Portable parallel drive machining robot

Abstract

The application belongs to the field of robots, and discloses a portable parallel driving machining robot, which comprises a second static platform, a dynamic platform and three branches with the same configuration; the three branches are respectively a first branch, a second branch and a third branch; the first branch and the second branch are symmetrically distributed and are in the same plane, and the plane where the first branch and the second branch are located is perpendicular to the plane where the third branch is located; the application proposes a new mechanism topology structure, which can improve the dynamic characteristics of the robot. The passive branch chain of each branch comprises a closed loop motion chain, which can effectively improve the rigidity and load capacity of the robot; the mechanism topology structure of each branch is simple, the driving device is reasonably configured, and the robot has the advantages of light weight.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a portable parallel-drive processing robot. Background Technology

[0002] High-efficiency, high-quality machining equipment for complex parts such as large components and aerospace composite structural parts is a hot research and demand area in the industry. To meet the demands of agile machining, one-time clamping machining, complex machining, and machining with compound angles, and to ensure part accuracy and production efficiency, machining equipment needs to possess multi-axis linkage capabilities. Machining equipment based on serial mechanisms is bulky and has limitations such as long attitude adjustment time and poor dynamic response. Furthermore, in the machining of some large and complex components, it cannot meet machining requirements in terms of rigidity and flexibility. Therefore, there is a need to design a lightweight, large-angle-range, and energy-efficient portable multi-axis linkage machining robot. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a portable parallel-drive processing robot to solve the problems in the prior art. The technical solution adopted by this invention is as follows:

[0004] A portable parallel-drive machining robot includes a second static platform 102, a moving platform 501, and three branches with the same configuration;

[0005] The three branches are: branch 1 201, branch 2 301 and branch 3 401. Branch 1 201 and branch 2 301 are symmetrically distributed and on the same plane. The plane on which they are located is perpendicular to the plane on which branch 3 401 is located.

[0006] The three branches include a first driving branch 202 and a first passive branch 203. One end of the first driving branch 202 is fixedly connected to one end of the first passive branch 203, and the part where the two are connected is rotatably connected to the second static platform 102. The end of the first passive branch 203 away from the first driving branch 202 is connected to the moving platform 501 through a ball joint.

[0007] Furthermore, the first drive branch 202 includes a first drive motor 2021, a second drive motor 2022, a first connecting rod 2023, a second connecting rod 2024, a third connecting rod 2025, a fourth connecting rod 2026, a fifth connecting rod 2027, a sixth connecting rod 2028, and a seventh connecting rod 2029;

[0008] The first drive motor 2021 and the second drive motor 2022 are symmetrically arranged and fixedly arranged on the side of the first static platform 101. The first static platform 101, the second static platform 102 and the moving platform 501 are distributed from top to bottom.

[0009] The output end of the first drive motor 2021 is fixedly connected to the head of the first connecting rod 2023; the end of the first connecting rod 2023 is connected to the head of the second connecting rod 2024 via a ball joint; the end of the second connecting rod 2024 is connected to the head of the third connecting rod 2025 via a ball joint; the end of the third connecting rod 2025 is rotatably connected to the seventh connecting rod 2029; and the seventh connecting rod 2029 is rotatably connected to the second static platform 102.

[0010] The output end of the second drive motor 2022 is fixedly connected to the head of the fourth link 2026. The end of the fourth link 2026 is connected to the head of the fifth link 2027 via a ball joint. The end of the fifth link 2027 is connected to the head of the sixth link 2028 via a ball joint. The end of the sixth link 2028 is rotatably connected to the seventh link 2029.

[0011] Furthermore, the rotation axes of the heads of the first link 2023 and the fourth link 2026 are coaxially distributed, and the rotation axes of the third link 2025 and the sixth link 2028 connected to the seventh link 2029 are coaxially distributed; the rotation axis of one end of the seventh link 2029 connected to the second static platform 102 is perpendicular to the rotation axis of the other end of the seventh link 2029.

