Five-degree-of-freedom redundant drive heavy-load hybrid machining device with motor fixation

Abstract

The present application relates to the field of mechanical manufacturing, in particular to a five-degree-of-freedom redundant drive heavy-load hybrid machining device fixed with motor. The purpose is to provide a five-degree-of-freedom redundant drive heavy-load hybrid machining device fixed with motor, so as to solve the problems of large kinetic inertia of machining equipment and insufficient precision and rigidity of traditional machining equipment in actual machining scene. The technical scheme is a five-degree-of-freedom redundant drive heavy-load hybrid machining device fixed with motor, characterized in that: the machining device further comprises a parallel micro-motion machining system; the parallel micro-motion machining system comprises a door frame-shaped support fixed vertically and keeping a distance from a workpiece sliding table, a fixed platform vertically movably positioned on the support, a moving platform provided with a main shaft machining head and located between the workpiece sliding table and the support, and four branch chains arranged in parallel between the fixed platform and the moving platform.

Description

Technical Field

[0001] This invention relates to the field of mechanical manufacturing, specifically to a five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor. Background Technology

[0002] In high-end fields such as aerospace, defense, and automotive manufacturing, the demand for large, complex, and irregularly shaped structural components is increasing. These parts require high-precision machining through heavy-duty milling. Due to the hardness of the materials and their large size, stringent requirements are placed on the load capacity, rigidity, and machining accuracy of the machining equipment. Traditional heavy-duty milling mainly relies on gantry CNC machine tools with a tandem structure. These machine tools achieve multi-axis motion through the tandem superposition of components such as the bed, column, slide, and spindle box. However, with the continuous improvement in requirements for machining efficiency, accuracy, and dynamic performance, the inherent defects of the tandem structure are becoming increasingly apparent.

[0003] Compared to traditional serial mechanisms, parallel mechanisms offer advantages such as greater stiffness, compact structure, high load-bearing capacity, high positioning accuracy, and superior attitude adjustment capabilities. However, conventional three-degree-of-freedom parallel mechanisms have two limitations in practical applications: first, kinematic singularities often exist within the workspace; second, directly mounting the drive motor on the motion chain significantly increases the inertia of the moving parts, leading to a decrease in dynamic response performance. To further improve the machining accuracy of heavy-duty milling and the high-frequency dynamic response of the equipment, a machining device with high stiffness, low inertia, and the ability to effectively avoid singular configurations is urgently needed. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide a five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor, so as to solve the problems of large kinetic inertia of processing equipment and insufficient accuracy and rigidity of traditional processing equipment in actual processing scenarios.

[0005] The technical solution provided by this invention is: A five-degree-of-freedom redundant drive heavy-duty hybrid machining device with a fixed motor includes a workpiece positioning and feeding system that carries the workpiece. The device is characterized by further including a parallel micro-motion machining system. The parallel micro-motion machining system includes a vertically fixed, door-frame-shaped support that maintains a distance from the workpiece slide, a fixed platform vertically movable and positioned on the support, a moving platform located between the workpiece slide and the support and equipped with a spindle machining head, and four branches arranged in parallel between the fixed platform and the moving platform. The four branches include a first branch, a second branch, a third branch, and a fourth branch, or include a first branch, a fifth branch, a third branch, and a fourth branch. The first branch connects the right side of the fixed platform and the moving platform, and the third branch connects the left side of the fixed platform and the moving platform. Both the first and third branches include a first sliding joint, a first rotating joint, a first connecting rod, and a Hooke's joint connected sequentially between the fixed platform and the moving platform. The fourth branch connects the lower side of the fixed platform and the moving platform and includes a third sliding joint, a second ball joint, a third connecting rod, and a third ball joint connected sequentially between the fixed platform and the moving platform. The second branch connects the upper side of the fixed platform and the moving platform and includes a second sliding joint, a first ball joint, a second connecting rod 54 and a second rotating joint connected in sequence between the fixed platform and the moving platform; The fifth branch connects the upper sides of the fixed platform and the moving platform and includes a second sliding joint, a second rotating joint, a second connecting rod 54, and a first ball joint connected sequentially between the fixed platform and the moving platform.

