Hybrid machining equipment based on three-degree-of-freedom parallel mechanism and control method

Abstract

The application discloses a kind of hybrid machining equipment and control method based on three degrees of freedom parallel mechanism, and hybrid machining equipment based on three degrees of freedom parallel mechanism includes: horizontal moving platform;Lifting dynamic platform;Three degrees of freedom parallel positioning device, three degrees of freedom parallel positioning device includes connecting bracket, three active branch chains, three driven branch chains and tool holder, three active branch chains and three driven branch chains are alternately arranged in the circumferential direction of connecting bracket, active branch chain includes first telescopic body and second telescopic body, driven branch chain includes first connecting rod and second connecting rod, first connecting rod is two, and the two second connecting rods of each driven branch chain are arranged in parallel;Processing device.According to the embodiment of the application, the hybrid machining equipment based on three degrees of freedom parallel mechanism has the advantages of high processing efficiency, strong applicability, good stability, high processing precision and the like.

Description

Technical Field

[0001] This invention relates to the field of large and complex component processing technology, and more specifically, to a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism and a control method for the hybrid processing equipment based on the three-degree-of-freedom parallel mechanism. Background Technology

[0002] Large and complex components, such as spacecraft parts, are large in size and have various shapes, curved surfaces, holes, and other features.

[0003] In related technologies, the processing of large and complex components with various shapes, curved surfaces, and holes is carried out using large machine tools. During processing, the components often need to be repositioned multiple times to adjust their pose, resulting in low processing efficiency.

[0004] To address this, some processing devices employ parallel positioning devices to drive the processing equipment, enabling flexible positional adjustments and reducing the need for repetitive positioning of components. However, parallel positioning devices, composed of multiple active branches connected in parallel, offer high flexibility but suffer from poor stability and controllability. Consequently, the driven processing equipment struggles to move accurately along the predetermined trajectory, resulting in poor processing precision. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism, which has the advantages of high processing efficiency, strong applicability, good stability, and high processing accuracy.

[0006] The present invention also proposes a control method for the hybrid processing equipment based on the three-degree-of-freedom parallel mechanism.

[0007] To achieve the above objectives, according to an embodiment of the first aspect of the present invention, a hybrid machining equipment based on a three-degree-of-freedom parallel mechanism is provided. The hybrid machining equipment includes: a horizontal moving platform; a lifting moving platform, the lifting moving platform being vertically and vertically mounted on the horizontal moving platform; and a three-degree-of-freedom parallel positioning device, the three-degree-of-freedom parallel positioning device including a connecting bracket, three active branches, three driven branches, and a tool holder. The connecting bracket is mounted on the lifting moving platform. Each active branch is pivotally connected to both the connecting bracket and the tool holder, and each driven branch is pivotally connected to both the connecting bracket and the tool holder. The three active branches are equally spaced in the circumferential direction of the connecting bracket, and the three driven branches are pivotally connected to the connecting bracket. The support is evenly spaced circumferentially, and three active branches and three passive branches are alternately arranged circumferentially on the connecting support. Each active branch includes a first telescopic body and a second telescopic body, which are axially movable relative to each other. The first telescopic body is pivotally connected to the tool holder, and the second telescopic body is pivotally connected to the connecting support. Each passive branch includes a first link and a second link. There are two first links, and both ends of each first link are pivotally connected to the second link and the tool holder, respectively. The end of the second link away from the first link is pivotally connected to the connecting support. The two second links of each passive branch are arranged in parallel. A processing device is mounted on the tool holder.

[0008] The hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to embodiments of the present invention has advantages such as high processing efficiency, strong applicability, good stability, and high processing accuracy.

[0009] In addition, the hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to the above embodiments of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, the first telescopic body is a hollow motor, the second telescopic body is a ball screw, the hollow motor is threadedly engaged with the ball screw, and the hollow motor is drivenly connected to the ball screw to drive the ball screw to rotate along the central axis and move axially.

