] Specifically, the first prismatic joint P1, the second prismatic joint P2, and the third prismatic joint P3 are independently driven by a lead screw or hydraulic cylinder. By controlling the position of the three branches relative to the static platform and the length of the three branches, the five degrees of freedom of the moving platform is realized.

[0055] Example 1

[0056] like Figures 1 to 3 As shown, a parallel robot with few branches and five degrees of freedom for machining large curved surface components includes a static platform 1, a moving platform 2, an electric spindle 3, a first branch L1, a second branch L2, and a third branch L3.

[0057] The first branch L1, the second branch L2, and the third branch L3 are connected to the static platform 1 and the moving platform 2 at their respective ends. The electric spindle 3 is fixedly installed in the center of the moving platform 2, together forming a five-degree-of-freedom parallel machining robot.

[0058] Both the first branch L1 and the second branch L2 include a first prismatic joint P1, a second prismatic joint P2, a first ball joint S1, and a first revolute joint R1. The first revolute joint R1 is located between the first prismatic joint P1 and the second prismatic joint P2, and the first ball joint S1 is located at the other end of the second prismatic joint P2.

[0059] The third branch L3 includes a third prismatic joint P3, a second ball joint S2, and a second revolute joint R2; wherein the second ball joint S2 is arranged between the second revolute joint R2 and the third prismatic joint P3.

[0060] The first branch L1 and the second branch L2 have the same structure, and one end of each branch is connected to the stationary platform 1 through the first prismatic joint P1, and the other end is connected to the moving platform 2 through the first ball joint S1. A first revolute joint R1 is provided between the first prismatic joint P1 and the second prismatic joint P2, and the other end of the second prismatic joint P2 is provided with the first ball joint S1. One end of the third branch L3 is connected to the stationary platform 1 through the third prismatic joint P3, and the other end is connected to the moving platform 2 through the second revolute joint R2.

[0061] The first ball joints S1 in the first branch L1 and the second branch L2 are arranged on both sides of the moving platform 2. The first prismatic joints P1 in the first branch L1 and the second branch L2 are arranged symmetrically about the stationary platform 1. There is a certain angle between the two first prismatic joints P1 or they are arranged parallel to each other, and the mounting plane on the stationary platform 1 is vertical. The first branch L1 and the second branch L2 form a triangular shape. The hinge point of the second revolute joint R2 in the third branch L3 with the moving platform 2 and the hinge point of the first ball joint S1 form a triangular shape. The hinge point of the second ball joint S2 in the third branch L3 and the hinge point of the first revolute joint R1 form a triangular shape. The area ratio of the two triangles is 1:2 to 1:9.

[0062] At the same time, the axis of the second ball joint S2 and the third sliding joint P3 are coplanar with the plane of symmetry.

[0063] Specifically, the mounting plate of the static platform 1 is provided with a vertical mounting block at its upper end, and the side wall of the mounting block is provided with a moving base for the third sliding joint P3. A sliding unit is provided on the sliding base, the upper end of the sliding unit is connected to the second ball joint S2, and the other end of the second ball joint S2 is connected to the second rotary joint R2.

[0064] Specifically, the two first moving pairs P1 are symmetrical along the symmetrical surface of the mounting block.

[0065] The first branch L1, the second branch L2, and the third branch L3 are independently driven by a motor or hydraulic system. In the first branch L1 and the second branch L2, the first prismatic joint P1 is independently driven by a motor to complete the translational movement of the first revolute joint R1 and the hinge point of the first prismatic joint P1. The second prismatic joint P2 is independently driven by a motor or hydraulic system to complete the telescopic movement. The first ball joint S1 and the first revolute joint R1 connected at both ends of the second prismatic joint P2 cooperate to complete the corresponding movement of the moving platform 2 in a predetermined pose. Without loss of generality, the third prismatic joint P3 in the third branch L3 is independently driven by a motor to complete the sliding movement. The second ball joint S2 and the second revolute joint R2 at one end of the third prismatic joint P3 also cooperate to complete the corresponding movement of the moving platform 2 in a predetermined pose. Thus, the moving platform 2 achieves five degrees of freedom of motion.

[0066] Example 2

[0067] A parallel robot with few branches and five degrees of freedom for machining large curved surface components has the same motion form as that in Embodiment 1, and the composition of each kinematic pair and branch is exactly the same.

[0068] The difference is that in this embodiment, the third sliding joint P3 in the third branch L3 is arranged between the second rotating joint R2 and the second ball joint S2, and the second ball joint S2 is installed on the lower inclined block of the stationary platform 1; and the ball joint is arranged on the symmetrical plane of the stationary platform 1.

[0069] Specifically, the downward inclined block is set on the mounting plate of the static platform 1, and a groove is formed between the vertical plates of the static platform 1, with the downward inclined block set in the groove.

[0070] Specifically, the second ball joint S2 is connected to the lower inclined block via a flange.

[0071] The first and second prismatic joints P1 and P2 are independently driven by a lead screw or hydraulic cylinder to perform lateral or telescopic movements. The first ball joint S1 and the first revolute joint R1 cooperate to complete the corresponding movements of the moving platform 2 in its predetermined pose. In the third branch L3, the third prismatic joint P3 is independently driven by a motor to complete sliding movements. The second ball joints S2 and the second revolute joint R2 at both ends of the third prismatic joint P3 cooperate to complete the corresponding movements of the moving platform 2 in its predetermined pose. Thus, the moving platform 2 achieves five degrees of freedom of motion.

[0072] The basic principles, main features and beneficial effects of the present invention have been described above. Several specific embodiments of the present invention have also been shown and illustrated. Any changes, modifications, substitutions and variations made to these embodiments without departing from the spirit and scope of the present invention are within the scope of the claims of the present invention.

Claims

1. A few-branched-chain five-degree-of-freedom parallel robot for large curved surface component processing, characterized in that: The parallel processing robot includes a static platform (1) as a supporting base and a moving platform (2) as a posture adjustment. The moving platform (2) is provided with a processing output unit that performs the execution action. An unconstrained branch group is provided between the static platform (1) and the moving platform (2). A constraint branch is also provided between the static platform (1) and the moving platform (2) to constrain the movement. The constraint branch provides tilt adjustment support for the moving platform (2). A second rotating joint is provided at the upper end of the constraint branch. The second rotating joint is movably connected to the moving platform (2). The constraint branch also includes a third sliding joint and a second ball joint for angle adjustment; The unconstrained branch group includes a first branch and a second branch, which are symmetrically arranged on both sides of the symmetry plane of the static platform (1). The first branch and the second branch are connected to the moving platform (2) through movable joints; The first branch and the second branch include a first sliding joint, the sliding base of the first sliding joint is set at the side wall of the static platform (1), and the sliding bases of the first branch and the second branch are parallel. The first branch and the second branch include a first ball joint, which is movably connected to the side wall of the moving platform (2); A second sliding joint is provided between the first ball joint and the first rotary joint. The second sliding joint extends and retracts to adjust the distance between the first ball joint and the first rotary joint. The first rotary joint is connected to the sliding unit of the first sliding joint. The first rotary joint adjusts the rotation angle between the first sliding joint and the second sliding joint.

2. The five-DOF parallel robot with few branches for machining large curved surface components according to claim 1, characterized in that: An assembly part is formed on the back of the moving platform (2), and the assembly part is connected to the second rotating pair.

3. A five-DOF parallel robot with few branches for machining large curved surface components according to claim 2, characterized in that: The hinge position of the second revolute joint and the hinge positions of the two first ball joints are arranged in a triangular shape.

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