[0006] The fixed platform is an octagonal tube with four longer sides and four shorter sides, with the longer and shorter sides spaced apart. The four shorter sides are connected to the four branches, with two shorter sides vertically positioned on the left and right sides of the fixed platform, and the other two shorter sides horizontally positioned on the upper and lower sides of the fixed platform. The left and right sides of the fixed platform are positioned on the support via a movable platform, and the cavity in the middle is used to enclose the movement area of ​​the four branches.

[0007] In the first branch and the third branch, the first sliding joint is horizontally fixed to the inner wall of the fixed platform, and the axis of the first sliding joint is parallel to the Z-axis; wherein: the first base of the long rectangular strip is horizontally arranged on the inner wall of the fixed platform, and two first slide rails are respectively made on both sides of the width direction of the first base and parallel to the length direction of the first base, and the first slider cooperates with the two first slide rails to form the first sliding joint; the axis of the first rotating joint connecting the first slider is perpendicular to the axis of the first sliding joint.

[0008] In the first and third branches, the Hooke hinge includes a pivot connecting the other end of the first link, a hinge lug made on one side of the joint and cooperating with the aforementioned pivot, and a second pivot made on the other side of the joint and cooperating with the right edge shaft hole of the moving platform. The axes of the two pivots are perpendicular to each other.

[0009] In the second branch, the second sliding joint is horizontally fixed to the upper inner wall of the fixed platform and its axis is parallel to the Z-axis; wherein: the elongated rectangular second base is horizontally arranged on the inner wall of the fixed platform, and two second slide rails are respectively made on both sides of the width direction of the second base and parallel to the length direction of the second base, and the second slider cooperates with the two second slide rails to form the second sliding joint; The second slider is connected to one end of the second link via the first ball joint, and the other end of the second link is connected to the moving platform via the second revolute joint; the axis of the second revolute joint is perpendicular to the axis of the second prismatic joint.

[0010] In the fourth branch, the third sliding joint is horizontally fixed to the bottom inner wall of the fixed platform and its axis is parallel to the Z-axis; wherein: the long rectangular third base is horizontally arranged on the inner wall of the fixed platform, and two third slide rails are respectively made on both sides of the width direction of the third base and parallel to the length direction of the third base, and the third slider cooperates with the two third slide rails to form the third sliding joint. The third slider is connected to one end of the third link via the second ball joint, and the other end of the third link is connected to the bottom edge of the moving platform via the third ball joint.

[0011] In the fifth branch, the second prismatic joint is horizontally fixed to the upper inner wall of the fixed platform, and the axis of the second prismatic joint is parallel to the Z-axis; wherein: the elongated rectangular second base is horizontally arranged on the inner wall of the fixed platform, and two second slide rails are respectively made on both sides of the width direction of the second base and parallel to the length direction of the second base, and the second slider cooperates with the two second slide rails to form the second prismatic joint; the hinge lug provided on the second slider cooperates with the rotating shaft at one end of the second connecting rod to form the second rotating joint; the first ball fixed at the other end of the second connecting rod cooperates with the ball socket fixed on the upper edge of the moving platform to form the first ball joint.

[0012] In each branch, the two ends of the ball screw are respectively positioned on the base and located in the middle of the two slide rails and are parallel to the slide rails. The screw nut on the ball screw is also connected to the slider that cooperates with the slide rail. The end of the base is equipped with a corresponding servo motor, and the motor shaft of the servo motor is coaxially connected to the ball screw, so that the connected moving pair becomes the active pair.

[0013] The mobile platform includes two pairs of vertical guide rail assemblies that are vertically mounted on the support and symmetrically arranged on the inner walls of the left and right sides of the support. Each pair of vertical guide rail assemblies includes a vertically arranged mobile platform base, two mobile platform slide rails that are vertically mounted on the mobile platform base and each equipped with a mobile platform slider, a mobile platform ball screw that is vertically mounted on the mobile platform base and located between the two mobile platform slide rails, a nut seat provided with the mobile platform ball screw, a mobile platform connector that connects the bottom end of the plurality of mobile platform sliders and the nut seat, and a mobile platform servo motor that is mounted on the mobile platform base and coaxially drives the mobile platform ball screw.