[0012] Furthermore, the first passive branch 203 includes an eighth link 2031, a ninth link 2032, a tenth link 2033, and an eleventh link 2034;

[0013] The head of the 8th link 2031 is fixedly connected to the end of the 3rd link 2025, the end of the 8th link 2031 is fixedly connected to the head of the 6th link 2028, the end of the 8th link 2031 is rotatably connected to the head of the 9th link 2032, the end of the 10th link 2033 is rotatably connected to the 11th link 2034; the head of the 10th link 2033 is rotatably connected to the middle of the 8th link 2031; the end of the 11th link 2034 is rotatably connected to the middle of the 9th link 2032, and the end of the 9th link 2032 is connected to the moving platform 501 via a ball joint.

[0014] Furthermore, the 8th link 2031, the 9th link 2032, the 10th link 2033, and the 11th link 2034 together form a quadrilateral hollow section. The rotation axes of the ends of these four links are parallel to each other, and the four endpoints of the quadrilateral hollow section are the intersection points of the kinematic pairs of the four links and the plane in which the quadrilateral hollow section is located.

[0015] The present invention has the following beneficial effects:

[0016] This invention proposes a novel mechanism topology consisting of three parallel branches. Each branch includes a drive chain and a passive chain connected to a static platform. The drive motors of each branch are fixedly mounted on the static platform. Each drive chain contains two spatial closed-loop linkages. The input motion generated by the drive motors is transmitted to the passive chains through the drive chains. This design improves the robot's dynamic characteristics. Each passive chain contains a closed-loop kinematic chain, effectively enhancing the robot's stiffness and load-bearing capacity. The mechanism topology of each branch is simple, the drive device is rationally configured, and it boasts lightweight advantages. Furthermore, the end of each branch is connected to the moving platform via a ball joint, effectively improving the robot's posture adjustment capability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a diagram of branch 1 and branch 2;

[0019] Figure 3 This is a diagram of the third branch;

[0020] Figure 4 This is a schematic diagram of the first driving branch and the first passive branch;

[0021] Figure 5 This is a schematic diagram of the first driving branch;

[0022] Figure 6 This is a schematic diagram of the first passive branch;

[0023] Among them, the first static platform 101, the second static platform 102, the first branch 201, the second branch 301, the third branch 401, the first drive branch 202, the first passive branch 203, the first drive motor 2021, the second drive motor 2022, the first link 2023, the second link 2024, the third link 2025, the fourth link 2026, the fifth link 2027, the sixth link 2028, the seventh link 2029, the eighth link 2031, the ninth link 2032, the tenth link 2033, the eleventh link 2034, and the moving platform 501. Detailed Implementation

[0024] The following will be based on embodiments of the present invention. Figures 1-6 The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0025] A portable parallel-drive machining robot includes a second static platform 102, a moving platform 501, and three branches with the same configuration;

[0026] The three branches are: branch 1 201, branch 2 301 and branch 3 401. Branch 1 201 and branch 2 301 are symmetrically distributed and on the same plane. The plane on which they are located is perpendicular to the plane on which branch 3 401 is located.

[0027] The three branches include a first driving branch 202 and a first passive branch 203. One end of the first driving branch 202 is fixedly connected to one end of the first passive branch 203, and the part where the two are connected is rotatably connected to the second static platform 102. The end of the first passive branch 203 away from the first driving branch 202 is connected to the moving platform 501 through a ball joint.

[0028] Furthermore, the first drive branch 202 includes a first drive motor 2021, a second drive motor 2022, a first connecting rod 2023, a second connecting rod 2024, a third connecting rod 2025, a fourth connecting rod 2026, a fifth connecting rod 2027, a sixth connecting rod 2028, and a seventh connecting rod 2029;

[0029] The first drive motor 2021 and the second drive motor 2022 are symmetrically arranged and fixedly arranged on the side of the first static platform 101. The first static platform 101, the second static platform 102 and the moving platform 501 are distributed from top to bottom.

[0030] The output end of the first drive motor 2021 is fixedly connected to the head of the first connecting rod 2023; the end of the first connecting rod 2023 is connected to the head of the second connecting rod 2024 via a ball joint; the end of the second connecting rod 2024 is connected to the head of the third connecting rod 2025 via a ball joint; the end of the third connecting rod 2025 is rotatably connected to the seventh connecting rod 2029; and the seventh connecting rod 2029 is rotatably connected to the second static platform 102.

