Five-degree-of-freedom hybrid machining robot

Abstract

The application discloses a five-degree-of-freedom hybrid machining robot, which comprises a static platform as a machining base and a dynamic platform as a pose adjustment, and A-group supporting chains and B-group supporting chains for pose adjustment are arranged between the static platform and the dynamic platform, the supporting chains in the A-group supporting chains and the B-group supporting chains are symmetrically arranged, the static platform moves along a horizontal guide rail, and the five-degree-of-freedom hybrid machining robot is formed. The A-group supporting chains comprise a first supporting chain L1 and a second supporting chain L2, and the first supporting chain L1 and the second supporting chain L2 are arranged in an approximately parallel manner between the static platform and the dynamic platform in an initial state. The B-group supporting chains comprise a third supporting chain L3 and a fourth supporting chain L4, and the third supporting chain L3 and the fourth supporting chain L4 are arranged in a triangular manner between the static platform and the dynamic platform. The five-degree-of-freedom hybrid machining robot has the advantages of high rigidity and a large working space, and can realize intelligent machining of key parts in high-end equipment.

Description

Technical Field

[0001] This invention belongs to the field of machining robot technology, specifically relating to a five-degree-of-freedom hybrid machining robot. Background Technology

[0002] Currently, machining robots play a vital role in manufacturing, becoming indispensable automated equipment in modern manufacturing. Compared to CNC machine tools, industrial robots offer advantages such as high mobility, large working space, strong environmental adaptability, and, most importantly, low manufacturing cost. As a plug-and-play functional module, equipped with long-stroke guideways and omnidirectional moving platforms, they can be used to build various types of single-machine / multi-machine flexible manufacturing units or systems. Because most existing machining robots are articulated robots, the stiffness of their hinges and components is relatively low, resulting in a tool center point linear stiffness far lower than the linear stiffness of a CNC machine tool with the same working space. Hybrid robots, however, inherit or compensate for the advantages or shortcomings of CNC machine tools and articulated robots to varying degrees in terms of flexibility, reconfigurability, speed, stiffness, accuracy, and dynamic characteristics.

[0003] To better meet the processing needs of large and complex parts, there is an urgent need to invent a five-degree-of-freedom hybrid processing robot that has both high rigidity and a large workspace. Summary of the Invention

[0004] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a five-degree-of-freedom hybrid processing robot.

[0005] The technical solution of the present invention is: a five-degree-of-freedom hybrid machining robot, comprising a static platform as the machining base and a moving platform as the posture adjustment base. A group of branches and a group of branches for posture adjustment are arranged between the static platform and the moving platform. The branches within the groups of branches A and B are symmetrically arranged. The static platform moves along a horizontal guide rail to form a hybrid machining robot.

[0006] Furthermore, the A-group branches include a first branch L1 and a second branch L2, which are arranged in an approximately parallel manner between the static platform and the moving platform.

[0007] Furthermore, the first branch L1 is connected to the stationary platform via a first branch revolute joint, and the second branch L2 is connected to the stationary platform via a second branch revolute joint. The installation positions of the first branch revolute joint and the second branch revolute joint are coplanar with the stationary platform.

[0008] Furthermore, the first branch L1 is connected to the moving platform via a first branch ball joint, and the second branch L2 is connected to the moving platform via a second branch ball joint.

[0009] Furthermore, the B-group branches include a third branch L3 and a fourth branch L4, which are arranged in a triangular pattern between the static platform and the moving platform.

[0010] Furthermore, the third branch L3 is connected to the stationary platform via the lower Hooke's hinge of the third branch, and the fourth branch L4 is connected to the stationary platform via the lower Hooke's hinge of the fourth branch.

[0011] Furthermore, the third branch L3 is connected to the moving platform via a Hooke's hinge on the third branch, and the fourth branch L4 is connected to the moving platform via a Hooke's hinge on the fourth branch.