[0014] The workpiece positioning and feeding system includes a workpiece slide base horizontally positioned in front of a fixed platform, two workpiece slide rails mounted on the workpiece slide base, several sliders respectively mounted on the two workpiece slide rails, a workpiece slide with a clamp fixed at its bottom end on the several sliders, a workpiece slide screw rotatably mounted between the two workpiece slide rails and parallel to the workpiece slide rails, a nut seat that cooperates with the workpiece slide screw and is fixedly connected to the bottom end of the workpiece slide, and a workpiece slide servo motor mounted on the workpiece slide base with its motor shaft coaxially connected to the workpiece slide screw.

[0015] The beneficial effects of this invention are: 1. Through the “all-motor fixed” design, all moving pairs (motor, lead screw, guide rail) are “anchored” on a stationary fixed platform, allowing only lightweight connecting rods to participate in spatial attitude motion; this enables the machining device, which greatly reduces the inertia of moving parts, to achieve extremely high sensitivity and high-frequency follow-up capability when facing complex curved surfaces that require frequent acceleration and deceleration.

[0016] 2. Redundant drive technology is introduced, employing four branches (over-constrained) to collaboratively control three degrees of freedom. The additional drive branch eliminates singular configurations within the workspace from a kinematic standpoint and distributes the enormous cutting reaction force across the four branches. This ensures that the machining device possesses extremely high global stiffness and vibration resistance in any corner of the workspace, thereby improving machining accuracy.

[0017] 3. A high-precision, high-rigidity spindle machining head is nested within a vertical frame consisting of a support, a moving platform, and a workpiece slide. The macro-motion system is responsible for rapidly transporting the workpiece to a designated large area, while the spindle machining head is responsible for high-intensity attitude adjustment and precision cutting in a localized area. This macro-micro combination retains the powerful heavy-duty cutting capabilities of parallel machining units while addressing the workspace limitations in machining large-sized parts. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of Embodiment 1 of the present invention.

[0019] Figure 2 for Figure 1 A three-dimensional structural diagram of the four branches in the embodiment.

[0020] Figure 3 for Figure 1 A schematic diagram of the main structure of the platform in the embodiment.

[0021] Figure 4 for Figure 1 A schematic diagram of the main structure of the mobile platform in the embodiment.

[0022] Figure 5 for Figure 1 A top-down view of the mobile platform in the embodiment.

[0023] Figure 6 for Figure 1 A three-dimensional structural diagram of the first branch in the embodiment.

[0024] Figure 7 for Figure 1 A three-dimensional structural diagram of the second branch in the embodiment.

[0025] Figure 8 for Figure 1 A three-dimensional structural diagram of the fourth branch in the embodiment.

[0026] Figure 9 for Figure 1 A schematic diagram of the main structure of the slide in the embodiment.

[0027] Figure 10 for Figure 1 A schematic diagram of the workpiece slide base structure (top view) in the embodiment.

[0028] Figure 11 for Figure 1 A three-dimensional structural diagram of the moving platform in the embodiment.

[0029] Figure 12 This is a three-dimensional structural diagram of the four branches in Embodiment 2 of the present invention.

[0030] Figure 13 yes Figure 12 A three-dimensional structural diagram of the fifth branch in the embodiment.

[0031] Figure 14 yes Figure 12 A schematic diagram of the main structure of the moving platform in the embodiment.

