Machining robot and machining system

Abstract

The invention relates to the technical field of precision machining, and provides a machining robot and a machining system.The machining robot comprises a macro-motion device and a micro-motion device; the base disc and the connecting disc are oppositely arranged in the first axis X direction, the driving assemblies are arranged between the base disc and the connecting disc and distributed around the first axis X, and the two ends of each driving assembly are movably connected to the base disc and the connecting disc correspondingly; the micro-motion device comprises a main body, a micro-motion transmission assembly arranged on the main body and a connector arranged on the micro-motion transmission assembly; the main body is arranged on the connecting disc so as to be connected with the driving assemblies in series; the inching transmission assembly is used for driving the connector to move in any direction of the first axis X, the second axis Y and the third axis Z. The micro-motion device and the macro-motion device are connected in series and cooperatively work to drive the connector to move; the macro-motion device and the micro-motion device can realize adjustment of the connector in a three-dimensional space, so that the movable adjustment range is expanded, and the adjustment precision is improved.

Description

Technical Field

[0001] The present application relates to the field of precision machining technology, and in particular provides a machining robot and a machining system. Background Art

[0002] Ultra-precision machining technology is a cutting-edge technology in modern manufacturing and is widely used in aerospace, optoelectronics, precision instruments and other fields. With the rapid development of precision manufacturing, the platform is required to move over a large range and be able to position with high precision.

[0003] The existing single-stage driven motion platform can achieve high-speed and long-stroke motion, but the platform has certain limitations in positioning accuracy and response speed; at the same time, the existing micro-motion platform can achieve rapid response and high-precision positioning performance, but its motion range is usually limited to the micron level, the range of activity is limited, and the adjustment is not flexible enough. Therefore, how to combine the single-stage driven motion platform with the micro-motion platform to achieve long-stroke, wide-range and high-precision positioning motion is an urgent problem to be solved in the current precision manufacturing field. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a processing robot and a processing system, aiming to solve the problem that the existing motion platforms on the market cannot have both a long travel and high positioning accuracy.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] In the first aspect, an embodiment of the present application provides a processing robot, including a macro-motion device and a micro-motion device; the macro-motion device includes a base plate and a connecting plate arranged at intervals along a first axis X direction, and a plurality of groups of parallel drive components arranged between the base plate and the connecting plate and arranged around the first axis X, the two ends of the drive component are respectively movably connected to the base plate and the connecting plate, and each of the drive components can be telescopically adjusted; the micro-motion device includes a main body, a micro-motion transmission component arranged on the main body, and a connector arranged on the micro-motion transmission component; the main body is arranged on the connecting plate to be connected in series with each of the drive components; the micro-motion transmission component is used to drive the connector to move in any direction of the first axis X, the second axis Y, and the third axis Z, and the first axis X, the second axis Y, and the third axis Z are perpendicular to each other.

[0007] The processing robot of the present application has the following beneficial effects: the macro-motion device and the micro-motion device are connected in series and work together to drive the connector to move; the multiple driving components of the macro-motion device are telescopically coordinated to achieve the multi-degree-of-freedom and large-stroke activity adjustment of the connector, that is, the macro-motion device can achieve a large range of adjustment operations; the micro-motion device can fine-tune the position and posture of the connector, thereby performing high-precision adjustment and positioning operations. In addition, the micro-motion device can adjust the workpiece to be processed in three-dimensional space through the micro-motion transmission component, expand the range of activity adjustment, and increase the adjustment accuracy; and the micro-motion device and the driving components of the macro-motion device are arranged in series, the structure is simple and convenient for installation and layout.

[0008] In some embodiments, the driving assembly includes a linear module and universal joints arranged at opposite ends of the linear module; the universal joint located at one end of the linear module is connected to the base plate, and the universal joint located at the other end of the linear module is connected to the connecting plate.

[0009] By adopting the above technical solution, the driving component adopts a linear module to provide a displacement with a larger stroke. The two ends of the linear module are connected by a universal joint. There is a large range of adjustment angles between the driving component and the base plate, as well as between the driving component and the connecting plate. The adjustment is flexible and not easily restricted.

[0010] In some embodiments, the linear module includes a connecting table, a slide rail provided on the connecting table, a ball screw assembly, and a slide that slides with the slide rail through the ball screw assembly; the connecting table and the slide are respectively connected to the universal joint; the ball screw assembly includes a screw provided in the slide rail and a screw sleeve provided on the screw, and the slide is connected to the screw sleeve; a motor is also provided on the connecting table, and the motor is used to drive the screw to rotate around the axis.

[0011] By adopting the above technical solution, the linear module uses a ball screw motor product, which has very small friction resistance and the characteristics of high precision, reversibility and high efficiency, and is suitable for precision products.

