Five-degree-of-freedom hybrid processing robot and processing device

Abstract

The present invention discloses a five-degree-of-freedom hybrid processing robot and a processing device. The five-degree-of-freedom hybrid processing robot includes: a three-degree-of-freedom parallel module, including a frame, a moving platform and a plurality of branches connected between the frame and the moving platform, the three-degree-of-freedom parallel module has two rotational degrees of freedom and one mobile degree of freedom, and can drive the moving platform to move in three degrees of freedom in space relative to the frame; a two-degree-of-freedom series module, including a first swing head, a second swing head and a spindle, the first swing head is installed on the moving platform, the second swing head is rotatably installed on the first swing head around a first rotation axis, the spindle is rotatably installed on the second swing head around a second rotation axis, the first rotation axis intersects with the second rotation axis, and the second rotation axis intersects with the axial direction of the spindle. The five-degree-of-freedom hybrid processing robot according to the embodiment of the present invention is conducive to meeting a large range of processing requirements in three-dimensional space, and is conducive to achieving lightweight, high processing efficiency and processing accuracy.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a five-degree-of-freedom hybrid processing robot and a processing device. Background Art

[0002] Lightweighting of automotive structural parts is to reduce the weight of the entire vehicle as much as possible on the basis of ensuring the safety and other performance of the vehicle, so as to achieve the effect of energy saving and consumption reduction and improving endurance. Integrated die-casting simplifies the traditional "stamping + welding" process into a one-step process, that is, the process of stamping raw materials into small structural components and then welding them into large body structural parts, to the process of directly die-casting raw materials into large body structural parts in one step, which greatly improves production efficiency, reduces production costs, and leads to a new revolution in new energy vehicle manufacturing technology.

[0003] However, integrated die-casting technology has greatly increased the size, complexity and production rhythm of parts, posing severe challenges to the process capability and efficiency of processing equipment. In related technologies, integrated die-casting processing is achieved through large machine tools, which are large in size, have high requirements for workspace, are expensive, and have high economic costs. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a five-degree-of-freedom hybrid processing robot, which has a small size, low requirements for workspace, and is relatively cheap to manufacture, with low economic cost.

[0005] Another object of the present invention is to provide a processing device having the above-mentioned five-degree-of-freedom hybrid processing robot.

[0006] According to an embodiment of the present invention, a five-degree-of-freedom hybrid processing robot includes: a three-degree-of-freedom parallel module, the three-degree-of-freedom parallel module includes a frame, a moving platform and a plurality of branches connected between the frame and the moving platform, the three-degree-of-freedom parallel module has two rotational degrees of freedom and one translational degree of freedom, and can drive the moving platform to move in three degrees of freedom in space relative to the frame; a two-degree-of-freedom series module, the two-degree-of-freedom series module includes a first swing head, a second swing head and a spindle, the first swing head is installed on the moving platform, the second swing head is rotatably installed on the first swing head around a first rotation axis, the spindle is rotatably installed on the second swing head around a second rotation axis, the first rotation axis intersects with the second rotation axis, and the second rotation axis intersects with the axial direction of the spindle.

[0007] According to the five-degree-of-freedom hybrid processing robot of the embodiment of the present invention, through the cooperation of the three-degree-of-freedom parallel module and the two-degree-of-freedom series module, it is possible to realize a large range of movement and angle adjustment of the main axis in three-dimensional space, which is conducive to meeting the requirements of a large range of processing positions and processing angles of integrated die-castings in three-dimensional space, and is conducive to achieving lightweight, high processing efficiency and processing accuracy.

[0008] In addition, the five-degree-of-freedom hybrid processing robot according to the above embodiment of the present invention may also have the following additional technical features:

[0009] According to some embodiments of the present invention, the multiple branches include a first branch, a second branch and a third branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can realize extension and contraction along the axis direction of the first branch body and rotation around the axis direction of the first branch body, the first branch body is connected to the frame through a first hinge and is connected to the moving platform through a second hinge, wherein the first hinge includes a first outer ring, the first outer ring is rotatably connected to the frame around a first axis, the first branch body is penetrated by the first outer ring and is rotatably connected to the first outer ring around a second axis, the first axis and the extension direction of the first branch body are both perpendicular to the second axis, and the first axis intersects with the extension direction of the first branch body, and the first axes of the three first hinges intersect with each other and do not intersect at one point; the second hinge is a revolving pair and the rotation axis is perpendicular to the extension direction of the first branch body, and the rotation axes of the three second hinges intersect with each other and do not intersect at one point.

[0010] According to some embodiments of the present invention, the multiple branches include a first branch, a second branch, a third branch and a fourth branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can realize extension and retraction along the axis direction of the first branch body and rotation around the axis direction of the first branch body, the first branch body is connected to the frame through a first hinge and is connected to the moving platform through a second hinge, wherein the first hinge includes a first outer ring, the first outer ring is rotatably connected to the frame around a first axis, the first branch body is penetrated by the first outer ring and is rotatably connected to the first outer ring around a second axis, the extension and retraction directions of the first axis and the first branch body are both perpendicular to the second axis, and the first axis intersects with the extension and retraction direction of the first branch body, and the first axes of the three first hinges intersect with each other; The chain is rotatably connected to one end of the first branch chain body around a third axis, the second hinge is rotatably connected to the moving platform around a fourth axis, the third axis is perpendicular to the fourth axis, the third axis is perpendicular to the telescopic direction of the first branch chain body, and the fourth axes of the three second hinges are coplanar and intersect at a point; the fourth branch chain includes a fourth branch chain body and a third hinge, the fourth branch chain body is connected to the frame through the third hinge and is fixedly connected to the moving platform, the third hinge includes a second outer ring and a second inner ring arranged in the second outer ring, the second outer ring is rotatably connected to the frame around a fifth axis, the second inner ring is rotatably connected to the second outer ring around a sixth axis, the fourth branch chain body is movably connected to the second inner ring along the length direction of the fourth branch chain body, the fifth axis and the length direction of the fourth branch chain body are both perpendicular to the sixth axis, and the fifth axis intersects with the length direction of the fourth branch chain body.

[0011] According to some embodiments of the present invention, the fourth branch chain body is inserted into the second inner ring, the inner circumferential surface of the second inner ring is provided with a guide groove extending along the length direction of the fourth branch chain body, the fourth branch chain body is provided with a guide protrusion extending along the length direction of the fourth branch chain body, and the guide protrusion is slidably fitted in the guide groove.

[0012] According to some embodiments of the present invention, the first branch chain body includes: a first motor, a first nut and a first screw, the first nut is coaxially connected to the first motor and can rotate around its own axis under the drive of the first motor, the first screw is passed through the first motor and the first nut and is threadedly matched with the first nut, the first motor is connected to the frame through the first hinge, the first screw is connected to the moving platform through the second hinge, the first nut rotates to drive the first screw to move along the axial direction of the first nut, and the first screw can rotate around its own axis relative to the first nut.

