Five-degree-of-freedom series-parallel processing mechanism and processing device

Abstract

The utility model discloses a five-degree-of-freedom series-parallel processing mechanism and a processing device.The five-degree-of-freedom series-parallel processing mechanism comprises a three-degree-of-freedom parallel module, the three-degree-of-freedom parallel module comprises a rack, a movable platform and a plurality of branch chains connected between the rack and the movable platform, the movable platform is provided with a main shaft, and the main shaft is provided with a plurality of parallel connecting rods; the three-degree-of-freedom parallel module has two rotational degrees of freedom and one movement degree of freedom, and can drive the movable platform to move in three spatial degrees of freedom relative to the rack so as to adjust the position and the axial angle of the main shaft, and the axial direction of the main shaft is parallel to the axial direction of the movable platform; the rack is mounted on the mounting frame, and the mounting frame has two moving degrees of freedom and can drive the three-degree-of-freedom parallel module to move in the two-degree-of-freedom space. According to the five-degree-of-freedom series-parallel machining mechanism, the requirements for the machining position and the machining angle of the workpiece to be machined in a large range in the three-dimensional space can be met, and light weight can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of processing, and more specifically, to a five-degree-of-freedom hybrid processing mechanism and a processing device. Background Art

[0002] Lightweighting of automotive structural parts is to reduce the weight of the entire vehicle as much as possible on the basis of ensuring the safety and other performance of the vehicle, so as to achieve the effect of energy saving and consumption reduction and improving endurance. Integrated die-casting simplifies the traditional "stamping + welding" process into a one-step process, that is, the process of stamping raw materials into small structural components and then welding them into large body structural parts, to the process of directly die-casting raw materials into large body structural parts in one step, which greatly improves production efficiency, reduces production costs, and leads to a new revolution in new energy vehicle manufacturing technology.

[0003] However, integrated die-casting technology has greatly increased the size, complexity and production rhythm of parts, posing severe challenges to the process capability and efficiency of processing equipment. In related technologies, integrated die-casting processing is achieved through large machine tools, which are large in size, have high requirements for workspace, are expensive, and have high economic costs. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a five-degree-of-freedom hybrid processing mechanism, which has a small volume, low requirements for workspace, and is relatively cheap to manufacture, and has low economic cost.

[0005] Another object of the utility model is to provide a processing device having the above-mentioned five-degree-of-freedom hybrid processing mechanism.

[0006] According to the five-degree-of-freedom hybrid processing mechanism of the embodiment of the utility model, it includes: a three-degree-of-freedom parallel module, the three-degree-of-freedom parallel module includes a frame, a moving platform and a plurality of branches connected between the frame and the moving platform, the moving platform is provided with a main shaft, the three-degree-of-freedom parallel module has two rotational degrees of freedom and one mobile degree of freedom, and can drive the moving platform to move in three degrees of freedom in space relative to the frame to adjust the position and axial angle of the main shaft, and the axial direction of the main shaft is parallel to the axial direction of the moving platform; a mounting frame, the frame is mounted on the mounting frame, the mounting frame has two mobile degrees of freedom, and can drive the three-degree-of-freedom parallel module to move in two degrees of freedom in space.

[0007] According to the five-degree-of-freedom hybrid processing mechanism of the embodiment of the utility model, through the cooperation of the mounting frame and the three-degree-of-freedom parallel module, the spindle can realize a large range of movement and angle adjustment in three-dimensional space, which is beneficial to meet the requirements of a large range of processing positions and processing angles of the workpiece to be processed in three-dimensional space, and is beneficial to achieving lightweight, high processing efficiency and processing accuracy.

[0008] In addition, the five-degree-of-freedom hybrid machining mechanism according to the above embodiment of the utility model may also have the following additional technical features:

[0009] According to some embodiments of the utility model, the mounting frame includes a fixed part, a first movable part and a second movable part, the first movable part is movably mounted on the fixed part in a horizontal direction, the second movable part is movably mounted on the first movable part in a vertical direction, and the frame is mounted on the second movable part.

[0010] According to some embodiments of the present utility model, the multiple branches include a first branch, a second branch and a third branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can realize extension and retraction along the axis direction of the first branch body and rotation around the axis direction of the first branch body, the first branch body is connected to the frame through the first hinge and to the moving platform through the second hinge, wherein the first hinge is a rotating pair and the rotation axis is perpendicular to the extension and retraction direction of the first branch body, and the rotation axes of the three first hinges intersect with each other and do not intersect at one point; the second hinge is rotatably connected to one end of the first branch body around the first axis, and the second hinge is rotatably connected to the moving platform around the second axis, the first axis is perpendicular to the second axis, the first axis is perpendicular to the extension and retraction direction of the first branch body, and the second axes of the three second hinges are coplanar and intersect at one point.

[0011] According to some embodiments of the utility model, the first branch chain body includes: an outer shell, a rotating member, a first motor, a transmission belt and a first lead screw, the outer shell is connected to the frame via the first hinge, the rotating member is rotatably installed in the outer shell, the first motor is installed in the outer shell, the output shaft of the first motor is transmission-connected to the rotating member via the transmission belt to drive the rotating member to rotate, the first lead screw is passed through the rotating member and threadedly cooperates with the rotating member, the rotating member rotates to drive the first lead screw to move along the axial direction of the rotating member, and the first lead screw is rotatable around its own axis relative to the rotating member.

[0012] According to some embodiments of the utility model, the outer sleeve includes a first sleeve and a second sleeve, the first sleeve is arranged at one axial end of the second sleeve, the first sleeve has an offset portion which is offset from the second sleeve perpendicular to the axial direction, the rotating member is passed through the second sleeve and the first sleeve, and the first motor is installed on the offset portion and is located on a radial side of the rotating member.