[0011] According to one embodiment of the present invention, the connecting bracket has three first hinge rings, each first hinge ring having a second hinge ring pivotally connected within it and the pivot axis being oriented radially along the first hinge ring. The hollow motor is pivotally connected to the second hinge ring and the pivot axis is oriented radially along the second hinge ring. The pivot axis of the second hinge ring intersects with and is perpendicular to the pivot axis of the hollow motor. The ball screw is connected to the tool holder via a ball screw hinge.

[0012] According to one embodiment of the present invention, each of the active branches further includes a telescopic motor, the first telescopic body is an outer shaft, the second telescopic body is an inner shaft, the inner shaft is movably fitted within the outer shaft relative to the axial direction, and the telescopic motor drives the inner shaft and the outer shaft to move relative to each other axially.

[0013] According to one embodiment of the present invention, the outer shaft is connected to the connecting bracket via a first universal joint, and the inner shaft is connected to the connecting bracket via a second universal joint, wherein the rotation axes of the first universal joint and the second universal joint are parallel.

[0014] According to one embodiment of the present invention, the driven chain further includes a first rotating shaft and a second rotating shaft. The first rotating shaft is rotatably disposed at the end of the second link away from the connecting bracket, and the second rotating shaft is rotatably disposed on the tool holder. The first rotating shaft and the second rotating shaft are parallel in axis, and the two ends of each first link are pivotally connected to the first rotating shaft and the second rotating shaft, respectively.

[0015] According to one embodiment of the present invention, each of the first links is connected at both ends to the second link and the tool holder via link ball hinges, and a spring is connected between the two first links.

[0016] According to an embodiment of the present invention, the hybrid processing equipment based on a three-degree-of-freedom parallel mechanism further includes a lifting drive device for driving the lifting platform. The lifting drive device includes a lifting motor, a lifting screw, and a lifting nut. The lifting motor is disposed on the horizontal moving platform and connected to the lifting screw. The lifting nut is disposed on the lifting platform and threadedly engaged with the lifting screw. The horizontal moving platform is provided with a lifting slide rail oriented in the vertical direction, and the lifting platform is movably mounted on the lifting slide rail.

[0017] According to one embodiment of the present invention, the horizontal moving platform is a wheeled omnidirectional moving platform; or the horizontal moving platform includes a base plate, a first horizontal moving platform, a second horizontal moving platform, a first directional driving device, and a second directional driving device. The first horizontal moving platform is slidably disposed on the base plate along a first direction, and the second horizontal moving platform is slidably disposed on the first horizontal moving platform along a second direction. The first direction and the second direction are both horizontal and perpendicular to each other. The base plate is provided with a first slide rail extending along the first direction, and the first horizontal moving platform is slidably disposed on the first slide rail. The first horizontal moving platform is provided with a first slide rail extending along the second direction. The second slide rail extends, and the second horizontal moving platform is slidably mounted on the second slide rail. The first directional driving device is used to drive the first horizontal moving platform and includes a first motor, a first lead screw, and a first nut. The first motor is mounted on the base plate and connected to the first lead screw. The first nut is mounted on the first horizontal moving platform and threadedly engaged with the first lead screw. The second directional driving device is used to drive the second horizontal moving platform and includes a second motor, a second lead screw, and a second nut. The second motor is mounted on the first horizontal moving platform and connected to the second lead screw. The second nut is mounted on the second horizontal moving platform and threadedly engaged with the second nut.

[0018] According to an embodiment of the second aspect of the present invention, a control method for a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism, as described in an embodiment of the first aspect of the present invention, is provided, comprising the following steps:

[0019] S1. Divide the features of the component to be processed into multiple local areas to be processed;

[0020] S2. Fix the component to be processed onto the component positioning fixture;

[0021] S3. Move the horizontal moving platform and the lifting moving platform so that the three-degree-of-freedom parallel positioning device moves to a local processing area;

[0022] S4. The processing device is moved by the three-degree-of-freedom parallel positioning device to perform processing operations on the local area to be processed.

[0023] S5. After the processing operation of one of the local areas to be processed is completed, the horizontal moving platform and the lifting moving platform are moved to move the three-degree-of-freedom parallel positioning device to another local area to be processed.

[0024] S6. Repeat steps S4 and S5 until all the features of the component to be processed are completed.