[0012] In some embodiments, the motor and the slide rail are both arranged on the same side of the connecting platform, and the universal joint is provided on the side of the connecting platform away from the slide rail; the slide platform is provided with a support plate perpendicular to the slide platform and opposite to the connecting platform, and the universal joint is provided on the side of the support plate away from the connecting platform.

[0013] By adopting the above technical solution, the connecting platform is connected to the base plate through a universal joint, and the support plate is connected to the connecting plate through a universal joint; the connecting plate can be stably driven to move relative to the base plate by controlling the slide table to move along the slide rail.

[0014] In some embodiments, the number of the drive components is 6.

[0015] By adopting the above technical solution, six driving components are provided to realize active adjustment of the workpiece to be processed within six degrees of freedom in three-dimensional space, so that the workpiece to be processed can be flexibly adjusted within a larger range.

[0016] In some embodiments, the micro-motion transmission assembly includes three groups of mutually perpendicular hinge transmission assemblies, and the connector is connected to the main body through the three groups of hinge transmission assemblies, wherein one group of hinge transmission assemblies is arranged along the first axis X direction; each group of hinge transmission assemblies includes a first hinge assembly for connecting to the connector, a second hinge assembly provided on the main body, and a driver, the second hinge assembly is connected to the first hinge assembly, and the driver is used to drive the second hinge assembly to move.

[0017] By adopting the above technical solution, the micro-motion transmission assembly is a parallel three-dimensional structure, and the single hinge transmission assembly is a double hinge assembly, which has a stable structure and higher adjustment accuracy; the flexible hinge is a special kinematic pair that uses material deformation to generate displacement, which is used to provide limited angular displacement for complex motion around an axis, and has the advantages of no mechanical friction and no gap.

[0018] In some embodiments, the first hinge assembly includes a first flexible hinge parallel to or perpendicular to the first axis X; the second hinge assembly includes a support and a second flexible hinge provided at opposite ends of the support and used to connect to the main body; the opposite ends of the first flexible hinge are respectively connected to the support and the connector, and the first flexible hinge is perpendicular to the corresponding second flexible hinge.

[0019] By adopting the above technical solution, second flexible hinges are respectively provided at the opposite ends of the support, and the support is connected to the main body through the second flexible hinge, so that the main body and the support have good structural stability; and the actuator can better drive the support to move through the second flexible hinge, and the support and the connector are linked through the first flexible hinge, and the transmission feedback is rapid.

[0020] In some embodiments, the micro-transmission assembly includes a primary transmission assembly provided on the main body, a secondary transmission assembly provided on the primary transmission assembly, and a tertiary transmission assembly provided on the secondary transmission assembly; the connector is provided on the tertiary transmission assembly; the primary transmission assembly is used to drive the connector to move in the direction of the first axis X, the secondary transmission assembly is used to drive the connector to move along the second axis Y or along one direction of the third axis Z, and the tertiary actuator is used to drive the connector to move along the second axis Y or along the other direction of the third axis Z.

[0021] By adopting the above technical solution, the micro-transmission assembly is a three-dimensional structure in series, and the first-stage transmission assembly, the second-stage transmission assembly and the third-stage transmission assembly are connected in sequence, and the three work together to drive the connector to move.

[0022] In some embodiments, the first-level transmission assembly includes a first-level support frame and a first-level actuator provided on the main body, and a first-level flexible hinge provided on the first-level support frame; the second-level transmission assembly includes a second-level support frame connected to the first-level flexible hinge, a second-level flexible hinge provided on the second-level support frame, and a second-level actuator; the third-level transmission assembly includes a second-level support frame provided on the second-level flexible hinge, a third-level flexible hinge provided on the second-level support frame, and a third-level actuator; the connector is provided on the third-level flexible hinge.

[0023] By adopting the above technical solution, the primary support frame, the secondary support frame and the tertiary support frame are nested and connected layer by layer, the structure is easy to install and helps to save the structure volume.

[0024] In some embodiments, the primary transmission assembly further includes a transmission member connected between the secondary support frame and the primary actuator; the primary actuator drives the transmission member to drive the secondary support frame to move relative to the primary support frame along the first axis X direction.

[0025] By adopting the above technical solution, the primary actuator and the secondary support frame are spaced apart along the first axis X direction, and a good transmission effect is achieved by directly arranging a transmission member between the secondary support frame and the primary actuator.

[0026] In the second aspect, an embodiment of the present application provides a processing system, including a frame, a machine tool device arranged on the frame, and a processing robot; the connector of the processing robot is used to install a workpiece to be processed; a fixed frame is provided on the frame, the processing robot is arranged on the fixed frame and brings the workpiece to be processed close to the machine tool device.