[0013] According to some embodiments of the present invention, the first motor is a servo motor, a stepper motor, an asynchronous motor or a hydraulic motor.

[0014] According to some embodiments of the present invention, the three first hinges corresponding to the first branch chain, the second branch chain and the third branch chain are evenly spaced along the circumference of the frame, and the corresponding three second hinges are evenly spaced along the circumference of the moving platform.

[0015] According to the embodiment of the utility model, the processing device includes: a workpiece fixing fixture, which is used to fix the workpiece to be processed; according to the embodiment of the utility model, the five-degree-of-freedom hybrid processing mechanism is arranged on one side of the workpiece fixing fixture and is used to process the side features of the workpiece to be processed.

[0016] According to some embodiments of the utility model, the five-degree-of-freedom hybrid processing mechanism is arranged on one side of the workpiece fixing tool along the first horizontal direction, and the three-degree-of-freedom parallel module is movably installed on the mounting frame along the second horizontal direction and the vertical direction, and the first horizontal direction is perpendicular to the second horizontal direction.

[0017] According to some embodiments of the present invention, the three-degree-of-freedom parallel module is at least partially located above the workpiece fixing fixture.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 It is a structural schematic diagram of a five-degree-of-freedom hybrid machining mechanism according to an embodiment of the utility model;

[0021] Figure 2 is a partial structural schematic diagram of a mounting frame according to an embodiment of the utility model, wherein a second moving part is shown;

[0022] Figure 3is a partial structural schematic diagram of a mounting frame according to an embodiment of the utility model, wherein a fixing portion is shown;

[0023] Figure 4 It is a structural schematic diagram of a processing device according to an embodiment of the utility model;

[0024] Figure 5 is a schematic structural diagram of a three-degree-of-freedom parallel module according to an embodiment of the utility model;

[0025] Figure 6 is a schematic structural diagram of a first branch chain according to an embodiment of the utility model;

[0026] Figure 7 It is a partial structural cross-sectional view of the first branch chain according to an embodiment of the utility model.

[0027] Reference numerals:

[0028] Processing device 1000; workpiece to be processed 2000;

[0029] Five-degree-of-freedom hybrid machining mechanism 100; workpiece fixing fixture 200;

[0030] Three-degree-of-freedom parallel module 30; frame 10; moving platform 20; spindle 21;

[0031] Branch chain 31; first branch chain 32; second branch chain 33; third branch chain 34; first branch chain body 321; second branch chain body 331; third branch chain body 341; first hinge 322; second hinge 323; first axis A1; second axis A2;

[0032] Outer sleeve 35; first sleeve 351; second sleeve 352; cover 353; rotating member 36; inner sleeve 361; first nut 362; bearing spacer 363; bearing 364; sealing ring 365; first motor 37; output shaft 371; transmission belt 38; first lead screw 39;

[0033] The mounting frame 40 , the fixing portion 41 , the second guide rail 411 , the third motor 412 , the third nut 413 , the third lead screw 414 , the first moving portion 42 , the first guide rail 421 , the second motor 422 , the second lead screw 424 , and the second moving portion 43 . DETAILED DESCRIPTION

[0034] The embodiments of the present invention 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element 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 invention.

[0036] In the description of the present invention, "first feature" and "second feature" may include one or more such features, "plurality" means two or more, the first feature "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them, the first feature "above", "above" and "above" the second feature may include the first feature being directly above and diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature.

[0037] The following describes a five-degree-of-freedom hybrid machining mechanism 100 and a machining device 1000 according to an embodiment of the present utility model with reference to the accompanying drawings.

[0038] Reference Figure 1-Figure 7 As shown, the processing device 1000 according to the embodiment of the utility model may include a workpiece fixing fixture 200 and a five-degree-of-freedom hybrid processing mechanism 100 according to the embodiment of the utility model. The five-degree-of-freedom hybrid processing mechanism 100 may include a three-degree-of-freedom parallel module 30 and a mounting frame 40.

[0039] Specifically, the workpiece fixing fixture 200 is used to fix the workpiece 2000 to be processed, and the five-degree-of-freedom hybrid processing mechanism 100 is arranged on one side of the workpiece fixing fixture 200 and is used to process the side features of the workpiece 2000 to be processed. The three-degree-of-freedom parallel module 30 includes a frame 10, a moving platform 20 and a plurality of branches 31 connected between the frame 10 and the moving platform 20. The moving platform 20 is provided with a spindle 21. The three-degree-of-freedom parallel module 30 has two rotational degrees of freedom and one mobile degree of freedom, which can drive the moving platform 20 to move in three degrees of freedom in space relative to the frame 10 to adjust the position and axial angle of the spindle 21. The axial direction of the spindle 21 is parallel to the axial direction of the moving platform 20. The frame 10 is installed on the mounting frame 40. The mounting frame 40 has two mobile degrees of freedom, which can drive the three-degree-of-freedom parallel module 30 to move in two degrees of freedom in space.

[0040] The workpiece fixing fixture 200 may include a platform, a fixture, etc. to better place and fix the workpiece 2000 to be processed, which is conducive to achieving stable support of the workpiece 2000 to be processed. The workpiece 2000 to be processed may be an integrated die-casting, a sheet metal part, or other workpieces that need to be processed. The spindle 21 may include tools such as a cutter and a drill bit for processing the workpiece, or the spindle 21 may be detachably mounted with tools such as a cutter and a drill bit for processing the workpiece. The processing methods of the spindle 21 include, but are not limited to, milling a plane, drilling, and tapping. For example, in some embodiments, the spindle 21 includes a motor and a drill bit, and the motor can drive the drill bit to rotate, which is conducive to meeting processing requirements such as drilling.