[0032] The markings in the diagram are: 1. Support bracket; 2. Moving platform; 3. Fixed platform; 4. First branch; 5. Second branch; 6. Third branch; 7. Fourth branch; 8. Moving platform; 82. Spindle machining head; 83. Tool; 9. Workpiece slide; 10. Fifth branch; 21. Moving platform base; 22. Moving platform slider; 23. Moving platform connector; 24. Nut seat; 25. Moving platform servo motor; 26. Bearing seat; 28. Two moving platform slide rails; 29. ​​Moving platform ball screw. First servo motor 41, first slide rail 42, first slider 43, first connecting rod 44, first ball screw 45, first revolute joint 46, Hooke's joint 47. Second servo motor 51, second slide rail 52, second slider 53, second connecting rod 54, second ball screw 55, first ball joint 56, first ball 56.1, second revolute joint 57 Third servo motor 71, third slide rail 72, third slider 73, third connecting rod 74, third ball screw 75, second ball joint 76, third ball 77. Workpiece slide screw 92, workpiece slide rail 93, workpiece slide base 94, fixture 96, workpiece slide servo motor 98. Detailed Implementation

[0033] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0034] This invention first establishes a three-dimensional Cartesian coordinate system to regulate the movement direction of each component: the horizontally set and parallel to the sliding table movement direction is defined as the X-axis, the vertically upward direction is defined as the Y-axis, and the direction perpendicular to the XY plane (i.e. the main direction of machining feed) is defined as the Z-axis.

[0035] Figure 1 The illustrated five-degree-of-freedom redundant drive heavy-duty hybrid machining device with a fixed motor includes a support 1, a moving platform 2, a fixed platform 3, a first branch 4, a second branch 5, a third branch 6, a fourth branch 7, a moving platform 8, and a workpiece slide 9. The workpiece slide 9 is vertically arranged and horizontally movable on the foundation, forming a workpiece positioning and feeding system. The frame-shaped support 1 is also vertically fixed on the foundation and maintains a distance from the workpiece slide; the plane of the frame is parallel to the moving axis of the workpiece slide 9. The moving platform 2 is installed on the left and right sides of the frame and is vertically arranged. The fixed platform 3 is horizontally arranged and vertically movable within the frame via the moving platform. Four branches are arranged on the fixed platform, and one end of each branch extends from one side of the fixed platform (along...). Figure 3 The drawing extends outwards (in the Z-axis direction) and is then connected to the moving platform 8. This forms a parallel micro-motion machining system.

[0036] like Figure 1 , Figure 9 , Figure 10As shown: In the workpiece positioning and feeding system, the workpiece slide base 94 is horizontally positioned in front of the fixed platform. Two workpiece slide rails 93 are mounted on the workpiece slide base and are parallel to the length direction of the workpiece slide base. A gap is maintained between the two workpiece slide rails, and several sliders are respectively mounted on each of the two workpiece slide rails. The workpiece slide screw 92 is rotatably mounted between the two workpiece slide rails, and the nut seat that cooperates with the workpiece slide screw is also fixedly connected to the bottom end of the workpiece slide 9. The workpiece slide servo motor 98 is also mounted on the workpiece slide base, and the motor shaft of the servo motor is coaxially connected to the workpiece slide screw. The bottom end of the workpiece slide 9 is fixed on the several sliders. The corresponding sides of the workpiece slide 9 are respectively equipped with clamps 96 required for clamping work. The workpiece slide servo motor 98 drives the ball screw 92 to rotate, causing the clamps 96 mounted on the workpiece slide to perform a large-stroke macroscopic translation along the X-axis direction, thereby adjusting the position of the workpiece to be processed in the X-axis direction.

