A cast part intelligent machining robot comprising parallel AB swing heads

Abstract

This invention discloses an intelligent machining robot for castings, comprising a parallel AB swing head. The robot includes an intermediate platform located at the execution end of a position module, which adjusts the position of the intermediate platform. An attitude module is also located on the intermediate platform, including a movable platform capable of swing adjustment, and an execution component for machining operations is mounted on the movable platform. This invention uses the position module to adjust the position of the branch rod in the third branch, and the intermediate platform is fixedly mounted on the branch rod, providing an assembly base for the attitude module. The swing adjustment of the movable platform is achieved through hinged columns and the fourth and fifth branches. This invention exhibits extremely high attitude stiffness, and the attitude module can also achieve AB swing at its end based on the movement of the position module. The machining robot of this invention also possesses the advantages of high stiffness and a large workspace, making it suitable for efficient and high-quality precision machining of large castings.

Description

Technical Field

[0001] This invention belongs to the field of machining robot technology, specifically relating to an intelligent machining robot for castings that includes parallel AB swing heads. Background Technology

[0002] Currently, machining robots play a vital role in the manufacturing industry, especially in large-scale equipment and core structural components, high-performance materials, and advanced manufacturing processes. With the implementation of major national projects, the efficiency and quality requirements for core cast structural components in large-scale high-end equipment industries are constantly increasing. Designing a robot with five-axis linkage machining capabilities is an effective solution.

[0003] Currently, some machining robots have the problem of high rigidity but small working space. Although some machining robots have obvious rigidity advantages, the characteristics of their mechanism layout limit the swing range of their end effector, making it difficult to meet the needs of efficient machining of large structural parts.

[0004] To address the shortcomings of the aforementioned machining robots and better meet the processing needs of large castings, it is urgent to invent a machining robot that simultaneously possesses high rigidity and a large workspace, 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 an intelligent casting robot that includes parallel AB swing heads.

[0006] The technical solution of the present invention is: a casting intelligent processing robot including parallel AB swing heads. The processing robot includes an intermediate platform, which is set at the execution end of the position module. The position module adjusts the position of the intermediate platform. An attitude module is set at the intermediate platform. The attitude module includes a moving platform that can be swing-adjusted. An execution component for processing is set in the moving platform.

[0007] Furthermore, the attitude module includes a hinge column, one end of which is movably connected to the moving platform via a fourth Hooke hinge.

[0008] Furthermore, the intermediate platform is provided with a fourth branch and a fifth branch, one end of which is movably connected to the moving platform. The combination of the hinge column, the fourth branch, and the fifth branch adjusts the position and posture of the moving platform.

[0009] Furthermore, the position module includes a third branch, and the intermediate platform is disposed on the branch rod of the third branch.

[0010] Furthermore, the support rod includes a support adjustment assembly for adjusting its middle portion and an end adjustment assembly for adjusting its ends.

[0011] Furthermore, the support adjustment assembly includes a first branch and a second branch, one end of which is movably connected to the static platform, and the other end of which is connected to the outer wall of the branch rod.

[0012] Furthermore, the first and second branches form a triangular support for the branch rod.

[0013] Furthermore, an assembly block is provided on the outer wall of the branch rod, and the two side walls of the assembly block are movably connected to the first branch and the second branch.

[0014] Furthermore, the end adjustment assembly includes a second Hooke hinge and a second sliding joint, wherein the second Hooke hinge adjusts the angle of the support rod, and the second sliding joint adjusts the translation of the support rod.

[0015] Furthermore, the fourth branch includes a third Hooke hinge, which is movably connected to the intermediate platform, connected to a third sliding joint, with one end of the third sliding joint connected to the third Hooke hinge, and the third Hooke hinge connected to the moving platform.