[0041] The axial direction of the main shaft 21 may intersect or be parallel to the axial direction of the moving platform 20, wherein the parallelism includes that the two axes coincide, or the two axes are parallel and spaced a certain distance apart. The axial direction of the moving platform 20 is a direction parallel to the moving direction of the moving platform 20. In some embodiments where the axial direction of the main shaft 21 is parallel to the axial direction of the moving platform 20, for example, coincides, the difficulty of adjusting the angle of the main shaft 21 can be reduced.

[0042] In the five-degree-of-freedom hybrid machining mechanism 100, Figure 1 As shown, the frame 10 is mounted on the mounting frame 40, and the mounting frame 40 has two degrees of freedom of movement, which can drive the three-degree-of-freedom parallel module 30 to move in two degrees of freedom in space to adjust the position of the spindle 21. Specifically, the three-degree-of-freedom parallel module 30 is mounted on the mounting frame 40, so that the three-degree-of-freedom parallel module 30 can move in two degrees of freedom in space with the mounting frame 40, for example, relative to the ground, so as to achieve the change of the relative position between the three-degree-of-freedom parallel module 30 as a whole (including the spindle 21) and the workpiece 2000 to be processed, and achieve a large range of position adjustment of the spindle 21 in three-dimensional space, so that the three-degree-of-freedom parallel module 30 as a whole is close to different areas to be processed of the workpiece 2000 to be processed, especially the processing area on the side, that is, the different areas to be processed on the side of the workpiece 2000 to be processed can be within the working range of the three-degree-of-freedom parallel module 30, which is conducive to processing the side features that need to be processed in different areas to be processed on the side of the workpiece 2000 to be processed, and the adjustment range is wider, and the processing efficiency and processing accuracy are higher.

[0043] Among them, the working range of the three-degree-of-freedom parallel module 30 refers to the range that the spindle 21 can reach, so that the different processing areas of the workpiece 2000 are within this range, which is beneficial to ensure that the spindle 21 processes the different processing areas of the workpiece 2000 and improves the reliability of processing the different processing areas of the workpiece 2000.

[0044] In the five-degree-of-freedom hybrid machining mechanism 100, Figure 1As shown, the three-degree-of-freedom parallel module 30 has two rotational degrees of freedom and one translational degree of freedom, and a plurality of branches 31 connect the frame 10 and the moving platform 20, so that the moving platform 20 can have two rotational degrees of freedom and one translational degree of freedom relative to the frame 10, so as to realize the movement of the moving platform 20 relative to the frame 10 in three degrees of freedom in space, and can realize the movement of the moving platform 20 relative to the frame 10 in any direction in three-dimensional space, with a wide range of motion, and can realize fine position adjustment and angle adjustment of the spindle 21 in three-dimensional space.

[0045] The movable platform 20 has two rotational degrees of freedom relative to the frame 10, that is, the movable platform 20 can rotate relative to the frame 10 about two rotation axes respectively, and the two rotation axes intersect, so that the movable platform 20 rotates relative to the frame 10 in any direction perpendicular to the relative movement direction. The movable platform 20 has one degree of movement freedom relative to the frame 10, that is, the movable platform 20 can move relative to the frame 10, and the relative movement direction can be the arrangement direction of the movable platform 20 and the frame 10.

[0046] The above three degrees of freedom are independent of each other, that is, the above three degrees of freedom can be independently controlled, for example, only the braking platform 20 is controlled to move relative to the frame 10, or only the braking platform 20 is controlled to rotate around a rotation axis relative to the frame 10. The above three degrees of freedom can also be controlled in combination, for example, the braking platform 20 is controlled to move relative to the frame 10 and not to rotate relative to the frame 10, for example, the braking platform 20 is controlled to move relative to the frame 10 and rotate around two rotation axes, etc. Through the above three independently controllable degrees of freedom, it is possible to realize the braking platform 20 on one side of the frame 10 (for example, Figure 1 The moving platform 20 is arranged on the right side of the frame 10) and can move at any position relative to the frame 10, and has a wide range of movement. It should be noted here that the descriptions of the up, down, front, back, left, and right directions in the present invention are based on the current state shown in the accompanying drawings, and do not limit the actual use direction of the five-degree-of-freedom hybrid processing mechanism 100 and the processing device 1000 in three-dimensional space, such as the actual installation and movement direction of the moving platform 20 relative to the frame 10.

[0047] The mounting frame 40 can realize the large-scale position adjustment of two degrees of freedom of the three-degree-of-freedom parallel module 30 as a whole in three-dimensional space, and the adjustment range is relatively wide. The three-degree-of-freedom parallel module 30 can realize the movement of the moving platform 20 at one side of the frame 10 relative to any position of the frame 10, that is, the fine position adjustment and angle adjustment of the spindle 21 in three-dimensional space with three degrees of freedom. Therefore, in combination with the mounting frame 40 and the three-degree-of-freedom parallel module 30, the spindle 21 has five degrees of freedom of movement, which can realize the large-scale movement and angle adjustment of the spindle 21 in three-dimensional space, which is conducive to increasing the processable range of the five-degree-of-freedom hybrid processing mechanism 100 on the workpiece 2000 to be processed, and has a wide range of application.