[0031] The output end of the second drive motor 2022 is fixedly connected to the head of the fourth link 2026, the end of the fourth link 2026 is connected to the head of the fifth link 2027 through a ball joint, the end of the fifth link 2027 is connected to the head of the sixth link 2028 through a ball joint, and the end of the sixth link 2028 is rotatably connected to the seventh link 2029.

[0032] Furthermore, the rotation axes of the heads of the first link 2023 and the fourth link 2026 are coaxially distributed, the rotation axes of the two ends of the third link 2025 and the sixth link 2028 are coaxially distributed, and the rotation axes of the third link 2025 and the sixth link 2028 connecting to the seventh link 2029 are coaxially distributed; the rotation axis of one end of the seventh link 2029 connected to the second static platform 102 is perpendicular to the rotation axis of the other end of the seventh link 2029.

[0033] Furthermore, the first passive branch 203 includes an eighth link 2031, a ninth link 2032, a tenth link 2033, and an eleventh link 2034;

[0034] The head of the 8th link 2031 is fixedly connected to the end of the 3rd link 2025, the end of the 8th link 2031 is fixedly connected to the head of the 6th link 2028, the end of the 8th link 2031 is rotatably connected to the head of the 9th link 2032, the end of the 10th link 2033 is rotatably connected to the 11th link 2034; the head of the 10th link 2033 is rotatably connected to the middle of the 8th link 2031; the end of the 11th link 2034 is rotatably connected to the middle of the 9th link 2032, and the end of the 9th link 2032 is connected to the moving platform 501 via a ball joint.

[0035] Furthermore, the 8th link 2031, the 9th link 2032, the 10th link 2033, and the 11th link 2034 together form a quadrilateral hollow section. The rotation axes of the ends of these four links are parallel to each other, and the four endpoints of the quadrilateral hollow section are the intersection points of the kinematic pairs of the four links and the plane in which the quadrilateral hollow section is located.

[0036] The motion process of this invention is as follows:

[0037] When the first drive motor 2021 and the second drive motor 2022 are driven, the motors generate rotational input motion, which is transmitted to the first passive branch 203 through the first drive branch 202.

[0038] Since the head of the first passive branch 203 (i.e., the 8th link 2031) is fixedly connected to the ends of the 3rd link 2025 and the 6th link 2028, and the 3rd link 2025 and the 6th link 2028 are rotatably connected to the 7th link 2029, the ends of the first drive branch 202 (i.e., the 3rd link 2025) and the ends of the second drive branch (i.e., the 6th link 2028) will directly drive the 8th link 2031 to rotate.

[0039] When the first drive motor 2021 and the second drive motor 2022 are driven in synchronous mode, the eighth link 2031 generates a rotational motion about the second stationary platform 102 (the axis around which this rotational motion is denoted as rotation axis 1); when the first drive motor 2021 and the second drive motor 2022 are driven in differential mode, the eighth link 2031 generates a rotational motion about the second stationary platform 102, and the axis around which this rotational motion is perpendicular to rotation axis 1. Therefore, the first drive branch 202 can drive the eighth link 2031 to perform a two-degree-of-freedom rotational motion.

[0040] Links 8 (2031), 9 (2032), 10 (2033), and 11 (2034), along with their interconnected revolute joints, form a closed-loop kinematic chain, denoted as the first closed-loop sub-chain. Since the axes of all revolute joints within the first closed-loop sub-chain are parallel, it possesses one rotational degree of freedom. That is, link 9 (2032) can rotate around the end of link 8 (2031).

[0041] Since the end of the 9th link 2032 is connected to the moving platform 501 via a ball joint, it can be concluded that the first branch 201 has 6 degrees of freedom. Similarly, the second branch 301 and the third branch 401 also each have 6 degrees of freedom.

[0042] When the six motors of these three branches are driven, the moving platform 501 can generate three-dimensional spatial movement and three-dimensional rotation.