[0013] According to some embodiments of the present invention, the first branch chain body includes: an outer shell, a rotating member, a second motor, a transmission belt and a second lead screw, the outer shell is connected to the frame via the first hinge, the rotating member is rotatably installed in the outer shell, the second motor is installed in the outer shell, the output shaft of the second motor is transmission-connected to the rotating member via the transmission belt to drive the rotating member to rotate, the second lead screw is passed through the rotating member and threadedly cooperates with the rotating member, the rotating member rotates to drive the second lead screw to move along the axial direction of the rotating member, and the second lead screw is rotatable around its own axis relative to the rotating member.

[0014] According to some embodiments of the present invention, the three first hinges corresponding to the first branch chain, the second branch chain and the third branch chain are evenly spaced along the circumference of the frame, and the corresponding three second hinges are evenly spaced along the circumference of the moving platform.

[0015] The processing device according to the embodiment of the present invention comprises a workpiece fixing fixture and a five-degree-of-freedom hybrid processing robot according to the embodiment of the present invention.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a schematic structural diagram of a five-degree-of-freedom hybrid processing robot according to a first embodiment of the present invention;

[0019] Figure 2 is a schematic structural diagram of a two-degree-of-freedom series module and a moving platform according to an embodiment of the present invention;

[0020] Figure 3 is a schematic structural diagram of a first branch chain according to a first embodiment of the present invention;

[0021] Figure 4 is a schematic structural diagram of a five-degree-of-freedom hybrid processing robot according to a second embodiment of the present invention;

[0022] Figure 5 is a schematic structural diagram of a first branch chain according to a second embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of a fourth branch chain according to a second embodiment of the present invention;

[0024] Figure 7 is a schematic structural diagram of a five-degree-of-freedom hybrid processing robot according to a third embodiment of the present invention;

[0025] Figure 8 is a schematic structural diagram of a first branch chain according to a third embodiment of the present invention;

[0026] Fig. 9 is a partial structural sectional view of a first branch chain according to a third embodiment of the present invention.

[0027] Reference numerals:

[0028] Five-degree-of-freedom hybrid processing robot 100;

[0029] Three-degree-of-freedom parallel module 30; frame 10; mounting surface 11; moving platform 20;

[0030] Branch chain 31; first branch chain 32; second branch chain 33; third branch chain 34;

[0031] The first branch chain body 321; the first hinge 322; the second hinge 323; the first outer ring 324; the second branch chain body 331;

[0032] The third branch body 341;

[0033] Fourth branch chain 35; fourth branch chain body 351; third hinge 352; second outer ring 353; second outer ring 354; guide groove 355; guide protrusion 356;

[0034] First motor 36; first nut 37; first lead screw 38;

[0035] Outer sleeve 391; cover 3911; first sleeve 3912; second sleeve 3913;

[0036] Rotating member 392; inner sleeve 3921; second nut 3922;

[0037] Second motor 393; output shaft 3931; transmission belt 394; second lead screw 395;

[0038] Bearing spacer 396; bearing 397; sealing ring 398;

[0039] Two-degree-of-freedom series module 40; first swing head 41; second swing head 42; main shaft 43;

[0040] First rotation axis F1; second rotation axis F2; ​​first axis A1; second axis A2; third axis A3; fourth axis A4; fifth axis A5; sixth axis A6. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] In the description of the present invention, "first feature" and "second feature" may include one or more such features, "plurality" means two or more, a first feature "above" or "below" the second feature may include the first and second features being directly in contact, or may include the first and second features not being in direct contact but being in contact through another feature between them, and a first feature "above", "above" and "above" the second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is horizontally higher than the second feature.

[0044] The following describes a five-degree-of-freedom hybrid processing robot 100 according to an embodiment of the present invention with reference to the accompanying drawings.

[0045] Reference Figure 1-Figure 9 As shown, the five-degree-of-freedom hybrid processing robot 100 according to an embodiment of the present invention may include: a three-degree-of-freedom parallel module 30 and a two-degree-of-freedom series module 40 .

[0046] Specifically, the three-degree-of-freedom parallel module 30 includes a frame 10, a moving platform 20, and a plurality of branches 31 connected between the frame 10 and the moving platform 20. The three-degree-of-freedom parallel module 30 has two rotational degrees of freedom and one mobile degree of freedom, and can drive the moving platform 20 to move in three degrees of freedom in space relative to the frame 10. The two-degree-of-freedom series module 40 includes a first swing head 41, a second swing head 42, and a main shaft 43. The first swing head 41 is installed on the moving platform 20, the second swing head 42 is rotatably installed on the first swing head 41 around a first rotation axis F1, and the main shaft 43 is rotatably installed on the second swing head 42 around a second rotation axis F2. The first rotation axis F1 intersects with the second rotation axis F2, and the second rotation axis F2 intersects with the axial direction of the main shaft 43.

[0047] The three-degree-of-freedom parallel module 30 has two rotational degrees of freedom and one translational degree of freedom, and a plurality of branches 31 connect the frame 10 and the moving platform 20, so that the moving platform 20 can have two rotational degrees of freedom and one translational degree of freedom relative to the frame 10, so as to realize the movement of the moving platform 20 relative to the frame 10 in three degrees of freedom in space, and can realize the movement of the moving platform 20 relative to the frame 10 in any direction in three-dimensional space, with a wide range of movement.

[0048] The movable platform 20 has two rotational degrees of freedom relative to the frame 10, that is, the movable platform 20 can rotate relative to the frame 10 about two rotation axes respectively, and the two rotation axes intersect, so that the movable platform 20 rotates relative to the frame 10 in any direction perpendicular to the relative movement direction. The movable platform 20 has one degree of movement freedom relative to the frame 10, that is, the movable platform 20 can move relative to the frame 10, and the relative movement direction can be the arrangement direction of the movable platform 20 and the frame 10.

[0049] The above three degrees of freedom of movement are independent of each other, that is, the above three degrees of freedom of movement can be independently controlled, for example, only controlling the movement of the braking platform 20 relative to the frame 10, or only controlling the rotation of the braking platform 20 relative to the frame 10 around a rotation axis. The above three degrees of freedom of movement can also be controlled in combination, for example, controlling the movement of the braking platform 20 relative to the frame 10 and controlling the braking platform 20 not to rotate relative to the frame 10, for example, controlling the braking platform 20 to rotate around one rotation axis relative to the frame 10 and not to rotate around another rotation axis and no relative movement between the braking platform 20 and the frame 10, for example, controlling the braking platform 20 to move relative to the frame 10 and to rotate around two rotation axes, etc. Through the above three independently controllable degrees of freedom of movement, it is possible to realize the movement of the braking platform 20 on one side of the frame 10 (for example Figure 1The moving platform 20 is arranged at the lower side of the frame 10 and can move at any position relative to the frame 10, and has a wide range of movement. It should be noted that the description of the up and down directions in the present invention is based on the current state shown in the drawings, and does not limit the actual installation and movement direction of the moving platform 20 relative to the frame 10 in the three-dimensional space.