[0037] like Figure 1 , Figure 3 , Figure 5 As shown: The parallel micro-motion machining system includes a support 1, a fixed platform 3 vertically movable on the support via a moving platform, four kinematic chains connected in parallel between the fixed platform and the moving platform, and a machining head mounted on the moving platform. The frame-shaped support 1 is vertically fixed to the foundation, with its plane parallel to the X-axis. The moving platform 2 includes two pairs of vertical guide rail assemblies vertically mounted on the support and symmetrically arranged on the corresponding left and right inner walls of the support, and a moving platform servo motor 25 disposed on each pair of vertical guide rail assemblies. The vertical guide rail assembly includes a movable platform base 21 vertically fixed to the left or right side of the inner wall of the support; two movable platform slide rails 28 vertically mounted on the movable platform base and maintaining a distance between them; a movable platform ball screw 29 vertically mounted on the movable platform base at both ends via bearing seats 26 and located in the middle of the two movable platform slide rails, and also equipped with a nut seat 24; several movable platform sliders 22 slidably positioned on the two movable platform slide rails 28; and movable platform connectors 23 connecting the several movable platform sliders 22 and the nut seats 24 at their bottom ends. The movable platform connectors 23 in the two pairs of vertical guide rail assemblies are arranged facing each other and respectively connect the left and right sides of the fixed platform; the movable platform servo motor 25 is mounted on the movable platform base and connected to the movable platform ball screw 29 via a movable platform coupling 27. When the movable platform servo motor is started, it drives the fixed platform 3 to move synchronously up and down along the Y-axis, realizing macroscopic positioning feed in the Y-axis.

[0038] The fixed platform 3 is an octagonal tube with four longer sides and four shorter sides, spaced alternately. The four shorter sides are fitted with the four branches, with two shorter sides located vertically on the left and right sides of the fixed platform, and the other two vertically located on the top and bottom sides. The four longer sides are inclined and located at the upper right, upper left, lower left, and lower right corners of the fixed platform. A central cavity in the fixed platform encloses the movement areas of the four branches.

[0039] The moving platform 8 is located in the internal axis region of the fixed platform 3, and a spindle machining head 82 is fixed in front of it. The spindle axis is parallel to the Z-axis and perpendicular to the plane of the moving platform, and is used to directly perform cutting tasks.

[0040] like Figure 1 , Figure 2 As shown: Four branches are arranged in parallel inside the fixed platform 3 and between the moving platform 8. Their four sliding joints are fixedly connected to the inner walls of the four sides of the fixed platform (as shown in the figure, they are on the inner side of the shorter side). The moving platform 8 is driven collaboratively by these four structurally different asymmetrical spatial hybrid branches. Of the four branches, the first branch 4 connects the right side of the fixed platform and the right side of the moving platform; the second branch 5 connects the upper side of the fixed platform and the upper side of the moving platform; the third branch 6 connects the left side of the fixed platform and the left side of the moving platform; and the fourth branch 7 connects the lower side of the fixed platform and the lower side of the moving platform. The first branch 4 and the third branch 6 have the same structure, each including a first prismatic joint, a first revolute joint 46, a first connecting rod 44 and a Hooke joint 47 connected in sequence between the fixed platform and the moving platform. The second branch 5 includes a second prismatic joint, a first ball joint 56, a second connecting rod 54 and a second revolute joint 57 connected in sequence between the fixed platform and the moving platform. The fourth branch 7 includes a third prismatic joint, a second ball joint 76, a third connecting rod 74 and a third ball joint connected in sequence between the fixed platform and the moving platform.

[0041] To achieve complete weight reduction, all linear drive components (including servo motors, ball screws, and linear guides) of the four branches are fixedly mounted on the inner wall of the stationary fixed platform 3, eliminating the follow-up mass of the drive source. The four branches are arranged in a cross shape around the axis of the fixed platform: like Figure 6As shown, the first sliding joint of the first branch 4 is horizontally fixed to the inner right side of the fixed platform 3, and its movement direction is parallel to the Z-axis. Specifically, a long rectangular first base is horizontally arranged on the inner wall of the fixed platform. Two first slide rails 42 are respectively fabricated on both sides of the width direction of the first base and are parallel to the length direction of the first base. First sliders 43, respectively mounted on the two first slide rails, cooperate with the first slide rails to form the first sliding joint. The two ends of the first ball screw 45 are respectively positioned on the first base through bearing supports and are located in the middle of the two first slide rails, parallel to the first slide rails. The first ball screw 45 is connected to the motor shaft of the first servo motor 41 through a coupling and is driven by the first servo motor 41 fixed to the end of the first base. The axis of the first rotating joint 46 connected to the first slider 43 is perpendicular to the Z-axis. This rotating joint connects one end of the first connecting rod 44. The other end of the first connecting rod is connected to the moving platform 8 via a Hooke's joint. The Hooke's joint is formed by a rotating shaft connecting the other end of the first connecting rod, a hinge lug on one side of the joint that mates with the aforementioned rotating shaft, and a second rotating shaft on the other side of the joint that mates with a shaft hole on the right edge of the moving platform 8. The axes of the two rotating shafts are perpendicular to each other. The third branch 6 is symmetrically arranged with the first branch 4, and its structure is the same as that of the first branch 4, and will not be described further.