[0048] In some related technologies, integrated die-casting processing is achieved through large machine tools. Large machine tools occupy a large area, which puts great pressure on the internal space layout of the workshop. The investment of a large number of large machine tools leads to a surge in costs. Large-area factory buildings and huge investment in production equipment seriously hinder the development of the integrated die-casting industry and even the new energy vehicle industry. The five-degree-of-freedom hybrid processing mechanism 100 of the embodiment of the present application realizes the movement of the five-degree-of-freedom of the main shaft 21 through the cooperation of the mounting frame 40 and the three-degree-of-freedom parallel module 30, which is conducive to reducing the overall volume of the five-degree-of-freedom hybrid processing mechanism 100, achieving lightweight, making the floor area of ​​the five-degree-of-freedom hybrid processing mechanism 100 relatively small, reducing the pressure on the internal space layout of the workshop, and facilitating the installation of the five-degree-of-freedom hybrid processing mechanism 100 in various workshops of different sizes, with low requirements for the working space and relatively low cost, which is conducive to reducing investment costs and promoting the development of the integrated die-casting industry and even the new energy vehicle industry.

[0049] Moreover, the mounting frame 40 and the three-degree-of-freedom parallel module 30 in the present application can be independently controlled. Not only can the overall position of the three-degree-of-freedom parallel module 30 be adjusted through the mounting frame 40, and the position and angle of the moving platform 20 and the spindle 21 relative to the frame 10 can be adjusted through the three-degree-of-freedom parallel module 30, but the mounting frame 40 can be controlled first and then the three-degree-of-freedom parallel module 30, or the three-degree-of-freedom parallel module 30 can be controlled first and then the mounting frame 40. Compared with some related technologies that require the entire module, such as five branches, to move simultaneously to simultaneously adjust the processing position and processing angle of a large range of large-scale machine tools, the present application can not only simultaneously control the mounting frame 40 and the three-degree-of-freedom parallel module 30 to adjust the processing position and processing angle of the spindle 21 within a large range, but also independently control the two modules to respectively realize the processing position adjustment and processing angle adjustment of the spindle 21, and the processing range, processing efficiency and processing accuracy are all high.

[0050] In addition, for the working condition where the workpiece 2000 to be processed is an integrated die-casting, the features to be processed of the integrated die-casting are discretely distributed at multiple angles in space, and the processing requires frequent and large-scale posture adjustments of the spindle. However, the large machine tool linear axis in the related technology has a large inertia and each axis frequently accelerates and decelerates in reciprocating motion, making it difficult to efficiently and accurately match the production rhythm.

[0051] The five-degree-of-freedom hybrid machining mechanism 100 of the embodiment of the present application has a small inertia, and can realize accurate, large-range, and large-angle posture adjustment of the spindle 21 through the cooperation of the mounting frame 40 and the three-degree-of-freedom parallel module 30. The posture adjustment efficiency is high, and the production rhythm requirements of the workpiece 2000 to be processed can be met. The mounting frame 40 can also realize a large-range position adjustment of the entire three-degree-of-freedom parallel module 30, reducing the number and range of posture adjustments of the spindle 21 in the three-degree-of-freedom parallel module 30, thereby improving machining efficiency and machining accuracy.

[0052] According to the five-degree-of-freedom hybrid processing mechanism 100 of the embodiment of the utility model, through the cooperation of the mounting frame 40 and the three-degree-of-freedom parallel module 30, the spindle 21 can realize a large range of movement and angle adjustment in three-dimensional space, which is beneficial to meet the requirements of a large range of processing positions and processing angles of the workpiece 2000 to be processed in three-dimensional space, and is beneficial to achieving lightweight, high processing efficiency and processing accuracy.

[0053] Since the five-degree-of-freedom hybrid processing mechanism 100 according to the embodiment of the utility model has the above-mentioned beneficial technical effects, the processing device 1000 according to the embodiment of the utility model, through the cooperation of the mounting frame 40 and the three-degree-of-freedom parallel module 30, can realize a large range of movement and angle adjustment of the main shaft 21 in three-dimensional space, which is beneficial to meet the requirements of a larger range of processing positions and processing angles of the workpiece 2000 to be processed in three-dimensional space, and is beneficial to achieving lightweight, high processing efficiency and processing accuracy.

[0054] In some embodiments of the present invention, Figure 1-Figure 3 As shown, the mounting frame 40 includes a fixed portion 41, a first movable portion 42 and a second movable portion 43. The first movable portion 42 is arranged along a horizontal direction (eg Figure 1 The second movable portion 43 is movably mounted on the fixed portion 41 in the front-to-back direction (for example, Figure 1 The frame 10 is movably mounted on the first movable portion 42 (in the up and down directions shown in the figure), and the frame 10 is mounted on the second movable portion 43.

[0055] By making the second movable part 43 move in the vertical direction relative to the first movable part 42, the three-degree-of-freedom parallel module 30 can be moved in the vertical direction relative to the first movable part 42. By making the first movable part 42 move in the horizontal direction relative to the fixed part 41, the second movable part 43 and the three-degree-of-freedom parallel module 30 can be moved in the horizontal direction relative to the fixed part 41, so as to realize the two degrees of freedom of movement of the spindle 21 in the vertical direction and the horizontal direction, and realize the large-range position adjustment of the spindle 21 in space, which is beneficial to increase the processing range of the five-degree-of-freedom hybrid processing mechanism 100.

[0056] The second moving part 43 can move relative to the first moving part 42 in the vertical direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Figure 1-Figure 2 As shown, the first movable part 42 is provided with a first guide rail 421, a second motor 422, a second nut and a second lead screw 424. The second movable part 43 is movably connected to the first movable part 42 through the first guide rail 421. The second motor 422 is fixedly installed on the first movable part 42. The second motor 422 is connected to the second lead screw 424. The second lead screw 424 is threadedly matched with the second nut. The second nut is connected to the second movable part 43. The second motor 422 is used to drive the second lead screw 424 to rotate to drive the second nut to move along the length direction of the second lead screw 424. The first guide rail 421 and the second lead screw 424 both extend in the up and down directions.