[0050] In the two-degree-of-freedom series module 40, the first pendulum head 41 is installed on the moving platform 20, for example, the first pendulum head 41 and the moving platform 20 are integrally formed into an integral part, or the first pendulum head 41 and the moving platform 20 are fixed together by welding, etc. The second pendulum head 42 is installed on the first pendulum head 41, and the second pendulum head 42 can rotate around the first rotation axis F1 relative to the first pendulum head 41. The spindle 43 is installed on the second pendulum head 42, and the spindle 43 can rotate around the first rotation axis F1 relative to the second pendulum head 42. The spindle 43 may include a tool such as a tool for processing a workpiece, a drill bit, or the spindle 43 may be detachably mounted with a tool such as a tool for processing a workpiece.

[0051] The processing methods of the spindle 43 include but are not limited to milling, drilling and tapping, etc. For example, in some embodiments, the spindle 43 includes a motor and a drill bit, and the motor can drive the drill bit to rotate, which is conducive to meeting the processing requirements such as drilling.

[0052] The first rotation axis F1 may intersect or be parallel to the axis direction of the moving platform 20, wherein the parallelism includes that the two axes coincide, or the two axes are parallel and spaced a certain distance apart. The axis direction of the moving platform 20 is a direction parallel to the moving direction of the moving platform 20. In some embodiments where the first rotation axis F1 is parallel to the axis of the moving platform 20, for example, coincides, the difficulty of adjusting the angle of the main shaft 43 can be reduced.

[0053] The first rotation axis F1 intersects with the second rotation axis F2, for example, the angle between the first rotation axis F1 and the second rotation axis F2 is an acute angle. The second rotation axis F2 intersects with the axial direction of the main shaft 43, for example, the angle between the second rotation axis F2 and the axial direction of the main shaft 43 is an acute angle.

[0054] In the two-degree-of-freedom series module 40, the main shaft 43 can rotate around the second rotation axis F2 relative to the second swing head 42, and the second swing head 42 can drive the main shaft 43 to rotate around the first rotation axis F1 relative to the first swing head 41, so that the main shaft 43 has two rotational degrees of freedom around the first rotation axis F1 and around the second rotation axis F2, and the first rotation axis F1 intersects with the second rotation axis F2, and the second rotation axis F2 intersects with the axial direction of the main shaft 43, so that the second swing head 42 and the main shaft 43 cooperate to adjust the processing angle of the main shaft 43, and the angle adjustment range is large and the angle adjustment flexibility is high.

[0055] It is worth noting that the first pendulum head 41, the second pendulum head 42 and the main shaft 43 are connected in series. When the second pendulum head 42 rotates around the first rotation axis F1 relative to the first pendulum head 41, since the main shaft 43 is installed on the second pendulum head 42, the second rotation axis F2 will rotate around the first rotation axis F1, and the extension direction of the second rotation axis F2 in the three-dimensional space will change, that is, the direction of the second rotation axis F2 in the three-dimensional space will change.

[0056] Therefore, in the two-degree-of-freedom serial module 40, the extension direction of the second rotation axis F2 in the three-dimensional space can be changed, the angle adjustment range of the main shaft 43 is increased, and a wider range of processing angle adjustment of the main shaft 43 in the three-dimensional space is achieved.

[0057] In addition, the two-degree-of-freedom series module 40 can achieve a large angle adjustment range. Combined with the installation method of the frame 10, it is conducive to the angle adjustment of the spindle 43 in any posture, so as to realize the processing mode of the five-degree-of-freedom hybrid processing robot 100 under multiple installation methods, such as realizing the conversion between the vertical processing mode and the horizontal processing mode. For example, in some specific embodiments, the installation surface 11 of the frame 10 is a horizontal plane, and the moving platform 20 is arranged on one side of the frame 10 along the vertical direction. The two-degree-of-freedom series module 40 can be adjusted to make the processing angle of the spindle 43 perpendicular to the horizontal plane, so as to realize the vertical processing of the five-degree-of-freedom hybrid processing robot 100. For example, in some specific embodiments, the installation surface 11 of the frame 10 is a vertical plane, and the moving platform 20 is arranged on one side of the frame 10 along the horizontal direction. The two-degree-of-freedom series module 40 can be adjusted to make the processing angle of the spindle 43 perpendicular to the vertical plane, so as to realize the horizontal processing of the five-degree-of-freedom hybrid processing robot 100.

[0058] The three-degree-of-freedom parallel module 30 can realize the movement of the moving platform 20 on one side of the frame 10 relative to any position of the frame 10 in the three-dimensional space, and the first swing head 41 in the two-degree-of-freedom series module 40 is installed on the moving platform 20. Therefore, the three-degree-of-freedom parallel module 30 can realize the movement of the two-degree-of-freedom series module 40 and the moving platform 20 relative to the frame 10 in a larger range in the three-dimensional space, and the two-degree-of-freedom series module 40 can realize the processing angle adjustment of the spindle 43 in a larger range in the three-dimensional space. Therefore, by combining the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40, the spindle 43 has five degrees of freedom of movement, which can realize the movement and angle adjustment of the spindle 43 in a large range in the three-dimensional space, which is conducive to increasing the processing range of the five-degree-of-freedom hybrid processing robot 100 on the integrated die-casting, realizing the processing of the integrated die-casting at any position, and having a wide range of applications. Workpieces that need to be processed by integrated die-castings.

[0059] In some related technologies, integrated die-casting processing is achieved through large machine tools. Large machine tools occupy a large area, which puts great pressure on the internal space layout of the workshop. The investment of a large number of large machine tools leads to a surge in costs. Large-area factory buildings and huge investment in production equipment seriously hinder the development of the integrated die-casting industry and even the new energy vehicle industry. The five-degree-of-freedom hybrid processing robot 100 of the embodiment of the present application realizes the movement of the five-degree-of-freedom of the main shaft 43 through the cooperation of the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40, which is conducive to reducing the overall volume of the five-degree-of-freedom hybrid processing robot 100, achieving lightweight, making the footprint of the five-degree-of-freedom hybrid processing robot 100 relatively small, reducing the pressure on the internal space layout of the workshop, and facilitating installation in a variety of workshops of different sizes. It is relatively cheap, which is conducive to reducing investment costs and promoting the development of the integrated die-casting industry and even the new energy vehicle industry.

[0060] Moreover, the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 in the present application can be controlled independently, and not only can the position of the moving platform 20 relative to the frame 10 be adjusted by the three-degree-of-freedom parallel module 30, and the processing angle of the spindle 43 be adjusted by the two-degree-of-freedom series module 40, but also the three-degree-of-freedom parallel module 30 can be controlled first and then the two-degree-of-freedom series module 40, or the two-degree-of-freedom series module 40 can be controlled first and then the three-degree-of-freedom parallel module 30. Compared with some related technologies that require the entire module, such as five branches, to move simultaneously to adjust the processing position and processing angle of large machine tools, the present application can not only adjust the processing position and processing angle of the spindle 43 at the same time, but also can independently control the two modules to respectively realize the processing position adjustment and processing angle adjustment of the spindle 43, and the processing efficiency and processing accuracy are both high.

