A three-branched four-degree-of-freedom parallel machining robot

Abstract

The application discloses a three-branch-chain four-degree-of-freedom parallel machining robot, which comprises a static platform as a machining base and a dynamic platform as a pose adjustment, and a first branch chain L1, a second branch chain L2 and a third branch chain L3 for pose adjustment are arranged between the static platform and the dynamic platform; the first branch chain L1 and the third branch chain L3 are of the same structure; a fourth linear movement pair P4 is further arranged on the static platform; a second branch chain L2 is arranged on a movement end of the fourth linear movement pair P4; and an output end of the second branch chain L2 is connected with the dynamic platform. The first branch chain L1 and the third branch chain L3 are both connected at the bottom through a first lower rotating pair. The second branch chain L2 is provided with a first lower rotating pair at the bottom, and the first lower rotating pair is connected with the fourth linear movement pair P4. The second branch chain is connected to the static platform through a linear guide rail, so that the second branch chain can slide along the static platform, and the robot has a large working space. The robot has the advantages of large overall rigidity, good flexibility, large working space and low cost.

Description

Technical Field

[0001] This invention belongs to the field of machining robot technology, specifically relating to a parallel machining robot with three branches and four degrees of freedom. Background Technology

[0002] Currently, machining robots play a vital role in the manufacturing industry, especially in the production of major advanced equipment and core components, high-performance materials, and high-tech manufacturing processes, where parallel robots hold a crucial position. With the implementation of major national projects, parallel mechanisms with fewer degrees of freedom are receiving increasing attention and favor from researchers. The high-end equipment industry demands even higher efficiency and quality from parallel robots. To meet the requirements of excellent motion and force transmission capabilities in the machining of core components for high-end equipment, designing a robot with four degrees of freedom machining capabilities is an effective solution.

[0003] Currently, some four-degree-of-freedom machining robots have the following problems:

[0004] Firstly, it has poor stiffness. For example, patent CN100586666C discloses a four-degree-of-freedom parallel machining robot, but the mechanism has poor stiffness in the machining direction, making it difficult to process large structural parts.

[0005] Secondly, the workspace is insufficient. For example, patent CN102490177B discloses a four-degree-of-freedom parallel processing robot. Due to the characteristics of the mechanism layout, the swing range of its end effector is limited, making it difficult to meet the high-efficiency processing of large structural parts.

[0006] To address the shortcomings of the aforementioned four-degree-of-freedom parallel machining robots and better meet the processing needs of large and complex parts, there is an urgent need to invent a four-degree-of-freedom parallel machining robot that simultaneously possesses high rigidity and a large workspace. Summary of the Invention

[0007] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a parallel processing robot with three branches and four degrees of freedom.

[0008] The technical solution of the present invention is: a parallel machining robot with three branches and four degrees of freedom, comprising a static platform as the machining base and a moving platform as the pose adjustment platform. A first branch L1, a second branch L2, and a third branch L3 for pose adjustment are arranged between the static platform and the moving platform. A fourth linear prismatic joint P4 is also provided on the static platform. The moving end of the fourth linear prismatic joint P4 is provided with the second branch L2, and the output end of the second branch L2 is connected to the moving platform.

[0009] Furthermore, the first branch L1 and the third branch L3 have the same structure, and the first branch L1 and the third branch L3 are symmetrically arranged on the static platform.

[0010] Furthermore, the output ends of the first branch L1, the second branch L2, and the third branch L3 are connected to the moving platform via a rotating joint.

[0011] Furthermore, the rotating joint is located on the side wall or back of the moving platform.

[0012] Furthermore, the first branch L1, the second branch L2, and the third branch L3 are all active branches.

[0013] Furthermore, the bottoms of the first branch L1 and the third branch L3 are connected at the bottom via a first lower rotating joint.

[0014] Furthermore, the bottom of the second branch L2 is provided with a first lower rotary joint, which is connected to the fourth linear sliding joint P4.

[0015] Furthermore, the bottom of the third branch L3 is provided with a first lower rotating joint, which is connected to the fourth linear sliding joint P4.