[0027] The beneficial effects of the processing system of the present application are: utilizing the macro-motion device of the processing robot to make relatively large adjustments to the activities of the processing robot; and then utilizing the micro-motion device to fine-tune the position and posture of the processing robot. The high precision of the micro-motion device can compensate for the motion error of the macro-motion device, thereby reducing the overall error and improving the processing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 A front structural schematic diagram of a processing system provided in one embodiment of the present application;

[0030] Figure 2 A schematic diagram of a top view of a processing system provided in one embodiment of the present application;

[0031] Figure 3 A schematic diagram of a three-dimensional structure of a processing robot provided in an embodiment of the present application, which is arranged on a fixed frame; wherein the micro-motion transmission assembly is a parallel three-dimensional structure;

[0032] Figure 4 A schematic diagram of the three-dimensional structure of a macro-motion device of a processing robot provided in one embodiment of the present application;

[0033] Figure 5 A schematic diagram of the three-dimensional structure of a driving assembly of a macro-motion device provided in one embodiment of the present application;

[0034] Figure 6 A schematic diagram of the three-dimensional structure of a micro-motion device provided in one embodiment of the present application;

[0035] Figure 7 for Figure 6 A magnified view of the part A in the middle;

[0036] Figure 8 A schematic diagram of the three-dimensional structure of the micro-motion device provided in one embodiment of the present application from another angle;

[0037] Fig. 9 A schematic diagram of a three-dimensional structure of a processing robot provided in an embodiment of the present application, which is arranged on a fixed frame; wherein the micro-motion transmission assembly is a three-dimensional structure of a serial type;

[0038] Fig.10 A schematic diagram of a three-dimensional structure in which a primary support frame, a secondary support frame, a tertiary support frame and a connector are connected according to an embodiment of the present application;

[0039] Fig.11 A schematic diagram of the three-dimensional structure of a main body and a transmission member provided in an embodiment of the present application;

[0040] Fig.12 This is a side structural cross-sectional view of a micro-motion device provided in one embodiment of the present application; wherein the micro-motion transmission assembly is a series-type three-dimensional structure.

[0041] Among them, the reference numerals in the figure are:

[0042] 1000, processing system; 100, processing robot; 200, machine tool device;

[0043] 1. Frame; 2. Fixed frame;

[0044] 3. Macro motion device; 301. Base plate; 302. Connecting plate;

[0045] 4. micro-motion device; 401. main body; 402. connector; 403. displacement sensor;

[0046] 5. Drive components;

[0047] 6. Hinge transmission assembly; 601. First hinge assembly; 602. Second hinge assembly;

[0048] 7. Driver; 8. Linear module;

[0049] 801, connecting platform; 802, slide rail; 803, motor; 804, slide platform;

[0050] 9. Universal joint; 10. Screw; 11. Screw sleeve; 12. Support plate;

[0051] 13. first flexible hinge; 14. support; 15. second flexible hinge; 16. micro-motion transmission assembly;

[0052] 17. Secondary transmission assembly;

[0053] 1701, secondary support frame; 1702, secondary flexible hinge; 1703, secondary actuator;

[0054] 18. Three-stage transmission assembly;

[0055] 1801, three-stage support frame; 1802, three-stage flexible hinge; 1803, three-stage actuator;

[0056] 19. Primary transmission assembly;

[0057] 1901, primary support frame; 1902, primary actuator; 1903, primary flexible hinge;

[0058] 20. Transmission parts; 21. Support rod. DETAILED DESCRIPTION

[0059] The embodiments of the present application are described in detail below, and examples of the embodiments 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 intended to be used to explain the present application, and should not be construed as limiting the present application.

[0060] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0062] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0063] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0064] With the rapid development of precision manufacturing, the platform is required to move over a large range and be able to position with high precision. The existing single-stage driven motion platform can achieve high-speed and large-stroke motion, but the platform has certain limitations in positioning accuracy and response speed; at the same time, the existing micro-motion platform can achieve rapid response and high-precision positioning performance, but its range of motion is usually limited to the micron level, the range of activity is limited, and the adjustment is not flexible enough. Therefore, how to combine the single-stage driven motion platform with the micro-motion platform to achieve large-stroke, wide-range and high-precision positioning motion is an urgent problem to be solved in the current precision manufacturing field.

[0065] Based on this, in order to solve the above problems, the present application designs a processing robot, which drives the connector to move by connecting the macro-motion device and the micro-motion device in series and working together; the multiple driving components of the macro-motion device are telescopically coordinated to achieve the multi-degree-of-freedom and large-stroke activity adjustment of the connector, that is, the macro-motion device can achieve a large range of adjustment operations; the micro-motion device can fine-tune the position and posture of the connector, so as to perform high-precision adjustment and positioning operations. In addition, the micro-motion device includes three groups of mutually perpendicular hinge components to achieve adjustment in three-dimensional space, expand the range of activity adjustment, and increase the adjustment accuracy; and the micro-motion device and the driving components of the macro-motion device are arranged in series, the structure is simple and easy to install.