[0061] For example, the three-degree-of-freedom parallel module 30 is first controlled to adjust the position of the moving platform 20 relative to the frame 10, and then the two-degree-of-freedom series module 40 is controlled to adjust the processing angle of the spindle 43. On the premise of completing one position adjustment of the moving platform 20, the processing position of the moving platform 20 can be made relative to multiple areas to be processed. By adjusting the angle of the spindle 43 multiple times to process multiple areas to be processed in turn, it is convenient to adjust the position once to process multiple areas to be processed in turn, and the processing diversity is better, and the processing efficiency and processing accuracy are higher.

[0062] For example, the two-degree-of-freedom series module 40 is first controlled to adjust the processing angle of the main shaft 43, and then the position of the moving platform 20 of the three-degree-of-freedom parallel module 30 is controlled relative to the frame 10. On the premise of adjusting the processing angle of the main shaft 43 once, the position of the moving platform 20 can be adjusted multiple times to adjust the position of the main shaft 43, so as to process multiple areas to be processed at different positions in turn. It is convenient to adjust the angle once to process multiple areas to be processed with the same angle requirements in turn, and the processing consistency is good, and the processing efficiency and processing accuracy are high.

[0063] In addition, in some working conditions, the features to be processed of the integrated die casting are spatially distributed at multiple angles, and the processing process requires the spindle to frequently adjust its posture over a large range. However, the large machine tool translation axis in the related technology has a large inertia and each axis frequently accelerates and decelerates back and forth, making it difficult to efficiently and accurately match the production rhythm. The five-degree-of-freedom hybrid processing robot 100 of the embodiment of the present application has a small inertia, and can achieve accurate and large-angle posture adjustment of the spindle 43 through the cooperation of the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40, and the posture adjustment efficiency is high, which can meet the production rhythm requirements of the integrated die casting.

[0064] According to the five-degree-of-freedom hybrid processing robot 100 of the embodiment of the present invention, through the cooperation of the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40, it is possible to realize a large range of movement and angle adjustment of the main shaft 43 in three-dimensional space, which is beneficial to meeting the requirements of a large range of processing positions and processing angles of integrated die-casting parts in three-dimensional space, and is beneficial to achieving lightweight, high processing efficiency and processing accuracy.

[0065] In some embodiments of the present invention, Figure 1 and Figure 3As shown, the plurality of branches 31 include a first branch chain 32, a second branch chain 33 and a third branch chain 34, and the first branch chain 32, the second branch chain 33 and the third branch chain 34 have the same structure. The first branch chain 32 includes a first branch chain body 321, a first hinge 322 and a second hinge 323. The first branch chain body 321 can realize extension and contraction along the axis direction of the first branch chain body 321 and rotation around the axis direction of the first branch chain body 321. The first branch chain body 321 is connected to the frame 10 through the first hinge 322 and is connected to the moving platform 20 through the second hinge 323. The first hinge 322 includes a first outer ring 324, which is rotatably connected to the frame 10 around the first axis A1. The first branch chain body 321 is inserted into the first outer ring 324 and is rotatably connected to the first outer ring 324 around the second axis A2. The first axis A1 and the telescopic direction of the first branch chain body 321 are both perpendicular to the second axis A2, and the first axis A1 intersects with the telescopic direction of the first branch chain body 321. The first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point. The second hinge 323 is a revolute pair and the rotation axis is perpendicular to the telescopic direction of the first branch chain body 321, and the rotation axes of the three second hinges 323 intersect with each other and do not intersect at one point. The normal direction of the plane where the connection points of the three second hinges 323 and the movable platform 20 are located is the axis direction of the movable platform 20.

[0066] The first branch 32, the second branch 33 and the third branch 34 have the same structure, that is, the first branch 32 includes a first branch body 321, a first hinge 322 and a second hinge 323, the second branch 33 includes a second branch body 331, a first hinge 322 and a second hinge 323, and the third branch 34 includes a third branch body 341, a first hinge 322 and a second hinge 323, wherein the second branch body 331 has the same structure as the first branch body 321, and the third branch body 341 has the same structure as the first branch body 321.

[0067] At the first hinge 322, the first outer ring 324 is connected to the frame 10 and can rotate relative to the frame 10 around the first axis A1, and the first branch chain body 321 is inserted into the first outer ring 324 and can rotate relative to the first outer ring 324 around the second axis A2, which can realize the rotation of the first branch chain body 321 relative to the frame 10 around the first axis A1, and the rotation of the first branch chain body 321 relative to the first outer ring 324 around the second axis A2. The first branch chain body 321 is rotatably connected to the moving platform 20 through the second hinge 323, and the rotation of the first branch chain body 321 relative to the moving platform 20 can be realized through the second hinge 323.

[0068] It is worth noting that the part of the first hinge 322 connected to the frame 10 and the part of the first hinge 322 connected to the first branch chain body 321 are connected in series, and the first axis A1 is perpendicular to the second axis A2, so that the first hinge 322 is formed into a universal joint. When the first branch chain body 321 rotates around the first axis A1, the second axis A2 will rotate around the first axis A1, so that the extension direction of the second axis A2 in the three-dimensional space changes. In this way, the direction of the second axis A2 in the three-dimensional space can be changed, and the rotation range of the first branch chain body 321 relative to the frame 10 is increased.

[0069] At the same time, the telescopic direction of the first branch chain body 321 is perpendicular to the second axis A2, the telescopic direction of the first branch chain body 321 intersects with the first axis A1, the telescopic direction of the first branch chain body 321 is perpendicular to the rotation axis of the second hinge 323, the first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point, and the rotation axes of the three second hinges 323 intersect with each other and do not intersect at one point, which is conducive to improving the reliability of adjusting the relative position of the moving platform 20 and the frame 10, and reducing the possibility of interference between the first branch chain 32, the second branch chain 33 and the third branch chain 34 during movement. Preferably, the first axes A1 of the three first hinges 322 intersect with each other after extension and form a closed equilateral triangle, and the rotation axes of the three second hinges 323 intersect with each other after extension and form a closed equilateral triangle, so that the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 is better. It can also reduce the movement complexity of the first branch chain 32, facilitate the simultaneous extension and retraction of the first branch chain body 321, the rotation of the first branch chain body 321 at the first hinge 322 relative to the frame 10, and the rotation of the first branch chain body 321 at the second hinge 323 relative to the moving platform 20, thereby improving the movement reliability of the first branch chain 32, that is, improving the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 with the same structure.