[0025] The control method for hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to embodiments of the present invention, by utilizing the hybrid processing equipment based on a three-degree-of-freedom parallel mechanism as described in the first aspect of the present invention, has advantages such as high processing efficiency, strong applicability, good stability, and high processing accuracy.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0028] Figure 1 This is a schematic diagram of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to a specific embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the horizontal moving platform and the lifting moving platform of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to a specific embodiment of the present invention.

[0030] Figure 3 This is a schematic diagram of the structure of a three-degree-of-freedom parallel positioning device and a processing device of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to a specific embodiment of the present invention.

[0031] Figure 4 This is a partial structural schematic diagram of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to a specific embodiment of the present invention.

[0032] Figure 5 This is a partial structural schematic diagram of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to a specific embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of the connecting bracket of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to a specific embodiment of the present invention.

[0034] Figure 7 This is a schematic diagram of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to another specific embodiment of the present invention.

[0035] Figure 8 This is a schematic diagram of the structure of a three-degree-of-freedom parallel positioning device and a processing device for a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism, according to another specific embodiment of the present invention.

[0036] Figure 9This is a partial structural schematic diagram of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to another specific embodiment of the present invention.

[0037] Figure 10 This is a partial structural schematic diagram of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to another specific embodiment of the present invention.

[0038] Figure 11 This is a schematic diagram of the connecting bracket of a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to another specific embodiment of the present invention.

[0039] Figure 12 This is a flowchart of a control method for a hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to an embodiment of the present invention.

[0040] Reference numerals: Hybrid processing equipment based on a three-degree-of-freedom parallel mechanism; 1. Horizontal moving platform; 10. Base plate; 11. First horizontal moving platform; 12. Second horizontal moving platform; 13. First direction driving device; 14. Second direction driving device; 15. First slide rail; 16. Second slide rail; 17. Lifting moving platform; 20. Lifting driving device; 21. Lifting slide rail; 22. Three-degree-of-freedom parallel positioning device; 30. Connecting bracket; 31. Active chain; 32. Hollow electric... Machine 321, ball screw 322, first hinge ring 323, second hinge ring 324, screw ball hinge 325, outer shaft 326, inner shaft 327, first universal joint 328, second universal joint 329, driven chain 33, first connecting rod 331, second connecting rod 332, first rotating shaft 333, second rotating shaft 334, connecting rod ball hinge 335, spring 336, tool holder 34, processing device 40, component to be processed 2, component positioning fixture 3. Detailed Implementation

[0041] This invention is based on the inventors' findings regarding the following facts and problems:

[0042] Some processing devices use parallel positioning devices to drive the processing device, which enables flexible position adjustment of the processing device and reduces the process of repeatedly positioning the components. However, the parallel positioning device is composed of multiple active branches connected in parallel. Although it is highly flexible, it has poor stability and controllability. The driven processing device is difficult to move accurately along the predetermined trajectory, resulting in poor processing accuracy.

[0043] Specifically, the parallel positioning device in the related technology is composed of three or more active branches connected in parallel, such as a branch composed of linear cylinders or a branch composed of hollow motors and ball screws. Multiple active branches have strong flexibility and can realize flexible and complex posture driving. However, the driving of the active branches lacks constraints, and the driving forces of multiple active branches will affect each other and generate unnecessary component forces, causing the processing device to fail to stop at the required position in time or to move completely according to the required trajectory, thereby affecting the processing accuracy.

[0044] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] The following description, with reference to the accompanying drawings, describes a hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism according to an embodiment of the present invention.

[0048] like Figures 1-12 As shown, the hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism according to an embodiment of the present invention includes a horizontal moving platform 10, a lifting moving platform 20, a three-degree-of-freedom parallel positioning device 30, and a processing device 40.

[0049] The lifting platform 20 is mounted on the horizontal moving platform 10 in a height-lowering manner (as shown by the arrow in the figure).