[0012] Furthermore, the installation positions of the third branch lower Hooke hinge and the fourth branch lower Hooke hinge are not coplanar with the static platform.

[0013] Furthermore, each of the first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 is equipped with a pose adjustment sliding joint.

[0014] Furthermore, the moving platform is equipped with an electric spindle for machining.

[0015] The beneficial effects of this invention are as follows:

[0016] In this invention, the horizontal guide rail drives the static platform linearly, and the first branch, second branch, third branch, and fourth branch adjust the pose of the moving platform in parallel, thus forming a hybrid robot structure.

[0017] This invention effectively improves the stiffness of the branch by arranging the load in a linear manner, while also meeting the degree of freedom requirements of the branch.

[0018] The five-degree-of-freedom hybrid machining robot of the present invention has the advantages of high rigidity and large working space, and can realize intelligent machining of key components in high-end equipment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the first branch in this invention;

[0021] Figure 3 This is a schematic diagram of the structure of the second branch in this invention;

[0022] Figure 4 This is a schematic diagram of the structure of the third branch in this invention;

[0023] Figure 5 This is a schematic diagram of the structure of the fourth branch in this invention;

[0024] in:

[0025] 1. Static platform 2. Dynamic platform

[0026] 3 Electric spindle 4 Slider

[0027] 5. Motor; 6. Horizontal guide rail

[0028] L1 First branch L2 Second branch

[0029] L3 Third branch L4 Fourth branch

[0030] 11 First branch revolute joint 12 Second branch prismatic joint

[0031] 13 First hammer attachment

[0032] 21 Second branch revolute joint 22 Second branch prismatic joint

[0033] 23 Second hammer attachment

[0034] 31 Hooke hinge of the third branch 32 Cylindrical joint of the third branch

[0035] 33. Hooke's hinge on the third chain

[0036] 41. Hooke's hinge of the fourth branch

[0037] 42. Cylindrical joint of the fourth branch. 43. Hooke's hinge on the fourth branch. Detailed Implementation

[0038] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0039] like Figures 1 to 5 As shown, a five-degree-of-freedom hybrid machining robot includes a static platform 1 as the machining base and a moving platform 2 as the posture adjustment base. A group of branches and a group of branches for posture adjustment are arranged between the static platform 1 and the moving platform 2. The branches within the groups of branches A and B are symmetrically arranged. The static platform 1 moves along a horizontal guide rail 6 to form a hybrid machining robot.

[0040] The A-group branches include a first branch L1 and a second branch L2, which are arranged in an approximately parallel manner between the static platform 1 and the moving platform 2.

[0041] The first branch L1 is connected to the stationary platform 1 through the first branch rotating joint 11, and the second branch L2 is connected to the stationary platform 1 through the second branch rotating joint 21. The installation positions of the first branch rotating joint 11 and the second branch rotating joint 21 are coplanar with the stationary platform 1.

[0042] The first branch L1 is connected to the moving platform 2 via the first branch ball joint 13, and the second branch L2 is connected to the moving platform 2 via the second branch ball joint 23.

[0043] The B group of branches includes a third branch L3 and a fourth branch L4, which are arranged in a triangular pattern between the static platform 1 and the moving platform 2.

[0044] The third branch L3 is connected to the stationary platform 1 via the lower Hooke hinge 31 of the third branch, and the fourth branch L4 is connected to the stationary platform 1 via the lower Hooke hinge 41 of the fourth branch.

[0045] The third branch L3 is connected to the moving platform 2 via the Hooke hinge 33 on the third branch, and the fourth branch L4 is connected to the moving platform 2 via the Hooke hinge 43 on the fourth branch.

[0046] The installation positions of the third branch lower Hooke hinge 31 and the fourth branch lower Hooke hinge 41 are not coplanar with the static platform 1.

[0047] The first branch L1, the second branch L2, the third branch L3, and the fourth branch L4 are all equipped with pose adjustment sliding pairs.