[0043] Compared to existing technologies, this invention proposes a novel mechanism topology consisting of three parallel branches. Each branch includes a drive chain and a passive chain connected to a static platform. The drive motor of each branch is fixedly mounted on the static platform, and each drive chain contains two spatial closed-loop linkage mechanisms. The input motion generated by the drive motor is transmitted to the passive chain through the drive chain. This design improves the robot's dynamic characteristics. Each passive chain contains a closed-loop kinematic chain, effectively enhancing the robot's stiffness and load-bearing capacity. The mechanism topology of each branch is simple, the drive device is rationally configured, and it boasts lightweight advantages. Furthermore, the end of each branch is connected to the moving platform 501 via a ball joint, effectively improving the robot's posture adjustment capability.

[0044] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, alterations, substitutions, or variations made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A portable parallel-drive processing robot, characterized in that, It includes a second static platform (102), a dynamic platform (501), and three branches with the same configuration; The three branches are: the first branch (201), the second branch (301) and the third branch (401). The first branch (201) and the second branch (301) are symmetrically distributed and on the same plane. The plane on which the two branches are located is perpendicular to the plane on which the third branch (401) is located. The three branches include a first driving branch (202) and a first passive branch (203). One end of the first driving branch (202) is fixedly connected to one end of the first passive branch (203), and the part where the two are connected is rotatably connected to the second static platform (102). The end of the first passive branch (203) away from the first driving branch (202) is connected to the moving platform (501) through a ball joint. The first drive branch (202) includes a first drive motor (2021), a second drive motor (2022), a first link (2023), a second link (2024), a third link (2025), a fourth link (2026), a fifth link (2027), a sixth link (2028), and a seventh link (2029). The first drive motor (2021) and the second drive motor (2022) are symmetrically arranged and fixedly arranged on the side of the first static platform (101). The first static platform (101), the second static platform (102) and the moving platform (501) are distributed from top to bottom. The output end of the first drive motor (2021) is fixedly connected to the head of the first link (2023), and the end of the first link (2023) is connected to the head of the second link (2024) via a ball joint; the end of the second link (2024) is connected to the head of the third link (2025) via a ball joint; the end of the third link (2025) is rotatably connected to the seventh link (2029); the seventh link (2029) is rotatably connected to the second stationary platform (102); The output end of the second drive motor (2022) is fixedly connected to the head of the fourth link (2026), the end of the fourth link (2026) is connected to the head of the fifth link (2027) by a ball joint, the end of the fifth link (2027) is connected to the head of the sixth link (2028) by a ball joint, and the end of the sixth link (2028) is rotatably connected to the seventh link (2029).

2. The portable parallel-drive processing robot according to claim 1, characterized in that, The rotation axes of the heads of the first link (2023) and the fourth link (2026) are coaxially distributed, and the rotation axes of the third link (2025) and the sixth link (2028) connected to the seventh link (2029) are coaxially distributed; the rotation axis of one end of the seventh link (2029) connected to the second stationary platform (102) is perpendicular to the rotation axis of the other end of the seventh link (2029).

3. The portable parallel-drive processing robot according to claim 1, characterized in that, The first passive branch (203) includes the 8th link (2031), the 9th link (2032), the 10th link (2033) and the 11th link (2034). The head of the 8th link (2031) is fixedly connected to the end of the 3rd link (2025), the end of the 8th link (2031) is fixedly connected to the head of the 6th link (2028), the end of the 8th link (2031) is rotatably connected to the head of the 9th link (2032), the end of the 10th link (2033) is rotatably connected to the 11th link (2034); the head of the 10th link (2033) is rotatably connected to the middle of the 8th link (2031); the end of the 11th link (2034) is rotatably connected to the middle of the 9th link (2032), and the end of the 9th link (2032) is connected to the moving platform (501) via a ball joint.

4. A portable parallel-drive processing robot according to claim 3, characterized in that, Links 8 (2031), 9 (2032), 10 (2033), and 11 (2034) together form a hollow quadrilateral. The rotation axes at the ends of these four links are parallel to each other, and the four endpoints of the hollow quadrilateral are the intersection points of the kinematic pairs at the ends of the four links and the plane in which the hollow quadrilateral is located.

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