[0050] The three-degree-of-freedom parallel positioning device 30 includes a connecting bracket 31, three active branches 32, three driven branches 33, and a tool holder 34. The connecting bracket 31 is mounted on the lifting platform 20. Each active branch 32 is pivotally connected to both the connecting bracket 31 and the tool holder 34. Each driven branch 33 is pivotally connected to both the connecting bracket 31 and the tool holder 34. The three active branches 32 are equally spaced around the circumference of the connecting bracket 31. The three driven branches 33 are equally spaced around the circumference of the connecting bracket 31. The three active branches 32 and the three driven branches 33 are alternately arranged around the circumference of the connecting bracket 31.

[0051] The active branch 32 includes a first telescopic body and a second telescopic body, which are axially movable relative to each other. The first telescopic body is pivotally connected to the tool holder 34, and the second telescopic body is pivotally connected to the connecting bracket 31.

[0052] The driven branch 33 includes a first link 331 and a second link 332. There are two first links 331, and both ends of each first link 331 are pivotally connected to the second link 332 and the tool holder 34, respectively. The end of the second link 332 away from the first link 331 is pivotally connected to the connecting bracket 31. The two second links 332 of each driven branch 33 are arranged in parallel.

[0053] The processing device 40 is mounted on the tool holder 34.

[0054] Specifically, the machining device 40 can be a milling cutter or other machining tool.

[0055] During processing, the component 2 to be processed can be fixed on the component positioning fixture 3. The structure of the component positioning fixture 3 can be configured by those skilled in the art according to actual needs.

[0056] The horizontal moving platform 10 is suitable for driving the lifting moving platform 20 and the three-degree-of-freedom parallel positioning device 30 on it to move horizontally, thereby driving the processing device 40 to move horizontally.

[0057] The lifting platform 20 is suitable for driving the three-degree-of-freedom parallel positioning device 30 to rise and fall, thereby driving the processing device 40 to rise and fall.

[0058] The horizontal moving platform 10 and the lifting moving platform 20 can drive the processing device 40 to achieve a large range of position adjustments in the horizontal and vertical directions.

[0059] The three-degree-of-freedom parallel positioning device 30, driven by the cooperation of three active branches 32, can flexibly adjust the pose of the processing device 40 in three degrees of freedom, so that the processing device 40 can complete the processing of complex features without frequently adjusting the pose of the component 2 to be processed.

[0060] Each driven branch 33, through two parallel first links 331, can constrain the degree of freedom of the driven branch 33 to a certain extent. Thus, multiple driven branches 33 constrain the motion of the three-degree-of-freedom parallel positioning device 30, ensuring that the driving force of each active branch 32 can be accurately transmitted to the processing device 40. This avoids unnecessary component forces caused by the mutual influence of the driving forces among the three active branches 32, improves the stability and controllability of the processing device 40 under the drive of the three-degree-of-freedom parallel positioning device 30, ensures that the processing device 40 can stop in time at the required position, and ensures that the processing device 40 can move according to the predetermined trajectory, thereby improving the processing accuracy of the hybrid processing equipment 1 based on the three-degree-of-freedom parallel mechanism.

[0061] According to an embodiment of the present invention, the hybrid machining equipment 1 based on a three-degree-of-freedom parallel mechanism uses a horizontal moving platform 10, a lifting moving platform 20, and a three-degree-of-freedom parallel positioning device 30 to drive the machining device 40 in a hybrid manner. This enables the machining device 40 to achieve a wide range of flexible positional movements. Compared with the method of using large machine tools for machining in related technologies, this not only reduces the process of repositioning the component 2 to be processed, but also facilitates in-situ machining of the component 2, improving the machining efficiency of the hybrid machining equipment 1 based on a three-degree-of-freedom parallel mechanism when machining large and complex components. Furthermore, it is applicable to more complex feature machining, improving the applicability of the hybrid machining equipment 1 based on a three-degree-of-freedom parallel mechanism.