[0016] Furthermore, the fourth linear sliding pair P4 includes a fourth guide rail base disposed on the upper end of the stationary platform, and a fourth slider is disposed in the fourth guide rail base that slides linearly along it.

[0017] Furthermore, the upper end of the fourth slider is connected to the first lower rotating joint.

[0018] Furthermore, the fourth guide rail base is provided with a fourth lead screw driven by a fourth motor, and the fourth slider is driven by the fourth lead screw.

[0019] The beneficial effects of this invention are as follows:

[0020] This invention features three parallel branches, resulting in high overall rigidity. The bottom of the second branch is connected to a stationary platform via a linear guide rail, allowing the second branch to slide along the stationary platform and enabling the robot end effector to have a large working space.

[0021] This invention combines the advantages of high overall rigidity, good flexibility, large working space, and low cost. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of branch one in this invention;

[0024] Figure 3 This is a schematic diagram of the structure of branch two in this invention;

[0025] Figure 4This is a schematic diagram of the linear guide rail in this invention;

[0026] Figure 5 Another structural schematic diagram of the present invention;

[0027] in:

[0028] 1. Static platform 2. Dynamic platform

[0029] 3 Electric spindle L1 First branch

[0030] L2 Second branch L3 Third branch

[0031] P1 First linear moving joint P2 Second linear moving joint

[0032] P3 Third linear moving joint P4 Fourth linear moving joint

[0033] 11 First branch base 12 First lower rotating joint

[0034] 13 First motor 14 First push rod

[0035] 15 First upper push rod 16 First upper rotary joint

[0036] 17 First fixed shaft

[0037] 21 Second slider 22 Second lower revolute joint

[0038] 23 Second motor 24 Second push rod

[0039] 25 Second upper push rod 26 Second upper rotary joint

[0040] 27 Second fixed shaft

[0041] 41 Fourth guide rail base 42 Fourth motor

[0042] 43 Fourth lead screw 44 Fourth slider. Detailed Implementation

[0043] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0044] like Figures 1 to 5 As shown, a parallel machining robot with three branches and four degrees of freedom includes a static platform 1 as the machining base and a moving platform 2 as the pose adjustment base. A first branch L1, a second branch L2, and a third branch L3 for pose adjustment are arranged between the static platform 1 and the moving platform 2. A fourth linear prismatic joint P4 is also provided on the static platform 1. The moving end of the fourth linear prismatic joint P4 is provided with the second branch L2, and the output end of the second branch L2 is connected to the moving platform 2.

[0045] The first branch L1 and the third branch L3 have the same structure, and the first branch L1 and the third branch L3 are symmetrically arranged on the static platform 1.

[0046] The output ends of the first branch L1, the second branch L2, and the third branch L3 are connected to the moving platform 2 via a rotary joint.

[0047] The rotating joint is located on the side wall or back of the moving platform 2.

[0048] The first branch L1, the second branch L2, and the third branch L3 are all active branches.

[0049] The bottoms of the first branch L1 and the third branch L3 are connected by the first lower rotating joint.

[0050] The bottom of the second branch L2 is provided with a first lower rotary joint, which is connected to the fourth linear sliding joint P4.

[0051] The fourth linear sliding pair P4 includes a fourth guide rail base 41 disposed on the upper end of the stationary platform 1, and a fourth slider 44 is disposed in the fourth guide rail base 41 and slides along its linear path.

[0052] The upper end of the fourth slider 44 is connected to the first lower rotating joint 12.

[0053] The fourth guide rail base 41 is provided with a fourth lead screw 43 driven by a fourth motor 42, and the fourth slider 44 is driven by the fourth lead screw 43.

[0054] Specifically, such as Figure 1 As shown, a first branch L1 and a third branch L3 are provided between the static platform 1 and the moving platform 2. The fourth linear sliding joint P4 drives the third branch L2 to translate at the upper end of the static platform 1.

[0055] Specifically, an electric spindle 3 is provided on the upper end of the moving platform 2.

[0056] Specifically, both the static platform 1 and the dynamic platform 2 are single-layer platforms.