[0057] The second motor 422 can drive the second lead screw 424 to rotate, so that the second nut threadedly matched with the second lead screw 424 moves in the up and down directions, and then the second movable part 43 connected to the second nut moves along the first guide rail 421 relative to the first movable part 42, so as to realize the movement of the second movable part 43 relative to the first movable part 42 in the up and down directions. The structure has low structural complexity, is easy to implement, and has good economy.

[0058] The first moving part 42 can move relative to the fixed part 41 in the horizontal direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Figure 1 and Figure 3As shown, the fixed part 41 is provided with a second guide rail 411, a third motor 412, a third nut 413 and a third lead screw 414, the first movable part 42 is movably connected to the fixed part 41 through the second guide rail 411, the third motor 412 is fixedly installed on the fixed part 41, the third motor 412 is connected to the third lead screw 414, the third lead screw 414 is threadedly matched with the third nut 413, the third nut 413 is connected to the first movable part 42, the third motor 412 is used to drive the third lead screw 414 to rotate to drive the third nut 413 to move along the length direction of the third lead screw 414, and the second guide rail 411 and the third lead screw 414 both extend in the front-rear direction.

[0059] The third motor 412 can drive the third screw 414 to rotate, so that the third nut 413 threadedly matched with the third screw 414 moves in the front-to-back direction, and then the first movable part 42 connected to the third nut 413 moves along the second guide rail 411 relative to the fixed part 41, so as to realize the movement of the first movable part 42 relative to the fixed part 41 in the front-to-back direction. The structure has low structural complexity, is easy to implement, and is economical.

[0060] In some embodiments of the present invention, Figure 4 As shown, the five-degree-of-freedom hybrid processing mechanism 100 is arranged on one side of the workpiece fixing fixture 200 along the first horizontal direction, and the three-degree-of-freedom parallel module 30 is movably installed on the mounting frame 40 along the second horizontal direction and the vertical direction, and the first horizontal direction is perpendicular to the second horizontal direction.

[0061] The five-degree-of-freedom hybrid processing mechanism 100 is arranged on one side of the workpiece fixing tool 200 along the first horizontal direction to process different areas to be processed of the workpiece 2000 along the first horizontal direction. For example, the different areas to be processed of the workpiece 2000 along the first horizontal direction are within the working range of the three-degree-of-freedom parallel module 30. The processing angle and processing position of the spindle 21 are adjusted by the three-degree-of-freedom movement of the moving platform 20 in the three-degree-of-freedom parallel module 30 relative to the frame 10, so that the spindle 21 can process the different areas to be processed of the workpiece 2000 along the first horizontal direction.

[0062] The three-degree-of-freedom parallel module 30 can be moved along the second horizontal direction and the vertical direction through the mounting frame 40, so that the three-degree-of-freedom parallel module 30 as a whole can move along the second horizontal direction and the vertical direction relative to the workpiece fixing fixture 200, so as to process different areas to be processed along the second horizontal direction and the vertical direction of the workpiece 2000. In combination with the five-degree-of-freedom hybrid processing mechanism 100 disposed on one side of the workpiece fixing fixture 200 along the first horizontal direction, the spindle 21 can process different areas to be processed along the first horizontal direction, the second horizontal direction and the vertical direction of the workpiece 2000, and the first horizontal direction is perpendicular to the second horizontal direction, which is conducive to realizing the processing of all areas to be processed of the workpiece 2000 in the full range in the three-dimensional space, and the processing range is wider, which is conducive to meeting the processing requirements of each area to be processed in the workpiece 2000 through the processing device 1000.

[0063] The first horizontal direction can be Figure 4 The second horizontal direction is a horizontal direction perpendicular to the first horizontal direction. Figure 4 As shown, the first horizontal direction is the left-right direction, and the second horizontal direction is the front-back direction.

[0064] In some embodiments, Figure 4 As shown, the three-degree-of-freedom parallel module 30 is at least partially located above the workpiece fixture 200, which is convenient for the spindle 21 to process the workpiece 2000 fixed by the workpiece fixture 200, for example, the side features of the workpiece 2000 to be processed are processed by the spindle 21. And the installation position of the five-degree-of-freedom hybrid processing mechanism 100 is made closer to the workpiece fixture 200, which is conducive to effectively reducing the footprint of the processing device 1000 while processing the workpiece 2000 by the five-degree-of-freedom hybrid processing mechanism 100, reducing the pressure on the internal space layout of the workshop, and achieving a better lightweight effect.

[0065] In some embodiments of the present invention, Figure 5-Figure 6 As shown, the multiple branches 31 include a first branch chain 32, a second branch chain 33 and a third branch chain 34. The first branch chain 32, the second branch chain 33 and the third branch chain 34 have the same structure. The first branch chain 32 includes a first branch chain body 321, a first hinge 322 and a second hinge 323. The first branch chain body 321 can achieve telescopic movement along the axis direction of the first branch chain body 321 and rotation around the axis direction of the first branch chain body 321. The first branch chain body 321 is connected to the frame 10 through the first hinge 322 and is connected to the moving platform 20 through the second hinge 323.

[0066] Among them, the first hinge 322 is a revolving pair and the revolving axis is perpendicular to the extension direction of the first branch chain body 321. The revolving axes of the three first hinges 322 intersect each other and do not intersect at one point. The second hinge 323 is rotatably connected to one end of the first branch chain body 321 around the first axis A1. The second hinge 323 is rotatably connected to the movable platform 20 around the second axis A2. The first axis A1 is perpendicular to the second axis A2. The first axis A1 is perpendicular to the extension direction of the first branch chain body 321. The second axes A2 of the three second hinges 323 are coplanar and intersect at one point. The normal direction of the plane where the connection points of the three second hinges 323 and the movable platform 20 are located is the axis direction of the movable platform 20.