[0062] Furthermore, by including three active branches 32 and three driven branches 33 in the three-degree-of-freedom parallel positioning device 30, with the three active branches 32 and three driven branches 33 alternately arranged in the circumferential direction of the connecting bracket 31, and the driven branches 33 including a first link 331 and a second link 332, with the two second links 332 arranged in parallel, compared with the driving method of using multiple active branches in parallel in related technologies, the driven branches 33 can be used to constrain the driving of the three-degree-of-freedom parallel positioning device 30 on the processing device 40, thereby realizing the three-axis linkage of the three-degree-of-freedom parallel positioning device 30 by the coordinated linkage of the three active branches 32 and the three driven branches 33, improving the stability and controllability of the movement of the processing device 40, and thus improving the processing accuracy of the hybrid processing equipment 1 based on the three-degree-of-freedom parallel mechanism.

[0063] Therefore, the hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism according to the present invention has the advantages of high processing efficiency, strong applicability, good stability and high processing accuracy.

[0064] The following description, with reference to the accompanying drawings, describes a hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism according to a specific embodiment of the present invention.

[0065] In some specific embodiments of the present invention, such as Figures 1-12 As shown, the hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism according to an embodiment of the present invention includes a horizontal moving platform 10, a lifting moving platform 20, a three-degree-of-freedom parallel positioning device 30, and a processing device 40.

[0066] In some embodiments, such as Figures 1-6 As shown, the first telescopic body is a hollow motor 321, and the second telescopic body is a ball screw 322. The hollow motor 321 and the ball screw 322 are threaded together, and the hollow motor 321 and the ball screw 322 are connected to drive the ball screw 322 to rotate along the central axis and move axially. In this way, the hollow motor 321 can drive the ball screw 322 to rotate, and the ball screw 322 converts the rotation into axial movement through the threaded engagement with the hollow motor 321, thereby realizing the axial relative drive of the first telescopic body and the second telescopic body.

[0067] Specifically, such as Figure 5 and Figure 6 As shown, the connecting bracket 31 has three first hinge rings 323, each of which is pivotally connected to a second hinge ring 324 with its pivot axis oriented radially along the first hinge ring 323. The hollow motor 321 is pivotally connected to the second hinge ring 324 with its pivot axis oriented radially along the second hinge ring 324. The pivot axis of the second hinge ring 324 intersects with and is perpendicular to the pivot axis of the hollow motor 321. The ball screw 322 is connected to the tool holder 34 via a ball screw hinge 325. This allows for the pivotal connection between the hollow motor 321 and the connecting bracket 31 through two perpendicular and opposing revolute joints, and the pivotal connection between the ball screw 322 and the tool holder 34 through a ball joint, thereby improving the movement flexibility of the active chain 32.

[0068] In other embodiments, such as Figure 9 As shown, each active branch 32 also includes a telescopic motor. The first telescopic body is an outer shaft 326, and the second telescopic body is an inner shaft 327. The inner shaft 327 is axially movable within the outer shaft 326, and the telescopic motor drives the inner shaft and the outer shaft to move axially relative to each other. In this way, the axial relative drive of the first telescopic body and the second telescopic body can be achieved by using the telescopic motor to drive the inner shaft 327 and the outer shaft 326 to move axially relative to each other.

[0069] Specifically, such as Figure 9As shown, the outer shaft 326 is connected to the connecting bracket 31 via the first universal joint 328, and the inner shaft 327 is connected to the connecting bracket 31 via the second universal joint 329. The rotation axes of the first universal joint 328 and the second universal joint 329 are parallel. This allows the two ends of the active chain 32 to be pivotally connected to the connecting bracket 31 and the tool holder 34 via universal joints, respectively, ensuring the flexibility of the active chain 32's movement.

[0070] In some embodiments of the present invention, such as Figure 4 As shown, the driven branch 33 also includes a first rotating shaft 333 and a second rotating shaft 334. The first rotating shaft 333 is rotatably mounted at the end of the second connecting rod 332 away from the connecting bracket 31, and the second rotating shaft 334 is rotatably mounted on the tool holder 34. The axes of the first rotating shaft 333 and the second rotating shaft 334 are parallel, and both ends of each first connecting rod 331 are pivotally connected to the first rotating shaft 333 and the second rotating shaft 334, respectively. This facilitates ensuring the constraint effect of the driven branch 33 on the driving branch 32.