[0066] Please refer to Figure 1 , Figure 2 An embodiment of the present application provides a processing system 1000, including a frame 1, a machine tool device 200 and a processing robot 100 arranged on the frame 1; a fixed frame 2 is provided on the frame 1, and the processing robot 100 is arranged on the fixed frame 2.

[0067] Specifically, the processing robot 100 is used to be installed on the fixed frame 2, and the processing robot 100 is used to install and fix the workpiece to be processed; the machine tool device 200 is used to perform turning processing on the workpiece to be processed; it can be understood that the processing robot 100 is used to adjust the position and posture of the workpiece to be processed in three-dimensional space to cooperate with the machine tool device 200 to perform processing operations.

[0068] In some embodiments, reference Figure 3 , Figure 4 , Figure 6The processing robot 100 includes a macro-motion device 3 and a micro-motion device 4; the macro-motion device 3 includes a base plate 301 and a connecting plate 302 which are arranged opposite to each other along the first axis X direction, and a plurality of parallel drive components 5 which are arranged between the base plate 301 and the connecting plate 302 and arranged around the first axis X, and the two ends of the drive component 5 are respectively movably connected to the base plate 301 and the connecting plate 302, and each drive component 5 can be telescopically adjusted; the micro-motion device 4 includes a main body 401, a micro-motion transmission component 16 arranged on the main body 401, and a connector 402 arranged on the micro-motion transmission component 16; the main body 401 is arranged on the connecting plate 302 to be connected in series with each drive component 5; the micro-motion transmission component 16 is used to drive the connector 402 to move in any direction of the first axis X, the second axis Y and the third axis Z, and the first axis X, the second axis Y and the third axis Z are perpendicular to each other.

[0069] Specifically, during the processing operation, the workpiece to be processed is installed on the connector 402; the macro-motion device 3 adjusts the position and posture of the connecting disk 302 through the coordinated telescopic adjustment of multiple groups of drive components 5, thereby realizing multi-degree-of-freedom activity adjustment of the workpiece to be processed. A single drive component 5 can be extended or shortened, and has a long adjustment stroke, so that a wide range of activity adjustment can be performed on the workpiece to be processed. The telescopic adjustment method of the drive component 5 can be adopted, but not limited to, electric, hydraulic, pneumatic, etc., and is not specifically limited here.

[0070] refer to Figure 3 The first axis X is the X direction shown in the figure, and the second axis Y and the third axis Z are the other two directions perpendicular to the first axis X in the three-dimensional space.

[0071] The macro-motion device 3 at least satisfies the requirement of being able to drive the connecting disk 302 to move in the directions of the first axis X, the second axis Y and the third axis Z respectively; the number of the driving components 5 can be set to but not limited to 3, 4, 6, etc., and is not specifically limited here.

[0072] It can be understood that the position and posture of the workpiece to be processed can be fine-tuned through the micro-motion device 4, and here, the specific structural form of the micro-motion transmission component 16 is not limited, so long as the micro-motion transmission component 16 can drive the connector 402 to move along the first axis X, the second axis Y and the third axis Z respectively.

[0073] It can be understood that the micro-transmission assembly 16 can drive the connector 402 to move within a relatively small range by means of vibration, and has higher positioning accuracy and movement accuracy.

[0074] For example, refer to Figure 9-11 , the micro-motion transmission assembly 16 can be a three-dimensional structure in series, that is, the micro-motion transmission assembly 16 is composed of a plurality of transmission assemblies in series that cooperate to drive the connector 402 to move. Alternatively, referring to Figure 3, Figure 6 , Figure 7 The micro-transmission assembly 16 may also be a parallel three-dimensional structure, that is, the micro-transmission assembly 16 is composed of a plurality of parallel transmission assemblies that cooperate to drive the connector 402 to move.

[0075] The processing robot of the present application adjusts the position and posture of the workpiece to be processed through the coordinated operation of the macro-motion device 3 and the micro-motion device 4; the multiple driving components 5 of the macro-motion device 3 cooperate to realize the multi-degree-of-freedom and large-stroke activity adjustment of the workpiece to be processed, that is, the macro-motion device 3 can perform a large-motion range adjustment operation. The micro-motion device 4 can adjust the workpiece to be processed in a relatively small range, thereby performing a high-precision adjustment operation. The high precision of the micro-motion device 4 can compensate for the motion error of the macro-motion device 3, thereby achieving the purpose of reducing the overall error and improving the precision of the processing robot.