[0067] The first branch 32, the second branch 33 and the third branch 34 have the same structure, that is, the first branch 32 includes a first branch body 321, a first hinge 322 and a second hinge 323, the second branch 33 includes a second branch body 331, a first hinge 322 and a second hinge 323, and the third branch 34 includes a third branch body 341, a first hinge 322 and a second hinge 323, wherein the second branch body 331 has the same structure as the first branch body 321, and the third branch body 341 has the same structure as the first branch body 321.

[0068] The first branch chain body 321 is rotatably connected to the frame 10 through the first hinge 322, and the first branch chain body 321 can be rotated relative to the frame 10 through the first hinge 322. The second hinge 323 is connected to the first branch chain body 321 and can rotate relative to the first branch chain body 321 around the first axis A1, and the second hinge 323 is connected to the moving platform 20 and can rotate relative to the moving platform 20 around the second axis A2, and the first branch chain body 321 can be rotated relative to the moving platform 20 around the first axis A1 and around the second axis A2.

[0069] It is worth noting that the part of the second hinge 323 connected to the moving platform 20 and the part of the second hinge 323 connected to the first branch chain body 321 are connected in series, and the first axis A1 is perpendicular to the second axis A2, so that the second hinge 323 forms a universal joint. When the first branch chain body 321 rotates around the second axis A2, the first axis A1 will rotate around the second axis A2, so that the extension direction of the first axis A1 in the three-dimensional space changes. In this way, the direction of the first axis A1 in the three-dimensional space can be changed, and the rotatable range of the first branch chain body 321 relative to the moving platform 20 is increased.

[0070] At the same time, the telescopic direction of the first branch chain body 321 is perpendicular to the rotation axis of the first hinge 322, the telescopic direction of the first branch chain body 321 is perpendicular to the first axis A1, the second axes A2 of the three second hinges 323 are coplanar and intersect at one point, and the rotation axes of the three first hinges 322 intersect with each other and do not intersect at one point, which is conducive to improving the reliability of adjusting the relative position of the moving platform 20 and the frame 10, and reducing the possibility of interference between the first branch chain 32, the second branch chain 33 and the third branch chain 34 during movement. Preferably, the rotation axes of the three first hinges 322 intersect with each other after extension and form a closed equilateral triangle, so that the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 is better. It can also reduce the movement complexity of the first branch chain 32, facilitate the simultaneous extension and retraction of the first branch chain body 321, the rotation of the first branch chain body 321 at the first hinge 322 relative to the frame 10, and the rotation of the first branch chain body 321 at the second hinge 323 relative to the moving platform 20, thereby improving the movement reliability of the first branch chain 32, that is, improving the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 with the same structure.

[0071] Here, the extension and retraction of the first branch chain body 321 may refer to the change in the length of the first branch chain body 321 between the frame 10 and the moving platform 20. For example, the extension of the first branch chain body 321 causes the length of the first branch chain body 321 between the frame 10 and the moving platform 20 to extend, and the shortening of the first branch chain body 321 causes the length of the first branch chain body 321 between the frame 10 and the moving platform 20 to shorten.

[0072] Specifically, Figure 5-Figure 6 As shown, during the extension and retraction process of the first branch chain body 321, the first branch chain body 321 rotates relative to the frame 10 through the first hinge 322, and the first branch chain body 321 rotates relative to the moving platform 20 through the second hinge 323, so that the length and position (for example, coordinates and angles in three-dimensional space) of the first branch chain body 321 between the frame 10 and the moving platform 20 change, thereby changing the relative position of the frame 10 and the moving platform 20.

[0073] The first branch chain 32, the second branch chain 33 and the third branch chain 34 are arranged in parallel and can be independently controlled. By controlling the first branch chain 32, the second branch chain 33 and the third branch chain 34 respectively, the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 are adjusted respectively, so that the distance between the frame 10 and the moving platform 20 can be adjusted in multiple directions, and the adjustment of the moving platform 20 on one side of the frame 10 relative to any position of the frame 10 in the three-dimensional space is controlled, so as to increase the motion range of the moving platform 20 relative to the frame 10, realize the three-degree-of-freedom motion of the moving platform 20 relative to the frame 10, and make the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 no longer extend and retract, so that the frame 10 and the moving platform 20 are not prone to relative motion such as shaking, thereby improving the stability of adjusting the relative position of the moving platform 20 and the frame 10.

[0074] In addition, the first branch chain body 321 can rotate around its own axis, which is conducive to adapting to the relative movement of the frame 10 and the moving platform 20. For example, when the angle formed by the rotation axis of the first hinge 322 and the extension direction of the first branch chain body 321, and the angle formed by the first axis A1 and the extension direction of the first branch chain body 321, when the difference between the above two angles changes, the first branch chain body 321 can be extended and rotated to adapt to the changes, thereby further improving the adjustment stability.

[0075] In some related technologies, the branch chain adapts to the movement of the moving platform through the joint action of two independent kinematic pairs (rotational pair and translational pair), and the number of kinematic pairs is large and the rigidity is poor. However, the present application integrates the telescopic function and rotational function of the first branch chain body 321 into one kinematic pair, and the first branch chain 32, the second branch chain 33 and the third branch chain 34 all omit one kinematic pair (i.e., the number of joints of the five-degree-of-freedom hybrid processing mechanism 100 is reduced), thereby reducing the number of kinematic pairs of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 and improving the rigidity of the five-degree-of-freedom hybrid processing mechanism 100.

[0076] By driving the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 to extend and retract, the first hinge 322 and the second hinge 323 are rotated, so that the movable platform 20 can have three parallel degrees of freedom of movement relative to the frame 10, and the movable platform 20 can move at one side of the frame 10 relative to any position of the frame 10 in a three-dimensional space. The structure has low complexity, is easy to operate, and is convenient for practice.