[0071] In other embodiments of the invention, such as Figure 10 As shown, both ends of each first link 331 are connected to the second link 332 and the tool holder 34 via link ball hinges 335, and a spring 336 connects the two first links 331. This also helps to ensure the constraint effect of the driven branch 33 on the driving branch 32.

[0072] Figure 2 Hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism is shown according to some examples of the present invention. For example... Figure 2 As shown, the hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism also includes a lifting drive device 21 for driving the lifting platform 20. The lifting drive device 21 includes a lifting motor, a lifting screw, and a lifting nut. The lifting motor is located on the horizontal moving platform and connected to the lifting screw. The lifting nut is located on the lifting platform and threadedly engaged with the lifting screw. The horizontal moving platform 10 is provided with a vertically oriented lifting slide rail 22, and the lifting platform 20 is movably mounted on the lifting slide rail 22. In this way, the lifting motor can drive the lifting screw to rotate, and the lifting screw converts the rotation into the movement of the lifting nut in the axial direction of the lifting screw through the threaded engagement with the lifting nut, further driving the lifting platform 20 to rise and fall.

[0073] In some embodiments, the horizontal moving platform is a wheeled omnidirectional moving platform. This allows the wheeled moving platform to drive the lifting platform 20, the three-degree-of-freedom parallel positioning device 30, and the processing device 40 to move in various directions horizontally.

[0074] In other embodiments, such as Figure 2As shown, the horizontal moving platform 10 includes a base plate 11, a first horizontal moving platform 12, a second horizontal moving platform 13, a first direction driving device 14, and a second direction driving device 15. The first horizontal moving platform 12 is slidably mounted on the base plate 11 along a first direction, and the second horizontal moving platform 13 is slidably mounted on the first horizontal moving platform 12 along a second direction. The first direction and the second direction are both horizontal and perpendicular to each other. The base plate 11 is provided with a first slide rail 16 extending along the first direction, the first horizontal moving platform 12 is slidably mounted on the first slide rail 16, and the first horizontal moving platform 12 is provided with a second slide rail 17 extending along the second direction. The second horizontal moving platform 13 is slidably mounted on the second slide rail 17. A first directional driving device 14 drives the first horizontal moving platform 12 and includes a first motor, a first lead screw, and a first nut. The first motor is mounted on the base plate 11 and connected to the first lead screw. The first nut is mounted on the first horizontal moving platform 12 and threadedly engaged with the first lead screw. A second directional driving device 15 drives the second horizontal moving platform 13 and includes a second motor, a second lead screw, and a second nut. The second motor is mounted on the first horizontal moving platform 12 and connected to the second lead screw. The second nut is mounted on the second horizontal moving platform 13 and threadedly engaged with the second nut. In this way, the motor drives the lead screw to rotate, and the lead screw, through its threaded engagement with the nut, converts the rotation into axial movement of the nut on the lead screw, further driving the moving platform to move.

[0075] The following describes a control method for a hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism according to an embodiment of the present invention, including the following steps:

[0076] S1. Divide the features of the component to be processed into multiple local areas to be processed;

[0077] S2. Fix the component to be processed onto the component positioning fixture;

[0078] S3. Move the horizontal moving platform and the lifting moving platform so that the three-degree-of-freedom parallel positioning device moves to a local processing area;

[0079] S4. The processing device is moved by the three-degree-of-freedom parallel positioning device to perform processing operations on the local area to be processed.

[0080] S5. After the processing operation of one of the local areas to be processed is completed, the horizontal moving platform and the lifting moving platform are moved to move the three-degree-of-freedom parallel positioning device to another local area to be processed.

[0081] S6. Repeat steps S4 and S5 until all the features of the component to be processed are completed.

[0082] The control method of the hybrid processing equipment 1 based on the three-degree-of-freedom parallel mechanism according to the embodiments of the present invention has the advantages of high processing efficiency, strong applicability, good stability and high processing accuracy by utilizing the hybrid processing equipment 1 based on the three-degree-of-freedom parallel mechanism according to the above embodiments of the present invention.

[0083] Specifically, in step S1, the processing technology is divided into three processes: roughing, semi-finishing, and finishing.