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

[0017] This invention uses a position module to adjust the position of the branch rod in the third branch. An intermediate platform is fixedly installed on the branch rod to provide an assembly base for the posture module. The swing adjustment of the moving platform is achieved through the hinge column and the fourth and fifth branches. This invention has extremely high posture stiffness, and the posture module can also achieve AB swing at the end based on the movement of the position module. The processing robot of this invention has the advantages of high stiffness and large working space, and can be used to realize efficient and high-quality precision machining of large castings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the processing robot in this 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 a schematic diagram of the position module in this invention;

[0022] Figure 5 This is a schematic diagram of the structure of the fourth branch in this invention;

[0023] Figure 6 This is a schematic diagram of the attitude module in this invention;

[0024] Figure 7 This is a schematic diagram of the structure of the processing robot in Embodiment 2 of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the processing robot in Embodiment 3 of the present invention;

[0026] Figure 9 This is a schematic diagram of the attitude module according to Embodiment 3 of the present invention;

[0027] in:

[0028] 1. Static Platform 2. Position Module

[0029] 3 intermediate platform 4 dynamic platform

[0030] 5. Attitude module 6. Electric spindle

[0031] L1 First branch L2 Second branch

[0032] L3 Third branch L4 Fourth branch

[0033] L5 Fifth Branch

[0034] P1 First moving joint P2 Second moving joint

[0035] P3 Third Moving Part

[0036] U1 First Hooke hinge U2 Second Hooke hinge

[0037] U3 Third Hooke Hinge U4 Fourth Hooke Hinge

[0038] S1 First ball joint; S2 Second ball joint. Detailed Implementation

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

[0040] like Figures 1 to 9 As shown, a casting intelligent processing robot including parallel AB swing heads is disclosed. The processing robot includes an intermediate platform 3, which is set at the execution end of a position module 2. The position module 2 adjusts the position of the intermediate platform 3. An attitude module 5 is provided at the intermediate platform 3. The attitude module 5 includes a moving platform 4 that can be swing-adjusted. The moving platform 4 is provided with an execution component for processing.

[0041] The attitude module 5 includes a hinge column, one end of which is movably connected to the moving platform 4 via a fourth Hooke hinge U4.

[0042] The intermediate platform 3 is provided with a fourth branch L4 and a fifth branch L5. One end of the fourth branch L4 and the fifth branch L5 is movably connected to the moving platform 4. The combination of the hinge column, the fourth branch L4, and the fifth branch L5 adjusts the position of the moving platform 4.

[0043] The position module 2 includes a third branch L3, and the intermediate platform 3 is disposed on the branch rod of the third branch L3.

[0044] The support rod includes a support adjustment assembly for adjusting its middle portion and an end adjustment assembly for adjusting its ends.

[0045] The support adjustment assembly includes a first branch L1 and a second branch L2. One end of the first branch L1 and the second branch L2 is movably connected to the static platform 1, and the other end of the first branch L1 and the second branch L2 is connected to the outer wall of the branch rod.

[0046] The first branch L1 and the second branch L2 form a triangular support for the branch rod.

[0047] An assembly block is provided on the outer wall of the branch rod, and the two side walls of the assembly block are movably connected to the first branch L1 and the second branch L2.

[0048] The end adjustment assembly includes a second Hooke hinge U2 and a second sliding joint P2. The second Hooke hinge U2 adjusts the angle of the support rod, and the second sliding joint P2 adjusts the translation of the support rod.

[0049] The fourth branch L4 includes a third Hooke hinge U3, which is movably connected to the intermediate platform 3. The third Hooke hinge U3 is connected to a third sliding joint P3, one end of which is connected to the third Hooke hinge U3. The third Hooke hinge U3 is connected to the moving platform 4.

[0050] Specifically, the fourth branch L4 and the fifth branch L5 have the same structure.

[0051] Specifically, the first branch L1 and the second branch L2 have the same structure and are symmetrical about the static platform 1.

[0052] Specifically, the static platform 1 includes a platform base plate and a platform assembly block, with the platform assembly block disposed on the platform base plate.

[0053] Specifically, the actuator includes, but is not limited to, the electric spindle 6, which is installed in the moving platform 4.

[0054] Specifically, a second Hooke hinge U2 is provided at one end of the support rod, and one end of the second Hooke hinge U2 is connected to the sliding unit of the second sliding pair P2. The sliding base of the second sliding pair P2 is provided in the platform assembly block.