[0070] Here, the extension and retraction of the first branch chain body 321 may refer to the change in the length of the first branch chain body 321 between the frame 10 and the moving platform 20. For example, the extension of the first branch chain body 321 causes the length of the first branch chain body 321 between the frame 10 and the moving platform 20 to extend, and the shortening of the first branch chain body 321 causes the length of the first branch chain body 321 between the frame 10 and the moving platform 20 to shorten.

[0071] Specifically, Figure 1 and Figure 3As shown, during the extension and retraction process of the first branch chain body 321, the first branch chain body 321 rotates relative to the frame 10 through the first hinge 322, and the first branch chain body 321 rotates relative to the moving platform 20 through the second hinge 323, so that the length and position (for example, coordinates and angles in three-dimensional space) of the first branch chain body 321 between the frame 10 and the moving platform 20 change, thereby changing the relative position of the frame 10 and the moving platform 20.

[0072] The first branch chain 32, the second branch chain 33 and the third branch chain 34 are arranged in parallel and can be independently controlled. By controlling the first branch chain 32, the second branch chain 33 and the third branch chain 34 respectively, the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 are adjusted respectively, so that the distance between the frame 10 and the moving platform 20 can be adjusted in multiple directions, and the adjustment of the moving platform 20 on one side of the frame 10 relative to any position of the frame 10 in the three-dimensional space is controlled, so as to increase the motion range of the moving platform 20 relative to the frame 10, realize the three-degree-of-freedom motion of the moving platform 20 relative to the frame 10, and make the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 no longer extend and retract, so that the frame 10 and the moving platform 20 are not prone to relative motion such as shaking, thereby improving the stability of adjusting the relative position of the moving platform 20 and the frame 10.

[0073] In addition, the first branch chain body 321 can rotate around its own axis, which is conducive to adapting to the relative movement of the frame 10 and the moving platform 20. For example, when the angle formed by the first axis A1 and the extension direction of the first branch chain body 321, and the angle formed by the rotation axis of the second hinge 323 and the extension direction of the first branch chain body 321, when the difference between the two angles changes, the first branch chain body 321 can be extended and rotated to adapt to the changes, thereby further improving the adjustment stability.

[0074] In some related technologies, the branch chain adapts to the movement of the moving platform through the joint action of two independent kinematic pairs (rotational pair and translational pair), and the number of kinematic pairs is large and the rigidity is poor. However, the present application integrates the telescopic function and rotational function of the first branch chain body 321 into one kinematic pair, and the first branch chain 32, the second branch chain 33 and the third branch chain 34 all omit one kinematic pair (i.e., the number of joints of the robot is reduced), thereby reducing the number of kinematic pairs of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 and improving the rigidity of the five-degree-of-freedom hybrid processing robot 100.

[0075] Of course, according to the above description, the working process of the first branch chain 32, the second branch chain 33 and the third branch chain 34 in parallel in other embodiments of the present invention can be understood by those skilled in the art.

[0076] By driving the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 to extend and retract, the first hinge 322 and the second hinge 323 are rotated, so that the movable platform 20 can have three parallel degrees of freedom of movement relative to the frame 10, and the movable platform 20 can move at one side of the frame 10 relative to any position of the frame 10 in a three-dimensional space. The structure has low complexity, is easy to operate, and is convenient for practice.

[0077] For example, in some embodiments, Figure 1 As shown, the position of the movable platform 20 relative to the frame 10 can be adjusted with the cooperation of the first hinge 322 and the second hinge 323 by controlling the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 respectively, which is easy to operate.

[0078] In some embodiments of the present invention, Figure 4-Figure 6 As shown, the plurality of branches 31 include a first branch chain 32, a second branch chain 33, a third branch chain 34 and a fourth branch chain 35, and the first branch chain 32, the second branch chain 33 and the third branch chain 34 have the same structure. The first branch chain 32 includes a first branch chain body 321, a first hinge 322 and a second hinge 323. The first branch chain body 321 can realize extension and contraction along the axis direction of the first branch chain body 321 and rotation around the axis direction of the first branch chain body 321. The first branch chain body 321 is connected to the frame 10 through the first hinge 322 and is connected to the moving platform 20 through the second hinge 323. The first hinge 322 includes a first outer ring 324, which is rotatably connected to the frame 10 around a first axis A1, and the first branch chain body 321 is disposed in the first outer ring 324 and is rotatably connected to the first outer ring 324 around a second axis A2. The first axis A1 and the telescopic direction of the first branch chain body 321 are both perpendicular to the second axis A2, and the first axis A1 intersects with the telescopic direction of the first branch chain body 321. The first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point. The second hinge 323 is rotatably connected to one end of the first branch chain body 321 around a third axis A3, and the second hinge 323 is rotatably connected to the movable platform 20 around a fourth axis A4, and the third axis A3 is perpendicular to the fourth axis A4, and the third axis A3 is perpendicular to the telescopic direction of the first branch chain body 321. The fourth axes A4 of the three second hinges 323 are coplanar and intersect at one point.

[0079] The fourth branch chain 35 includes a fourth branch chain body 351 and a third hinge 352. The fourth branch chain body 351 is connected to the frame 10 and fixedly connected to the moving platform 20 through the third hinge 352. The third hinge 352 includes a second outer ring 353 and a second inner ring 354 disposed in the second outer ring 353. The second outer ring 353 is rotatably connected to the frame 10 around a fifth axis A5. The second inner ring 354 is rotatably connected to the second outer ring 353 around a sixth axis A6. The fourth branch chain body 351 is movably connected to the second inner ring 354 along the length direction of the fourth branch chain body 351. The fifth axis A5 and the length direction of the fourth branch chain body 351 are both perpendicular to the sixth axis A6. The fifth axis A5 intersects with the length direction of the fourth branch chain body 351.

[0080] The first branch 32, the second branch 33 and the third branch 34 have the same structure, that is, the first branch 32 includes a first branch body 321, a first hinge 322 and a second hinge 323, the second branch 33 includes a second branch body 331, a first hinge 322 and a second hinge 323, and the third branch 34 includes a third branch body 341, a first hinge 322 and a second hinge 323, wherein the second branch body 331 has the same structure as the first branch body 321, and the third branch body 341 has the same structure as the first branch body 321.

[0081] like Figure 4 Figure 5 As shown, at the first hinge 322, the first outer ring 324 is connected to the frame 10 and can rotate relative to the frame 10 around the first axis A1, and the first branch chain body 321 is inserted into the first outer ring 324 and can rotate relative to the first outer ring 324 around the second axis A2, which can realize the rotation of the first branch chain body 321 relative to the frame 10 around the first axis A1, and the rotation of the first branch chain body 321 relative to the first outer ring 324 around the second axis A2. The second hinge 323 is connected to the first branch chain body 321 and can rotate around the third axis A3, and the second hinge 323 is connected to the movable platform 20 and can rotate around the fourth axis A4, which can realize the rotation of the first branch chain body 321 relative to the movable platform 20 around the third axis A3 and around the fourth axis A4.