[0057] Specifically, such as Figure 2 As shown, the first branch L1 and the third branch L3 have the same structure. The first branch L1 includes a first branch base 11 located at the bottom. A first lower rotating joint 12 is provided on the first branch base 11. The first lower rotating joint 12 is connected to a sliding joint. The output end of the sliding joint is connected to a first upper rotating joint 16. The output end of the first upper rotating joint 16 is connected to a first fixed shaft 17. The first fixed shaft 17 is fixed to the moving platform 2.

[0058] Specifically, the sliding joint includes a first lower push rod 14, a first upper push rod 15, and a first motor 13. The first motor 13 drives the first upper push rod 15 to translate along the first lower push rod 14. The first lower push rod 14 is connected to the first lower rotating joint 12, and the first upper push rod 15 is connected to the first upper rotating joint 16.

[0059] Specifically, the first branch base 11 is connected to the static platform 1.

[0060] and Figure 1 Combined, the first fixed shaft 17 is fixed in the side wall of the moving platform 2.

[0061] Specifically, such as Figure 3 As shown, the second branch L2 includes a second slider 21, which includes an upper protrusion with a through hole. The through hole connects to form a second lower rotating joint 22, which is connected to a sliding joint. The output end of the sliding joint is connected to a second upper rotating joint 26, and the output end of the second upper rotating joint 26 is connected to a second fixed shaft 27. The second fixed shaft 27 is fixed to the moving platform 2.

[0062] Specifically, the lower part of the second slider 21 has a T-shaped structure.

[0063] Specifically, the sliding joint includes a second lower push rod 24, a second upper push rod 25, and a second motor 23. The second motor 23 drives the second upper push rod 25 to translate along the second lower push rod 24. The second lower push rod 24 is connected to the second lower rotating joint 22, and the second upper push rod 25 is connected to the second upper rotating joint 26.

[0064] Specifically, such as Figure 4 As shown, the fourth linear sliding pair P4 includes a fourth guide rail base 41, in which a guide space is formed to guide the fourth slider 44. A fourth motor 42 is provided on one side of the fourth guide rail base 41, and a fourth lead screw 43 is provided at the output end of the fourth motor 42. The fourth lead screw 43 drives the fourth slider 44.

[0065] The first branch L1, the second branch L2, the third branch L3, and the fourth linear moving joint P4 are all equipped with motors, which can drive their respective moving joints. Example 1

[0066] like Figures 1 to 4 As shown, a three-branch, four-degree-of-freedom parallel machining robot includes the following components: a static platform 1, a moving platform 2, an electric spindle 3, a first branch L1, a second branch L2, a third branch L3, and a fourth linear translating pair P4.

[0067] Both the first branch L1 and the third branch L3 include the following structure: a first branch base 11,

[0068] First lower rotating joint 12, first motor 13, first lower push rod 14, first upper push rod 15, first upper rotating joint 16, first fixed shaft 17.

[0069] The second branch L2 includes the following structures: a second slider 21, a second lower rotating joint 22, a second motor 23, a second lower push rod 24, a second upper push rod 25, a second upper rotating joint 26, and a second fixed shaft 27.

[0070] The fourth linear sliding pair P4 includes the following structure: fourth guide rail base P41, fourth motor P42, fourth lead screw P43, and fourth slider P44.

[0071] The first branch L1, the second branch L2, and the third branch L3 are connected to the moving platform 2 via revolute joints. The electric spindle 3 is fixedly connected to the moving platform 2.

[0072] The first branch L1 and the third branch L3 are connected to the stationary platform 1 via a revolute joint.

[0073] The second branch L2 is connected to the fourth slider 44 of the fourth linear sliding joint P4 via a revolute joint.

[0074] The axes of the first lower rotating joint 12 in the first branch L1 and the third branch L3 are parallel. Example 2

[0075] like Figure 5 As shown, a three-branch, four-degree-of-freedom parallel machining robot includes the following components: a static platform 1, a moving platform 2, an electric spindle 3, a first branch L1, a second branch L2, a third branch L3, and a fourth linear translating pair P4.