[0084] After steps S3 and S5, the horizontal moving platform and the lifting moving platform are locked, and the relative position and relative pose of the feature to be processed and the three-degree-of-freedom parallel positioning device are determined.

[0085] In step S4, the processing operation includes a roughing operation, a semi-finishing operation, and a finishing operation performed sequentially.

[0086] Other configurations and operations of the hybrid processing equipment 1 based on a three-degree-of-freedom parallel mechanism according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0087] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0088] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A hybrid processing equipment based on a three-degree-of-freedom parallel mechanism, characterized in that, include: Horizontal moving platform; A lifting platform, wherein the lifting platform is vertically and vertically mounted on the horizontal moving platform; A three-degree-of-freedom parallel positioning device includes a connecting bracket, three active branches, three driven branches, and a tool holder. The connecting bracket is mounted on the lifting platform. Each active branch is pivotally connected to both the connecting bracket and the tool holder, and each driven branch is also pivotally connected to both. The three active branches and the three driven branches are equally spaced around the circumference of the connecting bracket. The three active branches and the three driven branches intersect around the circumference of the connecting bracket. Alternatively, the active branch includes a first telescopic body and a second telescopic body, which are axially movable relative to each other. The first telescopic body is pivotally connected to the tool holder, and the second telescopic body is pivotally connected to the connecting bracket. The driven branch includes a first link and a second link. There are two first links, and both ends of each first link are pivotally connected to the second link and the tool holder, respectively. The end of the second link away from the first link is pivotally connected to the connecting bracket. The two second links of each driven branch are arranged in parallel. A processing device is mounted on the tool holder. The first telescopic body is a hollow motor, and the second telescopic body is a ball screw. The hollow motor and the ball screw are threaded together and are connected to drive the ball screw to rotate along the central axis and move axially. The connecting bracket has three first hinge rings, each of which is pivotally connected to a second hinge ring with the pivot axis oriented radially along the first hinge ring. The hollow motor is pivotally connected to the second hinge ring with the pivot axis oriented radially along the first hinge ring. The radial orientation of the second hinge ring is described. The pivot axis of the second hinge ring intersects and is perpendicular to the pivot axis of the hollow motor. The ball screw is connected to the tool holder via a ball screw hinge. The driven chain also includes a first shaft and a second shaft. The first shaft is rotatably disposed at the end of the second link away from the connecting bracket. The second shaft is rotatably disposed on the tool holder. The first shaft and the second shaft are axially parallel. Both ends of each first link are pivotally connected to the first shaft and the second shaft, respectively.

2. The hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to claim 1, characterized in that, Both ends of each first link are connected to the second link and the tool holder respectively via link ball hinges, and a spring connects the two first links.

3. The hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to claim 1, characterized in that, It also includes a lifting drive device for driving the lifting platform. The lifting drive device includes a lifting motor, a lifting screw and a lifting nut. The lifting motor is located on the horizontal moving platform and connected to the lifting screw. The lifting nut is located on the lifting platform and threadedly engaged with the lifting screw. The horizontal moving platform is provided with a lifting slide rail oriented in the vertical direction. The lifting platform is movably mounted on the lifting slide rail.

4. The hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to claim 1, characterized in that, The horizontal moving platform is a wheeled omnidirectional moving platform; Alternatively, the horizontal moving platform may include a base plate, a first horizontal moving platform, a second horizontal moving platform, a first directional driving device, and a second directional driving device. The first horizontal moving platform is slidably mounted on the base plate along a first direction, and the second horizontal moving platform is slidably mounted on the first horizontal moving platform along a second direction. The first and second directions are both horizontal and perpendicular to each other. The base plate is provided with a first slide rail extending along the first direction, and the first horizontal moving platform is slidably mounted on the first slide rail. The first horizontal moving platform is provided with a second slide rail extending along the second direction, and the second horizontal moving platform is slidably mounted on the second slide rail. The first directional driving device is used to drive the first horizontal moving platform and includes a first motor, a first lead screw, and a first nut. The first motor is mounted on the base plate and connected to the first lead screw, and the first nut is mounted on the first horizontal moving platform and threadedly engaged with the first lead screw. The second directional driving device is used to drive the second horizontal moving platform and includes a second motor, a second lead screw, and a second nut. The second motor is mounted on the first horizontal moving platform and connected to the second lead screw, and the second nut is mounted on the second horizontal moving platform and threadedly engaged with the second nut.