[0076] Moreover, the micro-motion device 4 can adjust the workpiece to be processed in three-dimensional space through the micro-motion transmission assembly 16, and the macro-motion device 3 also has a high degree of freedom, so the range of activity adjustment of the workpiece to be processed is wide and the adjustment is more flexible. In addition, the micro-motion device 4 and the macro-motion device 3 are arranged in series, and then the two are arranged independently of each other. Only one micro-motion device 4 needs to be arranged to cooperate with the macro-motion device 3, which is simple in structure and convenient for installation and arrangement.

[0077] refer to Figure 3 , Figure 4 , Figure 5 In some embodiments, the driving assembly 5 includes a linear module 8 and a universal joint 9 arranged at opposite ends of the linear module 8; the universal joint 9 located at one end of the linear module 8 is connected to the base plate 301, and the universal joint 9 located at the other end of the linear module 8 is connected to the connecting plate 302.

[0078] Specifically, the drive component 5 adopts a linear module 8 that can provide a large telescopic displacement, and the universal joints 9 at both ends of the linear module 8 are respectively connected to the base plate 301 and the connecting plate 302, so that there is a large range of adjustment angles between the drive component 5 and the base plate 301, and between the drive component 5 and the connecting plate 302, which is flexible and not easily restricted.

[0079] The universal joint 9 can be a cross-axis universal joint, a ball cage universal joint, a three-pivot universal joint, etc.

[0080] refer to Figure 4 , Figure 5In some embodiments, the linear module 8 includes a connecting platform 801, a slide rail 802 arranged on the connecting platform 801, a ball screw assembly, and a slide 804 that slides with the slide rail 802 through the ball screw assembly; a universal joint 9 is respectively provided on the connecting platform 801 and the slide 804; the ball screw assembly includes a screw 10 arranged in the slide rail 802 and a screw sleeve 11 arranged on the screw 10, and the slide 804 is connected to the screw sleeve 11; a motor 803 is also provided on the connecting platform 801, and the motor 803 is used to drive the screw 10 to rotate around the axis.

[0081] Specifically, the linear module 8 adopts a ball screw motor product, which controls the screw 10 to rotate around its own axis through the motor 803 to drive the sleeve 11 to move, and then can control the movement of the slide 804; the ball screw transmission method has very small friction resistance and the characteristics of high precision, reversibility and high efficiency, which is conducive to improving the adjustment accuracy.

[0082] refer to Figure 5 The motor 803 and the slide rail 802 are both arranged on the same side of the connecting platform 801, and a universal joint 9 is arranged on the side of the connecting platform 804 away from the slide rail 802. A support plate 12 perpendicular to the slide plate 804 is arranged on the slide plate 804, and the support plate 12 is opposite to the connecting platform 804, and a universal joint 9 is arranged on the side of the support plate 12 away from the connecting platform 804; then, by controlling the slide plate 804 to move along the slide rail 802, the connecting disk 302 can be stably driven to move relative to the base disk 301.

[0083] refer to Figure 3 , Figure 4 In some embodiments, the number of drive components 5 is 6.

[0084] It can be understood that the six drive components 5 are evenly distributed between the base plate 301 and the connecting plate 302 around the first axis X. In some embodiments, the base plate 301 and the connecting plate 302 are both disc structures, the area of ​​the connecting plate 302 is smaller than the area of ​​the base plate 301, and the centers of the two circles are arranged oppositely. One end of a single drive component 5 is connected to the outer edge of the base plate 301, and the other end of the drive component 5 is connected to the outer edge of the connecting plate 302, so that the connection stability between the base plate 301 and the connecting plate 302 is good.

[0085] Specifically, six driving components 5 are provided to realize the movable adjustment of the workpiece to be processed within six degrees of freedom in three-dimensional space; specifically: translation along the first axis X, translation along the second axis Y, translation along the third axis Z, rotation around the first axis X, rotation around the second axis Y, and rotation around the third axis Z; these six degrees of freedom are combined to realize the movement of the workpiece to be processed in any position and any posture in three-dimensional space, and can flexibly adjust the workpiece to be processed within a larger range.

[0086] refer to Figure 3 , Figure 6 , Figure 7 In some embodiments, the micro-motion transmission assembly 16 includes three groups of mutually perpendicular hinge transmission assemblies 6, and the connector 402 is connected to the main body 401 through the three groups of hinge transmission assemblies 6, wherein one group of hinge transmission assemblies is arranged along the first axis X direction; each group of hinge transmission assemblies 6 includes a first hinge assembly 601 for connecting to the connector 402, a second hinge assembly 602 provided on the main body 401, and a driver 7, the second hinge assembly 602 is connected to the first hinge assembly 601, and the driver 7 is used to drive the second hinge assembly 602 to move.