[0055] Specifically, a groove is formed in the platform assembly block, and the groove accommodates and installs the sliding base of the second moving pair P2.

[0056] Specifically, the first branch L1 and the second branch L2 include a first Hooke hinge U1, which is connected to the platform base plate. The other end of the first Hooke hinge U1 is connected to a first sliding joint P1, and the other end of the first sliding joint P1 is connected to a first ball joint S1. The first ball joint S1 is connected to the assembly block of the branch rod.

[0057] Specifically, an assembly groove is formed in the intermediate platform 3, the groove wall of the assembly groove is connected to the third Hooke hinge U3, the third Hooke hinge U3 is connected to the third sliding joint P3, and the other end of the third sliding joint P3 is connected to the second ball hinge S2, which is connected to the moving platform 4.

[0058] Specifically, position module 2 consists of static platform 1, first branch L1, second branch L2, and third branch L3. Attitude module 5 consists of intermediate platform, fourth branch L4, fifth branch L5, and moving platform 6.

[0059] Specifically, the first branch L1, the second branch L2, the third branch L3, the fourth branch L4, and the fifth branch L5, driven independently by a motor or hydraulic system, achieve five degrees of freedom motion by controlling the length of the sliding joint in each branch and the position of the second sliding joint in the third branch L3 at the point of contact with the Hooke's joint.

[0060] like Figure 1 and Figure 2 As shown, both the first branch L1 and the second branch L2 include a first prismatic joint P1, a first Hooke hinge U1, and a first ball hinge S1. The first prismatic joint P1 is located between the first Hooke hinge U1 and the first ball hinge S1.

[0061] like Figure 1 and Figure 4 As shown, the third branch L3 includes a second prismatic joint P2 and a second Hooke hinge U2. The second prismatic joint P2 is arranged on the plane of symmetry of the two first Hooke hinges U1.

[0062] like Figures 1 to 3As shown, one end of each of the two unconstrained branches with identical structures, namely the first branch L1 and the second branch L2, is connected to the static platform 1 via the first Hooke hinge U1, and the other end is connected to the branch rod in the third branch L3 via the first ball hinge S1. A first sliding pair P1 is provided between the first Hooke hinge U1 and the first ball hinge S1.

[0063] One end of the third branch L3 is connected to the stationary platform 1 via the second locating joint P2 or the second Hooke hinge U2, and the other end is fixedly connected to the intermediate platform 3 via the branch rod.

[0064] In this embodiment, a second Hooke hinge U2 is provided between the support rod and the second sliding joint P2.

[0065] like Figures 1 to 6 As shown, two first ball joints S1 are arranged on both sides of the support rod, and two first Hooke joints U1 are installed on the upper end of the stationary platform 1. The two first Hooke joints U1 are symmetrical about the stationary platform 1. The hinge point of the second Hooke joint U2 or the second prismatic joint P2 in the third branch L3 with one end of the stationary platform 1 is on the stationary platform and passes through the symmetry plane of the stationary platform. In the attitude module, one end of the fourth branch L4, the fifth branch L5 and the fourth Hooke joint U4 are installed on the same surface of the intermediate platform, and the other end is installed on the back or side of the moving platform 4.

[0066] like Figures 1 to 6 As shown, in this embodiment, the first branch L1, the second branch L2, the third branch L3, the fourth branch L4, and the fifth branch L5 can be independently driven by a motor or hydraulic system. The first sliding joint P1 included in the first branch L1 and the second branch L2 completes its self-extension movement through independent motor or hydraulic drive. The first Hooke hinge U1 and the first ball hinge S1 connected at both ends of the first sliding joint P1 cooperate to complete the associated movement in a predetermined position. Without loss of generality, the second sliding joint P2 included in the third branch L3 completes the translational movement of the sliding unit through independent motor or hydraulic drive. The second Hooke hinge U2 at one end of the second sliding joint P2 cooperates to complete the associated movement in a predetermined position. Thus, adjustment of one translational movement and two rotational movements is achieved at the end of the third branch L3. The third sliding joint P3 included in the fourth branch L4 and the fifth branch L5 completes its self-extension movement through independent electrolytic or hydraulic drive. The third Hooke hinge U3, the second ball hinge S2, and the fourth Hooke hinge U4 connected at both ends of the third sliding joint P3 cooperate to complete the movement of the moving platform 4 in a predetermined position.