[0082] like Figure 4 and Figure 6 As shown, at the third hinge 352, the second outer ring 353 is connected to the frame 10 and is rotatable around the fifth axis A5 relative to the frame 10, and the second inner ring 354 is connected to the second outer ring 353 and is rotatable around the sixth axis A6 relative to the second outer ring 353, which can realize the rotation of the fourth branch chain body 351 relative to the frame 10 around the fifth axis A5, and the rotation of the fourth branch chain body 351 relative to the second outer ring 353 around the sixth axis A6.

[0083] It is worth noting that the part of the first hinge 322 connected to the frame 10 (i.e., the first outer ring 324) and the part of the first hinge 322 connected to the first branch chain body 321 are connected in series, and the first axis A1 is perpendicular to the second axis A2, so that the first hinge 322 forms a Hooke's joint (Universal Joint). The part of the second hinge 323 connected to the moving platform 20 and the part of the second hinge 323 connected to the first branch chain body 321 are connected in series, and the third axis A3 is perpendicular to the fourth axis A4, so that the second hinge 323 forms a Hooke's joint (Universal Joint).

[0084] The second outer ring 353 and the second inner ring 354 of the third hinge 352 are connected in series, and the fifth axis A5 is perpendicular to the sixth axis A6, so that the third hinge 352 forms a universal joint. When the fourth branch chain 35 rotates around the fifth axis A5, the sixth axis A6 will rotate around the fifth axis A5, so that the extension direction of the sixth axis A6 in the three-dimensional space changes. In this way, the direction of the sixth axis A6 in the three-dimensional space can be changed, and the rotation range of the fourth branch chain 35 relative to the frame 10 is increased.

[0085] The second inner ring 354 only means that the second inner ring 354 is arranged inside the second outer ring 353, and does not limit the second inner ring 354 to be circular, that is, the second inner ring 354 can be a circular ring, a square ring, a slider with a hole, or other shapes. The fourth branch chain 35 can be fixedly connected to the moving platform 20 by welding, bolting, etc., or the fourth branch chain 35 can be fixedly connected to the first swing head 41 by welding, bolting, etc.

[0086] like Figure 4 As shown, the telescopic direction of the first branch chain body 321 is perpendicular to the second axis A2, the telescopic direction of the first branch chain body 321 intersects with the first axis A1, the first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point, the telescopic direction of the first branch chain body 321 is perpendicular to the third axis A3, the fourth axes A4 of the three second hinges 323 are coplanar and intersect at one point, the length direction of the fourth branch chain body 351 is perpendicular to the sixth axis A6, and the length direction of the fourth branch chain body 351 intersects with the fifth axis A5, which is conducive to improving the reliability of adjusting the relative position of the moving platform 20 and the frame 10, and reducing the possibility of interference between the first branch chain 32, the second branch chain 33, the third branch chain 34 and the fourth branch chain 35 during the movement. Preferably, the rotation axes of the three first hinges 322 intersect with each other after extension and form a closed equilateral triangle, so that the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 is better.

[0087] It can also reduce the movement complexity of the first branch chain 32, the second branch chain 33, the third branch chain 34 and the fourth branch chain 35, which is beneficial to simultaneously realize the extension and retraction of the first branch chain body 321, the rotation of the first branch chain body 321 relative to the frame 10 at the first hinge 322, the rotation of the first branch chain body 321 relative to the moving platform 20 at the second hinge 323, the rotation of the fourth branch chain body 351 relative to the frame 10 at the third hinge 352, and the movement of the fourth branch chain 35 relative to the frame 10 along its own length direction, thereby improving the movement reliability of the first branch chain 32, the second branch chain 33, the third branch chain 34 and the fourth branch chain 35.

[0088] By driving the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 to move relative to the frame 10 along its own length direction, and rotate the first hinge 322, the second hinge 323 and the third hinge 352, the movable platform 20 can have three parallel degrees of freedom of movement relative to the frame 10, realize the movement of the movable platform 20 on one side of the frame 10 relative to any position of the frame 10 in the three-dimensional space, and enhance the controllability of adjusting the relative position of the movable platform 20 and the frame 10.

[0089] For example, in some embodiments, Figure 4 As shown, it is only necessary to control the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 respectively, so that the position adjustment of the movable platform 20 relative to the frame 10 can be achieved with the cooperation of the first hinge 322, the second hinge 323, the third hinge 352 and the fourth branch chain body 351. This is easy to operate and the position adjustment of the movable platform 20 relative to the frame 10 is more controllable.

[0090] The fourth branch chain body 351 can move relative to the frame 10 along its length direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Figure 4 and Figure 6 As shown, the fourth branch chain body 351 is inserted into the second inner ring 354, and the inner circumferential surface of the second inner ring 354 is provided with a guide groove 355 extending along the length direction of the fourth branch chain body 351, and the fourth branch chain body 351 is provided with a guide protrusion 356 extending along the length direction of the fourth branch chain body 351, and the guide protrusion 356 is slidably fitted in the guide groove 355.

[0091] The first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 are extended and retracted to move the movable platform 20 relative to the frame 10, thereby causing the fourth branch chain 35 to move relative to the frame 10 along its own length direction to limit the change in the relative position of the movable platform 20 and the frame 10, thereby strengthening the control of the relative position of the movable platform 20 and the frame 10.

[0092] Specifically, the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 are telescopic to move the movable platform 20 relative to the frame 10, so that the distance between the movable platform 20 and the frame 10 along the length direction of the fourth branch chain 35 changes, and the guide protrusion 356 slides in the guide groove 355, so that the fourth branch chain 35 moves along its own length direction relative to the third hinge 352. Through the cooperation of the guide protrusion 356 and the guide groove 355, the fourth branch chain 35 is passively moved with the change of the relative position between the movable platform 20 and the frame 10, so that the fourth branch chain 35 can move along its own length direction, and the guide protrusion 356 and the guide groove 355 cooperate to form a prismatic joint, which has low structural complexity, is easy to implement, and has good economic efficiency.

[0093] The first branch chain 32, the second branch chain 33 and the third branch chain 34 can all be extended and retracted relative to the frame 10 along their own length direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments of the present invention, Figure 3 and Figure 5 As shown, the first branch chain body 321 includes: a first motor 36, a first nut 37 and a first screw 38. The first nut 37 is coaxially connected to the first motor 36 and can rotate around its own axis under the drive of the first motor 36. The first screw 38 is penetrated by the first motor 36 and the first nut 37 and is threadedly matched with the first nut 37. The first motor 36 is connected to the frame 10 through the first hinge 322, and the first screw 38 is connected to the moving platform 20 through the second hinge 323. The first nut 37 rotates to drive the first screw 38 to move along the axial direction of the first nut 37, and the first screw 38 can rotate around its own axis relative to the first nut 37.