[0087] Specifically, refer to Figure 6 In this embodiment of the present application, the micro-transmission assembly 16 is a parallel three-dimensional structure, and the three groups of hinge transmission assemblies 6 are arranged along the first axis X, the second axis Y and the third axis Z, and are respectively connected to the connector 402; that is, each hinge transmission assembly 6 is connected in parallel.

[0088] The main body 401 is connected and fixed on the connecting disk 302 by means of, but not limited to, screw connection, welding, etc., and then the main body 401 and the connecting disk 302 keep synchronous movement.

[0089] It can be understood that each set of hinge transmission components 6 is at least a double hinge component, the second hinge component 602 is arranged on the main body, and the first hinge component 601 is arranged on the second hinge component 602, which can provide a more stable support for the connector 402, and a kinematic pair is formed between the connector 402 and the driver 7 through the first hinge component 601 and the second hinge component 602, and the movable adjustment accuracy and positioning accuracy are higher.

[0090] refer to Figure 6 , Figure 7 , Figure 8 In some embodiments, the first hinge assembly 601 includes a first flexible hinge 13 parallel to or perpendicular to the first axis X. The second hinge assembly 602 includes a support 14 and second flexible hinges 15 disposed at opposite ends of the support 14 and used to connect to the main body 401; opposite ends of the first flexible hinge 13 are respectively connected to the support 14 and the connector 402, and the first flexible hinge 13 is perpendicular to the corresponding second flexible hinge 15.

[0091] refer to Figure 6In some embodiments, three groups of first hinge components 601 are connected to the connector 402, and the first flexible hinges 13 of each group of first hinge components 601 are respectively arranged along the first axis X, the second axis Y and the third axis Z, so that the connector 402 can be supported more stably and the connector 402 can be flexibly adjusted in three-dimensional space, so that the micro-motion device 4 can fine-tune the position and posture of the workpiece to be processed more accurately in three-dimensional space.

[0092] It can be understood that the second flexible hinges 15 are respectively provided at the opposite ends of the support 14, and the support 14 is connected to the main body 401 through the second flexible hinge 15, so that the main body 401 and the support 14 have good structural stability, and the driver 7 can better drive the support 14 to move through the second flexible hinge 15; the support 14 and the connector 402 are linked through the first flexible hinge 13, and the transmission feedback is rapid.

[0093] The driver 7 uses vibration to drive the second flexible hinge 15 and the first flexible hinge 13 to move within a relatively small range, and has high positioning accuracy and movement accuracy.

[0094] The first hinge assembly 601 includes a plurality of first flexible hinges 13 connected in parallel. The flexible hinge is a special kinematic pair that uses material deformation to generate displacement. It is used to provide limited angular displacement for complex motion around an axis and has the advantages of no mechanical friction, no gap, etc.

[0095] In some embodiments, each group of first hinge components 601 includes more than two first flexible hinges 13 arranged in parallel, and each group of first hinge components 601 may include but is not limited to 2, 3 or 4 first flexible hinges 13.

[0096] In some embodiments, two or more second flexible hinges 15 arranged in parallel are provided at any end of the support 14 to connect with the main body 401 to meet the requirements of structural support and transmission stability; each group of second hinge components 602 may include but is not limited to 2, 3 or 4 second flexible hinges 15.

[0097] In one embodiment, reference Figure 6 , Figure 7 Each group of first hinge components 601 includes four first flexible hinges 13; two second flexible hinges 15 arranged in parallel are arranged at any end of the support 14 to connect with the main body 401.

[0098] In some embodiments, the micro-motion device 4 further includes a displacement sensor 403 disposed on the main body 401 .

[0099] It can be understood that the displacement sensor 403 is used to detect the displacement or position change of each component of the micro-motion device 4, such as the displacement or position change of the main body 401, the hinge transmission assembly 6 or the connector 402; and transmit the feedback electrical signal in real time. The movement of the connector 402 can be monitored and adjusted in real time through the displacement sensor 403 to improve the accuracy and reliability of the operation.

[0100] Specifically, the number of the displacement sensors 403 is three, and each displacement sensor 403 is respectively provided corresponding to a group of hinge transmission components 6 .

[0101] refer to Figure 7 , Figure 8 In some embodiments, the driver 7 is specifically a piezoelectric ceramic; it can be understood that the piezoelectric ceramic field is applied to the micro-displacement actuator. When a voltage is applied to the piezoelectric ceramic, the piezoelectric ceramic will produce strain, thereby driving the corresponding hinge transmission component 6 to undergo a slight displacement to drive the connector 402 to move; by controlling the voltage applied to the piezoelectric ceramic, the displacement of the hinge transmission component 6 can be accurately controlled; and then the hinge transmission component 6 is driven by the piezoelectric ceramic, so that high-precision, fast-response micro-displacement adjustment of the workpiece to be processed can be achieved.