[0048] The moving platform 2 is equipped with an electric spindle 3 for machining.

[0049] Specifically, such as Figure 1 The horizontal guide rail 6 serves as the moving basis for the static platform 1, and the static platform 1 serves as the position and posture adjustment basis for the moving platform 2, thus forming a hybrid series-parallel connection.

[0050] Specifically, the A group of branches includes a first branch L1 and a second branch L2, which have the same structure and are symmetrically arranged. The B group of branches includes a third branch L3 and a fourth branch L4, which have the same structure and are symmetrically arranged.

[0051] Specifically, the first branch L1 and the second branch L2 are arranged in an approximately parallel manner, while the third branch L3 and the fourth branch L4 are arranged in a triangular manner.

[0052] Specifically, such as Figure 2 As shown, the first branch L1 includes a first branch revolute joint 11, a second branch prismatic joint 12, and a first branch ball joint 13. The second branch prismatic joint 12 is connected in series with the first branch revolute joint 11 and the first branch ball joint 13. The second branch prismatic joint 12 is equipped with a slider 4 and a motor 5 that drives the slider. The slider 4 is connected to the first branch revolute joint 11, which is connected to the stationary platform 1. The first branch ball joint 13 is connected to the back of the moving platform 2.

[0053] The second branch moving joint 12 may, but is not limited to, use a central lead screw and the moving method of the two side guide rails.

[0054] Specifically, the center of the first branch ball joint 13 is on the axis of the second branch sliding joint 12, and the axis of the second branch sliding joint 12 is perpendicular to the axis of the first branch rotating joint 11, which ensures the stiffness of the constrained branch and avoids bending moment caused by the offset arrangement of the first branch rotating joint 11 and the first branch ball joint 13.

[0055] Specifically, when the second branch moving joint 12 moves, it causes the first branch rotating joint 11 and the first branch ball joint 13 to rotate at an angle.

[0056] Specifically, such as Figure 3 As shown, the second branch L2 includes a second branch rotatable joint 21, a second branch prismatic joint 22, and a second branch ball joint 23. The connection method of the second branch L2 is the same as that of the first branch L1.

[0057] Specifically, branch chain 1 L1 and branch chain 2 L2 are connected to the stationary platform 1 through the first branch chain rotating joint 11 and the second branch chain rotating joint 21. The first branch chain rotating joint 11 and the second branch chain rotating joint 21 are respectively installed on the side wall of the stationary platform 1 and arranged symmetrically. The first branch chain rotating joint 11 and the second branch chain rotating joint 21 are used to adjust the angle between the axis of branch chain 1 L1 and branch chain 2 L2 and the plane of the stationary platform 1.

[0058] Specifically, in branch L1, the first branch ball joint 13 and the first branch rotating joint 11 are connected by the second branch sliding joint 12. The second branch sliding joint 12 adjusts the distance between the first branch ball joint 13 and the first branch rotating joint 11 by rotating and extending the lead screw.

[0059] Specifically, such as Figure 4 As shown, the third branch L3 includes a lower Hooke's hinge 31, a cylindrical joint 32, and an upper Hooke's hinge 33. The cylindrical joint 32 is connected in series with the lower Hooke's hinge 31 and the upper Hooke's hinge 33. The cylindrical joint 32 is driven by the motor 5 for extension and retraction. The lower Hooke's hinge 3 is connected to the stationary platform 1, and the upper Hooke's hinge 33 is connected to the moving platform 2.

[0060] Specifically, the centers of the lower Hooke hinge 31 and the upper Hooke hinge 33 of the third branch are both on the axis of the cylindrical joint 32 of the third branch.

[0061] In Group B, the upper and lower Hooke subcenters of the two branches are both on the cylindrical subaxis.

[0062] Specifically, such as Figure 5As shown, the fourth branch L4 includes a lower Hooke hinge 41, a cylindrical joint 42, and an upper Hooke hinge 43. The connection method of the fourth branch L4 is the same as that of the third branch L3.