[0094] The first motor 36 can drive the first nut 37 to rotate, so that the first lead screw 38 threadedly matched with the first nut 37 moves along the axial direction of the first nut 37, and the first motor 36, the first nut 37 and the first lead screw 38 rotate relative to the frame 10 through the first hinge 322, and the first lead screw 38 rotates relative to the moving platform 20 through the second hinge 323, so as to realize the extension and rotation of the first branch chain body 321, and then realize the adjustment of the relative position of the moving platform 20 and the frame 10. Through the cooperation of the first motor 36, the first lead screw 38 and the first nut 37, the extension and rotation of the first branch chain body 321 can be realized, so that the first branch chain body 321 can be extended and retracted along its own length direction and can be rotated around its own axis direction, so that the first lead screw 38 and the first nut 37 cooperate to form a cylindrical joint, which has low structural complexity, is easy to realize, and has good economic efficiency.

[0095] The first nut 37 and the first lead screw 38 are matched to form a cylindrical kinematic pair, so as to integrate the telescopic function and the rotation function of the first branch chain body 321 into one kinematic pair, thereby reducing the number of kinematic pairs of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 and improving the rigidity of the five-degree-of-freedom hybrid processing robot 100. In addition, only the first lead screw 38 moves and rotates in the first branch chain body 321, that is, the weight of the moving parts is relatively small, which is conducive to the lightweighting of the five-degree-of-freedom hybrid processing robot 100, improves the efficiency of the position adjustment of the moving platform 20 relative to the frame 10, and is conducive to efficient and accurate matching of the production rhythm. The first motor 36 can be a hollow motor with a relatively light weight, which is conducive to further lightweighting of the five-degree-of-freedom hybrid processing robot 100.

[0096] In some embodiments, Figure 7-Figure 9 As shown, the first branch chain body 321 includes: an outer shell 391, a rotating member 392, a second motor 393, a transmission belt 394 and a second lead screw 395. The outer shell 391 is connected to the frame 10 through the first hinge 322. The rotating member 392 is rotatably installed in the outer shell 391. The second motor 393 is installed on the outer shell 391. The output shaft 3931 of the second motor 393 is transmission-connected to the rotating member 392 through the transmission belt 394 to drive the rotating member 392 to rotate. The second lead screw 395 is penetrated by the rotating member 392 and is threadedly matched with the rotating member 392. The rotating member 392 rotates to drive the second lead screw 395 to move along the axial direction of the rotating member 392. The second lead screw 395 is rotatable around its own axis relative to the rotating member 392.

[0097] Through the transmission connection between the output shaft 3931, the transmission belt 394 and the rotating member 392, the rotating member 392 can be driven to rotate by the second motor 393, so that the second screw 395 threadedly matched with the rotating member 392 moves along the axial direction of the rotating member 392, and the first branch chain body 321 rotates relative to the frame 10 through the first hinge 322, and the first branch chain body 321 rotates relative to the moving platform 20 through the second hinge 323, that is, the second screw 395 can realize movement along its own axial direction and rotation around its own axial direction, so as to realize the extension and rotation of the first branch chain body 321, and then realize the adjustment of the relative position of the moving platform 20 and the frame 10. The structural complexity is low and it is easy to realize.

[0098] Among them, the rotating member 392 and the second lead screw 395 cooperate to form a cylindrical joint, so as to integrate the telescopic function and the rotation function of the first branch chain body 321 into one joint, reduce the number of joints of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 relative to the frame 10, and improve the rigidity of the five-degree-of-freedom hybrid processing robot 100. In addition, only the second lead screw 395 moves and rotates in the first branch chain body 321, that is, the weight of the moving parts is small, which is conducive to the lightweight of the five-degree-of-freedom hybrid processing robot 100, improves the efficiency of the position adjustment of the moving platform 20 relative to the frame 10, and is conducive to efficient and accurate matching of the production rhythm.

[0099] In some embodiments, Fig. 9 As shown, the outer sleeve 391 includes a first sleeve 3912 and a second sleeve 3913, the first sleeve 3912 is arranged at one axial end of the second sleeve 3913, the first sleeve 3912 has a staggered portion that is staggered perpendicular to the axial direction with the second sleeve 3913, the rotating member 392 is penetrated by the second sleeve 3913 and the first sleeve 3912, the second motor 393 is installed in the staggered portion and is located on the radial side of the rotating member 392, which is conducive to the offset installation of the second motor 393 and the second screw 395 to avoid the second screw 395 and facilitate the extension and rotation of the second screw 395.

[0100] In some embodiments, Fig. 9 As shown, the outer sleeve 391 further includes a cover 3911, which is disposed at one axial end of the first sleeve 3912 to facilitate installation of the second motor 393, making the installation of the second motor 393 more secure. The cover 3911, the first sleeve 3912 and the second sleeve 3913 can be connected by bolts.

[0101] In some embodiments, the second motor 393 is a servo motor, which is low in cost and has good economy. The servo motor has high control accuracy, so that the extension and rotation accuracy of the second screw 395 driven by the servo motor is high, thereby improving the control accuracy of adjusting the relative position of the moving platform 20 and the frame 10, and improving the processing accuracy of the main shaft 21.

[0102] The second motor 393, the transmission belt 394 and the rotating member 392 may be provided with matching gears or other matching structures to achieve transmission connection between the second motor 393, the transmission belt 394 and the rotating member 392. For example, in some embodiments, Figure 7-Figure 9As shown, the transmission belt 394 is a belt body with meshing teeth, the output shaft 3931 of the second motor 393 has meshing teeth meshing with the transmission belt 394 (such as the output shaft 3931 is equipped with a motor pulley), and the rotating member 392 has meshing teeth meshing with the transmission belt 394, and the transmission connection between the second motor 393, the transmission belt 394 and the rotating member 392 can be achieved through the meshing of the teeth.

[0103] In some embodiments, Fig. 9 As shown, the rotating member 392 includes an inner sleeve 3921 and a second nut 3922. The inner sleeve 3921 is rotatably mounted in the outer sleeve 391 through a bearing spacer 367 and a bearing 367 (such as an angular contact ball bearing). The second nut 3922 is mounted in the inner sleeve 3921 through bolts and is threadedly matched with the second lead screw 395, so that the second nut 3922 can be replaced according to the wear of the thread.

[0104] In some embodiments, Fig. 9 As shown, a sealing ring 365 is provided between the rotating member 392 and the outer shell 391 to facilitate the sealed connection between the rotating member 392 and the outer shell 391, reduce the possibility of external dust and the like entering the gap between the rotating member 392 and the outer shell 391 and affecting the rotation of the rotating member 392 relative to the outer shell 391, and improve working reliability.