[0042] like Figure 7 As shown, the second sliding joint of the second branch 5 is horizontally fixed to the upper inner wall of the fixed platform 3, and its movement direction is parallel to the Z-axis. Specifically, a long rectangular second base is horizontally arranged on the inner wall of the fixed platform. Two second slide rails 52 are respectively fabricated on both sides of the width direction of the second base. Second sliders 53 mounted on the two second slide rails cooperate with the second slide rails to form the second sliding joint. A second ball screw 55, parallel to the second slide rails and mounted in the middle of the second base, is connected to the motor shaft of the second servo motor 51 via a coupling and is driven by the second servo motor 51 fixed at the end of the second base. A ball socket is fixed on the slider, cooperating with the first ball 56.1 to form the first ball joint 56. The first ball 56.1 is connected to one end of the second connecting rod 54, and the other end of the second connecting rod 54 is connected to the upper edge of the moving platform 8 via a second revolute joint 57 whose axis is parallel to the plane of the moving platform.

[0043] like Figure 8As shown, the third prismatic joint of the fourth branch 7 is horizontally fixed to the inner wall of the bottom side of the fixed platform 3, and its movement direction is parallel to the Z-axis. Specifically, a long rectangular third base is horizontally arranged on the inner wall of the fixed platform, and two third slide rails 72 are respectively fabricated on both sides of the width direction of the third base. Third sliders 73 mounted on the two third slide rails cooperate with the third slide rails to form the third prismatic joint. A third ball screw 75, mounted in the middle of the third base and parallel to the third slide rail, is connected to the motor shaft of the third servo motor 71 via a coupling and is driven by the third servo motor 71 fixed at the end of the third base. A ball socket is fixed on the third slider, cooperating with the second ball to form a second ball joint 76. The ball is connected to one end of the fourth link. The third ball 77 connected to the other end of the fourth link cooperates with the third ball socket provided on the bottom edge of the moving platform 8 to form the third ball joint.

[0044] The first branch 4, the second branch 5, the third branch 6, and the fourth branch 7 of this invention contain moving pairs that move along the branch direction, which are active pairs. In addition, the workpiece slide 9 can translate along the X direction, and the fixed platform 3 can translate along the Y direction through the moving platform 2. Therefore, there are two rotational and three translational degrees of freedom between the fixed platform 3, the moving platform 8, and the workpiece slide 9, which enables five-axis linkage machining of the parts.

[0045] Example 2 The structure of this embodiment is basically the same as that of Embodiment 1, the only difference being that the positions of the ball joint and the revolute joint of the second branch are interchanged, thus forming the fifth branch 10. Figure 12 , Figure 13 As shown, the fifth branch 10 includes a second sliding joint, a second rotating joint, a second connecting rod 54, and a first ball joint sequentially connected between the fixed platform and the moving platform; the second sliding joint of the fifth branch 10 is horizontally fixed on the upper inner wall of the fixed platform 3, and its movement direction is parallel to the Z-axis; wherein: the elongated rectangular second base is horizontally arranged on the inner wall of the fixed platform, and two second slide rails 52 are respectively made on both sides of the width direction of the second base and are equipped with second sliders 53; the hinge lugs provided on the second sliders 53 cooperate with the rotating shaft at one end of the second connecting rod 54 to form the second rotating joint, and the axis of the rotating joint is perpendicular to the axis of the second sliding joint; the first ball 56.1 fixed at the other end of the second connecting rod 54 cooperates with the ball socket fixed on the upper edge of the moving platform to form the first ball joint 56.