[0063] Specifically, the third branch L3 and the fourth branch L4 are connected to the moving platform 2 via the upper Hooke hinge 33 and the upper Hooke hinge 43 of the third branch, and the upper Hooke hinge 33 and the upper Hooke hinge 43 of the fourth branch are installed on the side of the moving platform 2 close to the stationary platform 1; the third branch L3 and the fourth branch L4 are connected to the stationary platform 1 via the lower Hooke hinge 31 and the lower Hooke hinge 41 of the third branch, and the upper Hooke hinge 33 and the upper Hooke hinge 43 of the third branch and the lower Hooke hinge 31 and the lower Hooke hinge 41 of the fourth branch are connected via their respective cylindrical joints 32 and 42 of the third branch.

[0064] Specifically, the lower Hooke hinge 31 of the third branch and the lower Hooke hinge 41 of the fourth branch are arranged far apart, while the upper Hooke hinge 33 of the third branch and the upper Hooke hinge 43 of the fourth branch are arranged close together.

[0065] Specifically, the moving platform 2 is equipped with an electric spindle 3 as an output unit, and different electric spindles 3 can be replaced according to different work tasks to complete the machining tasks.

[0066] In this invention, the horizontal guide rail drives the static platform linearly, and the first branch, second branch, third branch, and fourth branch adjust the pose of the moving platform in parallel, thus forming a hybrid robot structure.

[0067] This invention effectively improves the stiffness of the branch by arranging the load in a linear manner, while also meeting the degree of freedom requirements of the branch.

[0068] The five-degree-of-freedom hybrid machining robot of the present invention has the advantages of high rigidity and large working space, and can realize intelligent machining of key components in high-end equipment.

Claims

1. A five-degree-of-freedom hybrid machining robot, comprising a static platform (1) as the machining basis and a dynamic platform (2) as the pose adjustment platform, characterized in that: The static platform (1) and the moving platform (2) are provided with A group branches and B group branches for posture adjustment. The branches within the A group branches and B group branches are symmetrically arranged. The static platform (1) moves along the horizontal guide rail (6) to form a hybrid processing robot. The A-group branches include a first branch (L1) and a second branch (L2), which are arranged in an approximately parallel manner between the static platform (1) and the moving platform (2). The first branch (L1) is connected to the stationary platform (1) through the first branch rotating joint (11), and the second branch (L2) is connected to the stationary platform (1) through the second branch rotating joint (21). The installation positions of the first branch rotating joint (11) and the second branch rotating joint (21) are coplanar with the stationary platform (1). The first branch (L1) is connected to the moving platform (2) through the first branch ball joint (13), and the second branch (L2) is connected to the moving platform (2) through the second branch ball joint (23); The B group of branches includes a third branch (L3) and a fourth branch (L4), which are arranged in a triangular pattern between the static platform (1) and the moving platform (2). The third branch (L3) is connected to the stationary platform (1) via the lower Hooke hinge (31) of the third branch, and the fourth branch (L4) is connected to the stationary platform (1) via the lower Hooke hinge (41) of the fourth branch. The third branch (L3) is connected to the moving platform (2) via the Hooke hinge (33) on the third branch, and the fourth branch (L4) is connected to the moving platform (2) via the Hooke hinge (43) on the fourth branch; The first branch (L1), the second branch (L2), the third branch (L3), and the fourth branch (L4) are all equipped with pose adjustment sliding pairs.

2. The five-degree-of-freedom hybrid machining robot according to claim 1, characterized in that: The installation positions of the third branch lower Hooke hinge (31) and the fourth branch lower Hooke hinge (41) are not coplanar with the static platform (1).

3. The five-degree-of-freedom hybrid machining robot according to claim 1, characterized in that: The moving platform (2) is equipped with an electric spindle (3) for machining.

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