[0105] In some embodiments of the present invention, Figure 1 , Figure 4 and Figure 7 As shown, the three first hinges 322 corresponding to the first branch chain 32, the second branch chain 33, and the third branch chain 34 are evenly spaced along the circumference of the frame 10, and the three second hinges 323 corresponding to the first branch chain 32, the second branch chain 33, and the third branch chain 34 are evenly spaced along the circumference of the moving platform 20. It is convenient to control the extension and contraction of the first branch chain body 321, the second branch chain body 331, and the third branch chain body 341 separately, and it is conducive to adjusting the relative position of the moving platform 20 and the frame 10 in three-dimensional space through the cooperation of the first hinge 322 and the second hinge 323, so that the first branch chain 32, the second branch chain 33, and the third branch chain 34 are not easy to interfere with each other during the movement process, and the relative position of the moving platform 20 and the frame 10 is more flexible, which improves the processing reliability.

[0106] The processing device according to the embodiment of the present invention includes a workpiece fixing fixture and a five-degree-of-freedom hybrid processing robot 100 according to the embodiment of the present invention. Since the five-degree-of-freedom hybrid processing robot 100 according to the embodiment of the present invention has the above-mentioned beneficial technical effects, the processing device according to the embodiment of the present invention, through the cooperation of the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40, can realize a large range of movement and angle adjustment of the main shaft 43 in three-dimensional space, which is conducive to meeting the requirements of a large range of processing positions and processing angles of integrated die castings in three-dimensional space, and is conducive to achieving lightweight, high processing efficiency and processing accuracy.

[0107] The workpiece fixing fixture can be used to fix the integrated die casting, so that the integrated die casting is not easy to move during the processing, which is beneficial to improving the processing stability of the processing device.

[0108] Other structures and operations of the five-degree-of-freedom hybrid processing robot 100 and the processing device according to the embodiment of the present invention are well known to ordinary technicians in the field and will not be described in detail here.

[0109] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0110] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0111] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A five-degree-of-freedom hybrid processing robot, characterized in that: include: A three-degree-of-freedom parallel module, the three-degree-of-freedom parallel module includes a frame, a moving platform, and a plurality of branches connected between the frame and the moving platform, the three-degree-of-freedom parallel module has two rotational degrees of freedom and one translational degree of freedom, and can drive the moving platform to move in three degrees of freedom in space relative to the frame; A two-degree-of-freedom series module, the two-degree-of-freedom series module comprises a first swing head, a second swing head and a main shaft, the first swing head is mounted on the moving platform, the second swing head is rotatably mounted on the first swing head around a first rotation axis, the main shaft is rotatably mounted on the second swing head around a second rotation axis, the first rotation axis intersects with the second rotation axis, and the second rotation axis intersects with the axial direction of the main shaft; The plurality of branches include a first branch, a second branch and a third branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can be extended and retracted along the axis direction of the first branch body and rotated around the axis direction of the first branch body, the first branch body is connected to the frame through the first hinge and is connected to the moving platform through the second hinge, wherein the first hinge includes a first outer ring, the first outer ring is rotatably connected to the frame around a first axis, and the first A branch chain body is passed through the first outer ring and is rotatably connected to the first outer ring around a second axis, the first axis and the telescopic direction of the first branch chain body are both perpendicular to the second axis, and the first axis intersects with the telescopic direction of the first branch chain body, and the first axes of the three first hinges intersect with each other but not at one point; the second hinge is a revolving pair and the rotation axis is perpendicular to the telescopic direction of the first branch chain body, and the rotation axes of the three second hinges intersect with each other but not at one point; or, the plurality of branches include a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, The first branch chain, the second branch chain and the third branch chain have the same structure. The first branch chain includes a first branch chain body, a first hinge and a second hinge. The first branch chain body can be extended and retracted along the axis direction of the first branch chain body and rotated around the axis direction of the first branch chain body. The first branch chain body is connected to the frame through the first hinge and is connected to the moving platform through the second hinge. The first hinge includes a first outer ring. The first outer ring is rotatably connected to the frame around a first axis. The first branch chain body is inserted into the first outer ring and is rotatably connected to the frame around a second axis. The first outer ring is connected to the first hinge, the first axis and the extension direction of the first branch chain body are both perpendicular to the second axis, and the first axis intersects with the extension direction of the first branch chain body, and the first axes of the three first hinges intersect with each other and do not intersect at one point; the second hinge is rotatably connected to one end of the first branch chain body around a third axis, the second hinge is rotatably connected to the moving platform around a fourth axis, the third axis is perpendicular to the fourth axis, the third axis is perpendicular to the extension direction of the first branch chain body, and the fourth axes of the three second hinges are coplanar and intersect at one point;The fourth branch chain includes a fourth branch chain body and a third hinge, the fourth branch chain body is connected to the frame through the third hinge and is fixedly connected to the moving platform, the third hinge includes a second outer ring and a second inner ring arranged in the second outer ring, the second outer ring is rotatably connected to the frame around a fifth axis, the second inner ring is rotatably connected to the second outer ring around a sixth axis, the fourth branch chain body and the second inner ring are movably connected along the length direction of the fourth branch chain body, the fifth axis and the length direction of the fourth branch chain body are both perpendicular to the sixth axis, and the fifth axis intersects with the length direction of the fourth branch chain body; Wherein, the first branch chain body comprises: a first motor, a first nut and a first lead screw, the first nut is coaxially connected to the first motor and can rotate around its own axis under the drive of the first motor, the first lead screw is passed through the first motor and the first nut and is threadedly matched with the first nut, the first motor is connected to the frame through the first hinge, the first lead screw is connected to the moving platform through the second hinge, the first nut rotates to drive the first lead screw to move along the axial direction of the first nut, the first lead screw can rotate around its own axis relative to the first nut, and the first nut and the first lead screw cooperate to form a cylindrical kinematic pair; or The first branch chain body includes: an outer shell, a rotating member, a second motor, a transmission belt and a second lead screw, the outer shell is connected to the frame through the first hinge, the rotating member is rotatably installed in the outer shell, the second motor is installed in the outer shell, the output shaft of the second motor is connected to the rotating member through the transmission belt to drive the rotating member to rotate, the second lead screw is passed through the rotating member and is threadedly engaged with the rotating member, the rotating member rotates to drive the second lead screw to move along the axial direction of the rotating member, the second lead screw is rotatable around its own axis relative to the rotating member, and the rotating member and the second lead screw cooperate to form a cylindrical motion pair.

2. The five-degree-of-freedom hybrid processing robot according to claim 1, characterized in that: The fourth branch chain body is inserted into the second inner ring, and the inner circumferential surface of the second inner ring is provided with a guide groove extending along the length direction of the fourth branch chain body. The fourth branch chain body is provided with a guide protrusion extending along the length direction of the fourth branch chain body, and the guide protrusion is slidably fitted in the guide groove.

3. The five-degree-of-freedom hybrid processing robot according to claim 1, characterized in that: The three first hinges corresponding to the first branch chain, the second branch chain and the third branch chain are evenly spaced apart along the circumference of the frame, and the three second hinges corresponding to the first branch chain, the second branch chain and the third branch chain are evenly spaced apart along the circumference of the moving platform.

4. A processing device, characterized in that: It comprises a workpiece fixing fixture and a five-degree-of-freedom hybrid processing robot according to any one of claims 1-3.

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