5. A hybrid processing equipment based on a three-degree-of-freedom parallel mechanism, characterized in that, include: Horizontal moving platform; A lifting platform, wherein the lifting platform is vertically and vertically mounted on the horizontal moving platform; A three-degree-of-freedom parallel positioning device includes a connecting bracket, three active branches, three driven branches, and a tool holder. The connecting bracket is mounted on the lifting platform. Each active branch is pivotally connected to both the connecting bracket and the tool holder, and each driven branch is also pivotally connected to both. The three active branches and the three driven branches are equally spaced around the circumference of the connecting bracket. The three active branches and the three driven branches intersect around the circumference of the connecting bracket. Alternatively, the active branch includes a first telescopic body and a second telescopic body, which are axially movable relative to each other. The first telescopic body is pivotally connected to the tool holder, and the second telescopic body is pivotally connected to the connecting bracket. The driven branch includes a first link and a second link. There are two first links, and both ends of each first link are pivotally connected to the second link and the tool holder, respectively. The end of the second link away from the first link is pivotally connected to the connecting bracket. The two second links of each driven branch are arranged in parallel. The machining device is mounted on the tool holder. Each active branch also includes a telescopic motor. The first telescopic body is an outer shaft, and the second telescopic body is an inner shaft. The inner shaft is axially movable within the outer shaft. The telescopic motor drives the inner shaft and the outer shaft to move axially relative to each other. The outer shaft is connected to the connecting bracket via a first universal joint, and the inner shaft is connected to the connecting bracket via a second universal joint. The rotation axes of the first universal joint and the second universal joint are parallel. The driven branch also includes a first rotating shaft and a second rotating shaft. The first rotating shaft is rotatably mounted at the end of the second link away from the connecting bracket, and the second rotating shaft is rotatably mounted on the tool holder. The axes of the first rotating shaft and the second rotating shaft are parallel. Both ends of each first link are pivotally connected to the first rotating shaft and the second rotating shaft, respectively.

6. The hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to claim 5, characterized in that, Both ends of each first link are connected to the second link and the tool holder respectively via link ball hinges, and a spring connects the two first links.

7. The hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to claim 5, characterized in that, It also includes a lifting drive device for driving the lifting platform. The lifting drive device includes a lifting motor, a lifting screw and a lifting nut. The lifting motor is located on the horizontal moving platform and connected to the lifting screw. The lifting nut is located on the lifting platform and threadedly engaged with the lifting screw. The horizontal moving platform is provided with a lifting slide rail oriented in the vertical direction. The lifting platform is movably mounted on the lifting slide rail.

8. The hybrid processing equipment based on a three-degree-of-freedom parallel mechanism according to claim 5, characterized in that, The horizontal moving platform is a wheeled omnidirectional moving platform; Alternatively, the horizontal moving platform may include a base plate, a first horizontal moving platform, a second horizontal moving platform, a first directional driving device, and a second directional driving device. The first horizontal moving platform is slidably mounted on the base plate along a first direction, and the second horizontal moving platform is slidably mounted on the first horizontal moving platform along a second direction. The first and second directions are both horizontal and perpendicular to each other. The base plate is provided with a first slide rail extending along the first direction, and the first horizontal moving platform is slidably mounted on the first slide rail. The first horizontal moving platform is provided with a second slide rail extending along the second direction, and the second horizontal moving platform is slidably mounted on the second slide rail. The first directional driving device is used to drive the first horizontal moving platform and includes a first motor, a first lead screw, and a first nut. The first motor is mounted on the base plate and connected to the first lead screw, and the first nut is mounted on the first horizontal moving platform and threadedly engaged with the first lead screw. The second directional driving device is used to drive the second horizontal moving platform and includes a second motor, a second lead screw, and a second nut. The second motor is mounted on the first horizontal moving platform and connected to the second lead screw, and the second nut is mounted on the second horizontal moving platform and threadedly engaged with the second nut.

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