[0077] For example, in some embodiments, Figure 5 As shown, the position of the movable platform 20 relative to the frame 10 can be adjusted with the cooperation of the first hinge 322 and the second hinge 323 by controlling the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 respectively, which is easy to operate.

[0078] In some embodiments, Figure 5-Figure 7 As shown, the first branch chain 32 is a side-mounted motor driven branch chain, and the first branch chain body 321 includes: an outer shell 35, a rotating member 36, a first motor 37, a transmission belt 38 and a first lead screw 39. The outer shell 35 is connected to the frame 10 through a first hinge 322, the rotating member 36 is rotatably installed in the outer shell 35, and the first motor 37 is installed on the outer shell 35. The output shaft 371 of the first motor 37 is connected to the rotating member 36 through the transmission belt 38 to drive the rotating member 36 to rotate. The first lead screw 39 is penetrated by the rotating member 36 and is threadedly matched with the rotating member 36. The rotating member 36 rotates to drive the first lead screw 39 to move along the axial direction of the rotating member 36. The first lead screw 39 is rotatable around its own axis relative to the rotating member 36.

[0079] Through the transmission connection between the output shaft 371, the transmission belt 38 and the rotating member 36, the rotating member 36 can be driven to rotate by the first motor 37, so that the first screw 39 threadedly matched with the rotating member 36 moves along the axial direction of the rotating member 36, and the first branch chain body 321 rotates relative to the frame 10 through the first hinge 322, and the first branch chain body 321 rotates relative to the moving platform 20 through the second hinge 323, that is, the first screw 39 can realize movement along its own axial direction and rotation around its own axial direction, so as to realize the extension and rotation of the first branch chain body 321, and then realize the adjustment of the relative position of the moving platform 20 and the frame 10. The structural complexity is low and it is easy to realize.

[0080] Among them, the rotating member 36 and the first lead screw 39 cooperate to form a cylindrical joint, so as to integrate the telescopic function and the rotation function of the first branch chain body 321 into one joint, reduce the number of joints of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 relative to the frame 10, and improve the rigidity of the five-degree-of-freedom hybrid processing mechanism 100. In addition, only the first lead screw 39 moves and rotates in the first branch chain body 321, that is, the weight of the moving parts is small, which is conducive to the lightweight of the five-degree-of-freedom hybrid processing mechanism 100, improves the efficiency of the position adjustment of the moving platform 20 relative to the frame 10, and is conducive to efficient and accurate matching of the production rhythm.

[0081] The first branch chain 32 is a side-mounted motor driven branch chain, which means that the driving member in the first branch chain 32, namely the first motor 37, is placed beside the first lead screw 39, so that the first motor 37 can avoid the first lead screw 39 while providing driving force for the first lead screw 39, and is not likely to cause obstruction to the operation of the first lead screw 39, which is conducive to realizing the normal telescopic movement of the first branch chain 32 and reducing the occupied space of the first branch chain 32 during operation. For example, in some embodiments, such as Figure 7As shown, the outer sleeve 35 includes a first sleeve 351 and a second sleeve 352. The first sleeve 351 is arranged at one axial end of the second sleeve 352. The first sleeve 351 has a staggered portion that is staggered perpendicular to the axial direction with the second sleeve 352. The rotating member 36 is penetrated by the second sleeve 352 and the first sleeve 351. The first motor 37 is installed in the staggered portion and is located on the radial side of the rotating member 36, which is conducive to the offset installation of the first motor 37 and the first screw 39 to avoid the first screw 39 and facilitate the extension and rotation of the first screw 39.

[0082] In some embodiments, Figure 7 As shown, the outer sleeve 35 further includes a cover 353, which is disposed at one axial end of the first sleeve 351 to facilitate installation of the first motor 37, making the installation of the first motor 37 more secure. The cover 353, the first sleeve 351 and the second sleeve 352 can be connected by bolts.

[0083] The first motor 37 can be a servo motor, a stepper motor, an asynchronous motor or a hydraulic motor, etc., as long as it can drive the first lead screw 39 to rotate. The selection is relatively wide. For example, in some embodiments, the first motor 37 is a servo motor, which has a small size, a small inertia, and a large acceleration, and can achieve a higher acceleration capability, a better driving effect on the first lead screw 39, and a higher working efficiency of the first branch chain 32.

[0084] The first motor 37, the transmission belt 38 and the rotating member 36 may be provided with matching structures such as meshing teeth to achieve transmission connection between the first motor 37, the transmission belt 38 and the rotating member 36. For example, in some embodiments, Figure 5-Figure 7 As shown, the transmission belt 38 is a belt body with meshing teeth, the output shaft 371 of the first motor 37 has meshing teeth meshing with the transmission belt 38 (such as the output shaft 371 is equipped with a motor pulley), and the rotating member 36 has meshing teeth meshing with the transmission belt 38, and the transmission connection between the first motor 37, the transmission belt 38 and the rotating member 36 can be achieved through the meshing of the teeth.

[0085] In some embodiments, Figure 7 As shown, the rotating member 36 includes an inner sleeve 361 and a first nut 362. The inner sleeve 361 is rotatably mounted in the outer sleeve 35 through a bearing spacer 363 and a bearing 364 (such as an angular contact ball bearing). The first nut 362 is installed in the inner sleeve 361 through bolts and is threadedly matched with the first lead screw 39, so that the first nut 362 can be easily replaced according to the wear of the thread.