[0046] Clearly, after the positions of the first ball joint and the second revolute joint are interchanged, the rotation angle of the moving platform increases, but the rotation range decreases. The moving platform can rotate within a small range but at a large angle.

[0047] This invention is not limited to the specific embodiments described above. Anyone inspired by this invention can derive other forms of efficient over-constraint parallel mechanism equipment for heavy-duty milling and their usage methods. All equivalent variations and modifications made within the scope of the claims of this invention should be considered within the scope of this invention.

Claims

1. A five-degree-of-freedom redundant drive heavy-duty hybrid machining device with a fixed motor, comprising a workpiece positioning and feeding system for carrying the workpiece, characterized in that: It also includes a parallel micro-motion machining system; the parallel micro-motion machining system includes a door frame-shaped support (1) that is vertically fixed and keeps a distance from the workpiece slide, a fixed platform (3) that is vertically movable and positioned on the support, a moving platform (8) located between the workpiece slide and the support and equipped with a spindle machining head (82), and four branches arranged in parallel between the fixed platform and the moving platform; the four branches include a first branch (4), a second branch (5), a third branch (6), and a fourth branch (7), or include a first branch (4), a fifth branch (10), a third branch (6), and a fourth branch (7); The first branch (4) connects the right side of the fixed platform and the moving platform, and the third branch (6) connects the left side of the fixed platform and the moving platform. Both the first branch (4) and the third branch (6) include a first sliding joint, a first rotating joint (46), a first connecting rod (44), and a Hooke joint (47) connected in sequence between the fixed platform and the moving platform. The fourth branch (7) connects the lower side of the fixed platform and the moving platform and includes a third sliding joint, a second ball joint (76), a third connecting rod (74), and a third ball joint connected in sequence between the fixed platform and the moving platform. The second branch (5) connects the upper side of the fixed platform and the moving platform and includes a second sliding joint, a first ball joint (56), a second connecting rod (54) and a second rotating joint (57) connected in sequence between the fixed platform and the moving platform. The fifth branch (10) connects the upper sides of the fixed platform and the moving platform and includes a second sliding joint, a second rotating joint (57), a second connecting rod (54) and a first ball joint (56) connected sequentially between the fixed platform and the moving platform.

2. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor as described in claim 1, characterized in that: The fixed platform (3) is an octagonal tube with four longer sides and four shorter sides, and the longer sides and shorter sides are arranged alternately. The four shorter sides are connected to the four branches respectively. Two of the shorter sides are set vertically and are located on the left and right sides of the fixed platform respectively, and the other two shorter sides are set horizontally and are located on the upper and lower sides of the fixed platform respectively. The left and right sides of the fixed platform are positioned on the support by the moving platform (2), and the cavity in the middle is used to enclose the movement area of ​​the four branches.

3. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 2, characterized in that: In the first branch (4) and the third branch (6), the first sliding joint is horizontally fixed to the inner wall of the fixed platform and its axis is parallel to the Z-axis; wherein: the first base of the long rectangular strip is horizontally arranged on the inner wall of the fixed platform, the two first slide rails (42) are respectively made on both sides of the width direction of the first base and parallel to the length direction of the first base, the first slider (43) cooperates with the two first slide rails to form the first sliding joint; the axis of the first rotating joint (46) connecting the first slider is perpendicular to the axis of the first sliding joint.

4. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 3, characterized in that: In the first branch (4) and the third branch (6), the Hooke hinge includes a pivot connecting the other end of the first link, a hinge lug made on one side of the joint and cooperating with the aforementioned pivot, and a second pivot made on the other side of the joint and cooperating with the right edge shaft hole of the moving platform (8). The axes of the two pivots are perpendicular to each other.

5. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 4, characterized in that: In the second branch (5), the second sliding joint is horizontally fixed to the upper inner wall of the fixed platform (3) and its axis is parallel to the Z-axis; wherein: the long rectangular second base is horizontally arranged on the inner wall of the fixed platform, and two second slide rails (52) are respectively made on both sides of the width direction of the second base and parallel to the length direction of the second base, and the second slider (53) cooperates with the two second slide rails (52) to form the second sliding joint; The second slider is connected to one end of the second link (54) via the first ball joint (56), and the other end of the second link is connected to the moving platform (8) via the second rotating joint (57); the axis of the second rotating joint (57) is perpendicular to the axis of the second sliding joint.

6. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 5, characterized in that: In the fourth branch (7), the third sliding joint is horizontally fixed to the bottom inner wall of the fixed platform (3) and its axis is parallel to the Z-axis; wherein: the long rectangular third base is horizontally arranged on the inner wall of the fixed platform, the two third slide rails (72) are respectively made on both sides of the width direction of the third base and parallel to the length direction of the third base, and the third slider (73) cooperates with the two third slide rails to form the third sliding joint; The third slider (73) is connected to one end of the third link (74) through the second ball joint (76), and the other end of the third link (74) is connected to the bottom edge of the moving platform (8) through the third ball joint (77).

7. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 6, characterized in that: In the fifth branch (10), the second locating joint is horizontally fixed to the upper inner wall of the fixed platform (3), and the axis of the second locating joint is parallel to the Z-axis; wherein: the long rectangular second base is horizontally arranged on the inner wall of the fixed platform, and two second slide rails (52) are respectively made on both sides of the width direction of the second base and parallel to the length direction of the second base, and the second slider (53) cooperates with the two second slide rails to form the second locating joint; the hinge ear provided on the second slider (53) cooperates with the rotating shaft at one end of the second connecting rod (52) to form the second rotating joint (57); the first ball (56.1) fixed at the other end of the second connecting rod (54) cooperates with the ball socket fixed on the upper edge of the moving platform to form the first ball joint (56).

8. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 7, characterized in that: In each branch, the two ends of the ball screw are respectively positioned on the base and located in the middle of the two slide rails and are parallel to the slide rails. The screw nut on the ball screw is also connected to the slider that cooperates with the slide rail. The end of the base is equipped with a corresponding servo motor, and the motor shaft of the servo motor is coaxially connected to the ball screw, so that the connected moving pair becomes the active pair.

9. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 8, characterized in that: The mobile platform (2) includes two pairs of vertical guide rail assemblies that are vertically mounted on the bracket (1) and symmetrically arranged on the inner wall of the left side and the inner wall of the right side of the bracket; each pair of vertical guide rail assemblies includes a vertically arranged mobile platform base (21), two mobile platform slide rails (28) that are vertically mounted on the mobile platform base and respectively equipped with mobile platform sliders (22), a mobile platform ball screw (29) that is vertically mounted on the mobile platform base (21) and located between the two mobile platform slide rails, a nut seat (24) provided on the mobile platform ball screw, a mobile platform connector (23) whose bottom end connects the plurality of mobile platform sliders (22) and the nut seat (24), and a mobile platform servo motor (25) that is mounted on the mobile platform base and coaxially drives the mobile platform ball screw (29).

10. The five-degree-of-freedom redundant drive heavy-duty hybrid processing device with a fixed motor according to claim 9, characterized in that: The workpiece positioning and feeding system includes a workpiece slide base (94) horizontally arranged in front of the fixed platform, two workpiece slide rails (93) arranged on the workpiece slide base, several sliders respectively arranged on the two workpiece slide rails, a workpiece slide (9) with the bottom end fixed on the several sliders and a clamp (96) installed thereon, a workpiece slide screw (92) rotatably arranged between the two workpiece slide rails and parallel to the workpiece slide rails, a nut seat that cooperates with the workpiece slide screw and is fixedly connected to the bottom end of the workpiece slide, and a workpiece slide servo motor (98) arranged on the workpiece slide base (94) with the motor shaft coaxially connected to the workpiece slide screw.

Images