[0102] The number of drivers 7 is three, and each driver 7 corresponds to a set of hinge transmission components 6 disposed on the main body 401 .

[0103] In some embodiments, reference Figure 9-11 The micro-transmission assembly 16 includes a primary transmission assembly 19 arranged on the main body 401, a secondary transmission assembly 17 arranged on the primary transmission assembly 19, and a tertiary transmission assembly 18 arranged on the secondary transmission assembly 17; the connector 402 is arranged on the tertiary transmission assembly 18; the primary transmission assembly 19 is used to drive the connector to move in the direction of the first axis X, the secondary transmission assembly 17 is used to drive the connector 402 to move along the second axis Y or along one direction of the third axis Z, and the tertiary transmission assembly 18 is used to drive the connector 402 to move along the second axis Y or along the other direction of the third axis Z.

[0104] Specifically, in this embodiment of the present application, the micro-transmission assembly 16 is a three-dimensional structure of a series type, and the first-stage transmission assembly 19, the second-stage transmission assembly 17 and the third-stage transmission assembly 18 are connected in series in sequence; each stage of the transmission assembly is responsible for the drive adjustment in one direction respectively, and the first-stage transmission assembly 19, the second-stage transmission assembly 17 and the third-stage transmission assembly 18 work together to drive the connector 402 to move in the first axis X, the second axis Y and the third axis Z directions respectively.

[0105] The main body 401 is connected and fixed to the connection disk 302 by means of, but not limited to, screw connection, welding, etc., and then the main body 401 and the connection disk 302 keep synchronous movement. In some embodiments, the main body 401 is provided with a connection ear (not shown), and the main body 401 is connected and fixed to the connection disk 302 through the connection ear.

[0106] Specifically, the secondary transmission assembly 17 can be used to drive the connector 402 to move along the second axis Y direction, and then the tertiary transmission assembly 18 is used to drive the connector 402 to move along the third axis Z direction. Alternatively, the secondary transmission assembly 17 can be used to drive the connector 402 to move along the third axis Z direction, and then the tertiary transmission assembly 18 is used to drive the connector 402 to move along the second axis Y direction.

[0107] refer to Figure 9-12 In some embodiments, the primary transmission assembly 19 includes a primary support frame 1901 and a primary actuator 1902 disposed on the main body 401, and a primary flexible hinge 1903 disposed on the primary support frame 1901; the secondary transmission assembly 17 includes a secondary support frame 1701 connected to the primary flexible hinge 1903, a secondary flexible hinge 1702 disposed on the secondary support frame 1701, and a secondary actuator 1703; the tertiary transmission assembly 18 includes a tertiary support frame 1801 disposed on the secondary flexible hinge 1702, a tertiary flexible hinge 1802 disposed on the tertiary support frame 1801, and a tertiary actuator 1803; the secondary actuator 1703 is connected to the tertiary support frame 1801, and the connector 402 is disposed on the tertiary flexible hinge 1802.

[0108] refer to Figure 10-12 In some embodiments, the primary actuator 1902 can drive the secondary support frame 1701 to move relative to the primary support frame 1901 along the first axis X direction; the secondary actuator 1703 is used to drive the tertiary support frame 1801 to move relative to the secondary support frame 1701 along the third axis Z direction; the tertiary actuator 1803 is used to drive the connector 402 to move relative to the tertiary support frame 1801 along the second axis Y direction; thereby enabling the connector 402 to be moved and adjusted along any direction of the first axis X, the second axis Y, and the third axis Z.

[0109] Specifically, the primary support frame 1901 , the secondary support frame 1701 , and the tertiary support frame 1801 are all rectangular frames, and the primary support frame 1901 , the secondary support frame 1701 , and the tertiary support frame 1801 can be nested in layers to effectively save structural volume.

[0110] The primary flexible hinge 1903, the secondary flexible hinge 1702 and the tertiary flexible hinge 1802 are all straight beam type flexible hinges.

[0111] refer to Figure 10-12In some embodiments, the primary transmission assembly 19 further includes a transmission member 20 connected between the secondary support frame 1701 and the primary actuator 1902 .

[0112] It can be understood that the secondary support frame 1701 is connected to the primary support frame 1901 through the primary flexible hinge 1903, and the primary actuator 1902 drives the transmission member 20 to drive the secondary support frame 1701 to move within a smaller range relative to the primary support frame 1901, with higher positioning accuracy and movement accuracy.

[0113] In some embodiments, the transmission member 20 includes four support rods 21, one end of the four support rods 21 are connected together and connected to the primary brake 1902, and the other ends of the four support rods 21 are respectively connected to the four corners of the secondary support frame 1701; so that the transmission member 20 can be stably connected to the secondary support frame 1701, and the transmission effect is smoother.