[0076] The first branch L1, the second branch L2, and the third branch L3 each include the following structure: branch base 11, rotating joint 12, motor 13, lower push rod 14, upper push rod 15, rotating joint 16, and fixed shaft 17.

[0077] The first branch L1, the second branch L2, and the third branch L3 are connected to the moving platform 2 via revolute joints. The electric spindle 3 is fixedly connected to the moving platform 2.

[0078] The first branch L1, the second branch L2, and the third branch L3 are connected to the static platform 1 via the first linear sliding joint P1, the second linear sliding joint P2, and the third linear sliding joint P3, respectively.

[0079] The first linear sliding joint P1, the second linear sliding joint P2, and the third linear sliding joint P3 are fixedly connected to the static platform 1.

[0080] The first branch L1, the second branch L2, the third branch L3, the first linear prismatic joint P1, and the third linear prismatic joint P3 are all equipped with motors, which can realize the driving of the prismatic joints.

[0081] There is no lead screw at the second linear moving joint P2, so no motor needs to be installed. The movement of the second linear moving joint P2 is passive.

[0082] This invention features three parallel branches, resulting in high overall rigidity. The bottom of the second branch is connected to a stationary platform via a linear guide rail, allowing the second branch to slide along the stationary platform and enabling the robot end effector to have a large working space.

[0083] This invention combines the advantages of high overall rigidity, good flexibility, large working space, and low cost.

Claims

1. A three-branch, four-degree-of-freedom parallel machining robot, comprising a static platform (1) as the machining foundation and a dynamic platform (2) as the pose adjustment platform, characterized in that: A first branch (L1), a second branch (L2), and a third branch (L3) for pose adjustment are provided between the static platform (1) and the moving platform (2). A fourth linear motion pair (P4) is also provided on the static platform (1). A second branch (L2) is provided on the moving end of the fourth linear motion pair (P4). The output end of the second branch (L2) is connected to the moving platform (2). The first branch (L1) and the third branch (L3) have the same structure, and the first branch (L1) and the third branch (L3) are symmetrically arranged on the static platform (1). The first branch (L1) and the third branch (L3) each include the following structures: first branch base (11), first lower rotating joint (12), first motor (13), first lower push rod (14), first upper push rod (15), first upper rotating joint (16), and first fixed shaft (17). The second branch (L2) includes the following structure: second slider (21), second lower rotating joint (22), second motor (23), second lower push rod (24), second upper push rod (25), second upper rotating joint (26), and second fixed shaft (27); The fourth linear sliding pair (P4) includes the following structure: fourth guide rail base (41), fourth motor (42), fourth lead screw (43), and fourth slider (44). The first branch (L1), the second branch (L2), and the third branch (L3) are connected to the moving platform (2) via a rotating joint, and the electric spindle (3) is fixedly connected to the moving platform (2); The first branch (L1) and the third branch (L3) are connected to the stationary platform (1) via a revolute joint; The second branch (L2) is connected to the fourth slider (44) of the fourth linear sliding joint (P4) via a revolute joint.

2. The parallel processing robot with three branches and four degrees of freedom according to claim 1, characterized in that: The rotating joint is located on the side wall or back of the moving platform (2).

3. The parallel processing robot with three branches and four degrees of freedom according to claim 1, characterized in that: The first branch (L1), the second branch (L2), and the third branch (L3) are all active branches.

4. The parallel processing robot with three branches and four degrees of freedom according to claim 1, characterized in that: The bottom of the first branch (L1) and the third branch (L3) are connected at the bottom through the first lower rotating joint (12).

5. A three-branch, four-degree-of-freedom parallel machining robot according to claim 1, characterized in that: The bottom of the second branch (L2) is provided with a first lower rotating joint (12), which is connected to the fourth linear sliding joint (P4).

6. A three-branch, four-degree-of-freedom parallel processing robot according to claim 5, characterized in that: The upper end of the fourth slider (44) is connected to the first lower rotating joint (12).

7. A three-branch, four-degree-of-freedom parallel processing robot according to claim 6, characterized in that: The fourth guide rail base (41) is provided with a fourth lead screw (43) driven by a fourth motor (42), and the fourth slider (44) is driven by the fourth lead screw (43).

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