[0086] In some embodiments, Figure 7As shown, a sealing ring 365 is provided between the rotating member 36 and the outer shell 35 to facilitate the sealed connection between the rotating member 36 and the outer shell 35, reduce the possibility of external dust and the like entering the gap between the rotating member 36 and the outer shell 35 and affecting the rotation of the rotating member 36 relative to the outer shell 35, and improve working reliability.

[0087] In some embodiments, Figure 5 As shown, the three first hinges 322 corresponding to the first branch chain 32, the second branch chain 33 and the third branch chain 34 are evenly spaced along the circumference of the frame 10, and the three second hinges 323 corresponding to the first branch chain 32, the second branch chain 33, and the third branch chain 34 are evenly spaced along the circumference of the moving platform 20. It is convenient to control the extension and contraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 separately, and it is conducive to adjusting the relative position of the moving platform 20 and the frame 10 in three-dimensional space through the cooperation of the first hinge 322 and the second hinge 323, so that the first branch chain 32, the second branch chain 33, and the third branch chain 34 are not easy to interfere with each other during the movement process, and the relative position of the moving platform 20 and the frame 10 is more flexible, which improves the processing reliability.

[0088] Other structures and operations of the five-degree-of-freedom hybrid machining mechanism 100 and the machining device 1000 according to the embodiment of the utility model are known to ordinary technicians in the field and will not be described in detail here.

[0089] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means 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 utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0091] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A five-degree-of-freedom hybrid machining mechanism, characterized in that: include: A three-degree-of-freedom parallel module, the three-degree-of-freedom parallel module includes a frame, a moving platform and a plurality of branches connected between the frame and the moving platform, the moving platform is provided with a main shaft, the three-degree-of-freedom parallel module has two rotational degrees of freedom and one translational degree of freedom, and can drive the moving platform to move in three degrees of freedom in space relative to the frame to adjust the position and axial angle of the main shaft, and the axial direction of the main shaft is parallel to the axial direction of the moving platform; The mounting frame is provided with two degrees of freedom for movement, and can drive the three-degree-of-freedom parallel module to move in two degrees of freedom in space.

2. The five-degree-of-freedom hybrid machining mechanism according to claim 1, characterized in that: The mounting frame includes a fixed portion, a first movable portion, and a second movable portion. The first movable portion is movably mounted on the fixed portion in a horizontal direction, the second movable portion is movably mounted on the first movable portion in a vertical direction, and the rack is mounted on the second movable portion.

3. The five-degree-of-freedom hybrid machining mechanism according to claim 1, characterized in that: The multiple branches include a first branch, a second branch and a third branch. The first branch, the second branch and the third branch have the same structure. The first branch includes a first branch body, a first hinge and a second hinge. The first branch body can be extended and retracted along the axis of the first branch body and rotated around the axis of the first branch body. The first branch body is connected to the frame through the first hinge and to the moving platform through the second hinge. The first hinge is a rotating pair and the rotation axis is perpendicular to the extension direction of the first branch body. The rotation axes of the three first hinges intersect each other but do not intersect at one point. The second hinge is rotatably connected to one end of the first branch chain body around a first axis, the second hinge is rotatably connected to the movable platform around a second axis, the first axis is perpendicular to the second axis, the first axis is perpendicular to the extension and retraction direction of the first branch chain body, and the second axes of the three second hinges are coplanar and intersect at one point.

4. The five-degree-of-freedom hybrid machining mechanism according to claim 3, characterized in that: The first branch chain is a side-mounted motor driven branch chain, and the main body of the first branch chain includes: an outer shell, a rotating member, a first motor, a transmission belt and a first lead screw. The outer shell is connected to the frame through the first hinge, and the rotating member is rotatably installed in the outer shell. The first motor is installed in the outer shell, and the output shaft of the first motor is connected to the rotating member through the transmission belt to drive the rotating member to rotate. The first lead screw is inserted into the rotating member and is threadedly matched with the rotating member. The rotating member rotates to drive the first lead screw to move along the axial direction of the rotating member, and the first lead screw is rotatable around its own axis relative to the rotating member.

5. The five-degree-of-freedom hybrid machining mechanism according to claim 4, characterized in that: The outer sleeve includes a first sleeve and a second sleeve, the first sleeve is arranged at one axial end of the second sleeve, the first sleeve has a staggered portion that is staggered perpendicular to the axial direction with the second sleeve, the rotating member is passed through the second sleeve and the first sleeve, and the first motor is installed on the staggered portion and is located on the radial side of the rotating member.

6. The five-degree-of-freedom hybrid machining mechanism according to claim 4, characterized in that: The first motor is a servo motor, a stepper motor, an asynchronous motor or a hydraulic motor.

7. The five-degree-of-freedom hybrid machining mechanism according to claim 3, characterized in that: The three first hinges corresponding to the first branch chain, the second branch chain and the third branch chain are evenly spaced apart along the circumference of the frame, and the three second hinges corresponding to the first branch chain, the second branch chain and the third branch chain are evenly spaced apart along the circumference of the moving platform.

8. A processing device, characterized in that: include: A workpiece fixing fixture, wherein the workpiece fixing fixture is used to fix the workpiece to be processed; According to any one of claims 1 to 7, the five-degree-of-freedom hybrid machining mechanism is arranged on one side of the workpiece fixing fixture and is used to process the side features of the workpiece to be processed.

9. The processing device according to claim 8, characterized in that: The five-degree-of-freedom hybrid processing mechanism is arranged on one side of the workpiece fixing fixture along the first horizontal direction, and the three-degree-of-freedom parallel module is movably installed on the mounting frame along the second horizontal direction and the vertical direction, and the first horizontal direction is perpendicular to the second horizontal direction.

10. The processing device according to claim 8, characterized in that: The three-degree-of-freedom parallel module is at least partially located above the workpiece fixing fixture.

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