[0067] Example 2

[0068] like Figure 7 As shown, the intelligent casting robot in this embodiment, which includes parallel AB swing heads, differs from Embodiment 1 in the following ways:

[0069] In this embodiment, the third branch L3 is movably connected to the stationary platform 1 via the second Hooke hinge, and the third branch L3 is fixedly connected to the intermediate platform 3 via the branch rod; the stationary platform 1 is installed on the moving unit of the second moving pair P2, and the moving base of the second moving pair P2 is connected to the ground; the second moving pair P2, the stationary platform 1, the first branch L1, the second branch L1, and the third branch L3 constitute the position module 2.

[0070] Meanwhile, the second Hooke hinge U2 in the third branch L3 is movably connected to the static platform 1 through the symmetry plane of the static platform 1.

[0071] The second prismatic joint P2 is independently driven by a lead screw or hydraulic cylinder to control the robot's forward and backward movements; the third branch L3 is a passive branch.

[0072] Example 3

[0073] like Figure 8 and Figure 9 As shown, the intelligent casting robot in this embodiment, which includes parallel AB swing heads, has the same motion form as the processing robot in Embodiment 2, and the composition of each kinematic pair, branch chain, etc. is exactly the same.

[0074] The difference is that the attitude module 5 is fixed to the branch rod in the third branch L3 through its back, which can realize the three translations and two rotations of the moving platform.

[0075] 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 cast part intelligent machining robot comprising parallel AB pendulums, characterized in that: The processing robot includes an intermediate platform (3), which is located at the execution end of the position module (2). The position module (2) adjusts the position of the intermediate platform (3). An attitude module (5) is provided at the intermediate platform (3). The attitude module (5) includes a moving platform (4) that can be swung and adjusted. An execution component for processing is provided in the moving platform (4). The position module (2) includes a third branch, and the intermediate platform (3) is set on the branch rod of the third branch; The support rod includes a support adjustment assembly for adjusting its middle portion and an end adjustment assembly for adjusting its ends. The support adjustment assembly includes a first branch and a second branch. One end of the first branch and the second branch are movably connected to the static platform (1), and the other end of the first branch and the second branch are connected to the outer wall of the branch rod. The end adjustment assembly includes a second Hooke hinge and a second sliding joint. The second Hooke hinge adjusts the angle of the support rod, and the second sliding joint adjusts the translation of the support rod.

2. The intelligent processing robot of castings comprising parallel AB pendulums according to claim 1, characterized in that: The attitude module (5) includes a hinge column, one end of which is movably connected to the moving platform (4) via a fourth Hooke hinge.

3. The intelligent processing robot of castings comprising parallel AB pendulums according to claim 2, characterized in that: The intermediate platform (3) is provided with a fourth branch and a fifth branch. One end of the fourth branch and the fifth branch are movably connected to the moving platform (4). The combination of the hinge column, the fourth branch and the fifth branch adjusts the position of the moving platform (4).

4. The intelligent machining robot for castings comprising parallel AB pendulums according to claim 1, characterized in that: The first and second branches form a triangular support for the branch rod.

5. A casting intelligent machining robot comprising parallel AB swing heads according to claim 4, characterized in that: An assembly block is provided on the outer wall of the branch rod, and the two side walls of the assembly block are movably connected to the first branch and the second branch.

6. A casting intelligent machining robot comprising parallel AB swing heads according to claim 3, characterized in that: The fourth branch includes a third Hooke hinge, which is movably connected to the intermediate platform (3), and is connected to a third sliding joint. One end of the third sliding joint is connected to the third Hooke hinge, and the third Hooke hinge is connected to the moving platform (4).

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