[0114] The primary support frame 1901 is a rectangular frame with a larger side length than the secondary support frame 1701, and then the primary support frame 1901, the secondary support frame 1701 and the tertiary support frame 1801 can be nested and coordinated layer by layer to effectively reduce the structural volume.

[0115] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A processing robot, It is characterized in that include: A macro-motion device; the macro-motion device comprises a base plate and a connection plate arranged at intervals along the first axis X direction, and a plurality of groups of parallel drive components arranged between the base plate and the connection plate and arranged around the first axis X, the two ends of the drive component are respectively movably connected to the base plate and the connection plate, and each of the drive components can be telescopically adjusted; A micro-motion device, the micro-motion device comprising a main body, a micro-motion transmission component arranged on the main body, and a connector arranged on the micro-motion transmission component; the main body is arranged on the connecting disk to be connected in series with each of the driving components; the micro-motion transmission component is used to drive the connector to move in any direction of the first axis X, the second axis Y, and the third axis Z, and the first axis X, the second axis Y, and the third axis Z are perpendicular to each other.

2. The processing robot according to claim 1, It is characterized in that The driving assembly includes a linear module and universal joints arranged at opposite ends of the linear module; the universal joint at one end of the linear module is connected to the base plate, and the universal joint at the other end of the linear module is connected to the connecting plate.

3. The processing robot according to claim 2, It is characterized in that The linear module includes a connecting platform, a slide rail arranged on the connecting platform, a ball screw assembly, and a slide that slides with the slide rail through the ball screw assembly; the connecting platform and the slide are respectively connected to the universal joint; the ball screw assembly includes a screw arranged in the slide rail and a screw sleeve arranged on the screw, and the slide is connected to the screw sleeve; a motor is also provided on the connecting platform, and the motor is used to drive the screw to rotate around the axis.

4. The processing robot according to claim 3, It is characterized in that The motor and the slide rail are both arranged on the same side of the connecting platform, and the universal joint is provided on the side of the connecting platform away from the slide rail; the slide platform is provided with a support plate perpendicular to the slide platform and opposite to the connecting platform, and the universal joint is provided on the side of the support plate away from the connecting platform.

5. The processing robot according to claim 1, It is characterized in that The micro-motion transmission assembly includes three groups of mutually perpendicular hinge transmission assemblies, and the connector is connected to the main body through the three groups of hinge transmission assemblies, wherein one group of hinge transmission assemblies is arranged along the first axis X direction; each group of hinge transmission assemblies includes a first hinge assembly for connecting to the connector, a second hinge assembly provided on the main body, and a driver, wherein the second hinge assembly is connected to the first hinge assembly, and the driver is used to drive the second hinge assembly to move.

6. The processing robot according to claim 5, It is characterized in that The first hinge assembly includes a first flexible hinge parallel to or perpendicular to the first axis X; the second hinge assembly includes a support and a second flexible hinge provided at opposite ends of the support and used to be connected to the main body; the opposite ends of the first flexible hinge are respectively connected to the support and the connector, and the first flexible hinge is perpendicular to the corresponding second flexible hinge.

7. The processing robot according to claim 1, It is characterized in that The micro-transmission assembly includes a primary transmission assembly arranged on the main body, a secondary transmission assembly arranged on the primary transmission assembly, and a tertiary transmission assembly arranged on the secondary transmission assembly; the connector is arranged on the tertiary transmission assembly; the primary transmission assembly is used to drive the connector to move in the direction of the first axis X, the secondary transmission assembly is used to drive the connector to move along the second axis Y or along one direction of the third axis Z, and the tertiary transmission assembly is used to drive the connector to move along the other direction of the second axis Y or the third axis Z.

8. The processing robot according to claim 7, It is characterized in that The first-level transmission assembly includes a first-level support frame and a first-level actuator arranged on the main body, and a first-level flexible hinge arranged on the first-level support frame; the second-level transmission assembly includes a second-level support frame connected to the first-level flexible hinge, a second-level flexible hinge and a second-level actuator arranged on the second-level support frame; the third-level transmission assembly includes a second-level support frame arranged on the second-level flexible hinge, a third-level flexible hinge and a third-level actuator arranged on the second-level support frame; the connector is arranged on the third-level flexible hinge.

9. The processing robot according to claim 8, It is characterized in that The primary transmission assembly further includes a transmission member connected between the secondary support frame and the primary actuator; the primary actuator drives the transmission member to drive the secondary support frame to move relative to the primary support frame along the first axis X direction.

10. A processing system, It is characterized in that It comprises a frame, a machine tool device arranged on the frame, and a processing robot as described in any one of claims 1 to 9; the connector of the processing robot is used to install a workpiece to be processed; a fixed frame is provided on the frame, the processing robot is arranged on the fixed frame and brings the workpiece to be processed close to the machine tool device.

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