2-RPR series robot structure for large propeller machining

Abstract

The utility model belongs to the technical field of industrial machining instruments, and particularly relates to a 2-RPR series robot structure for large propeller machining, which comprises a first-axis connecting rod, a second-axis electric cylinder, a second-axis connecting rod, a third-axis electric cylinder, a third-axis connecting rod, a fourth-axis connecting rod, a fifth-axis connecting rod and a sixth-axis flange. The first-shaft connecting rod is hinged to the second-shaft connecting rod and the second-shaft electric cylinder, and the second-shaft connecting rod is further hinged to the second-shaft electric cylinder, the third-shaft electric cylinder and the third-shaft connecting rod. The three-axis connecting rod and the four-axis connecting rod are connected through a speed reducer, the four-axis connecting rod and the five-axis connecting rod are connected through a speed reducer, and the five-axis connecting rod and the six-axis flange are connected through a speed reducer. The rigidity of the robot is superior to that of a traditional series robot structure, and efficient and high-quality machining of large propeller blades can be met.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial processing equipment, and in particular relates to a 2-RPR serial robot structure for processing large propellers. Background Art

[0002] At present, domestic industrial robots still have significant shortcomings in performance, such as limited workspace, insufficient load capacity, weak body rigidity, and unsatisfactory dynamic performance. These problems limit their application in the processing of large and complex components in fields such as aerospace. Among them, the low rigidity of the robot body restricts its processing efficiency and quality. When used in the processing of large and complex components in the aviation field, the low rigidity of the robot body can easily lead to milling chatter, thereby affecting the processing accuracy and surface quality, and may even cause product scrapping or robot failure. In order to meet the processing needs of large-scale components, the development of high-performance robots with larger workspace, higher load, higher rigidity, lightweight and good dynamic characteristics has become a key direction for the development of my country's industrial robots towards high-end.

[0003] Processing robots are divided into three types: serial, parallel, and serial-parallel hybrid. Although serial robots have a larger workspace than parallel robots and are suitable for processing large components, their rigidity is relatively weak. While parallel robots have better rigidity, their workspace is small and they cannot adapt to the processing of large components. Hybrid robots still have the problem of poor body rigidity due to the existence of a serial structure. Therefore, serial robots are usually chosen for the processing of large and complex components. However, with the development of large-scale national equipment, traditional serial robots have poor body rigidity and are difficult to adapt to the national strategic needs of precision processing of large and complex parts such as large aviation components. There is an urgent need to improve and innovate on the basis of the existing serial form and explore new high-rigidity drive methods and robot configurations. Utility Model Content

[0004] The purpose of the utility model is to provide a 2-RPR serial robot structure for processing large propellers, which has the characteristics of heavy load and high rigidity.

[0005] To achieve the above-mentioned purpose, the utility model provides a serial robot structure for large propeller processing, comprising a one-axis connecting rod, a two-axis electric cylinder, a two-axis connecting rod, a three-axis electric cylinder, a three-axis connecting rod, a four-axis connecting rod, a five-axis connecting rod, and a six-axis flange;

[0006] The one-axis connecting rod is hinged to the two-axis connecting rod and the two-axis electric cylinder respectively, and the two-axis connecting rod is also hinged to the two-axis electric cylinder, the three-axis electric cylinder and the three-axis connecting rod respectively. The three-axis connecting rod and the four-axis connecting rod, the four-axis connecting rod and the five-axis connecting rod, and the five-axis connecting rod and the six-axis flange are all connected through a reducer.

[0007] Furthermore, the one-axis connecting rod is provided with a lower hinge point of the two-axis electric cylinder and two joint hinge points, and the lower hinge point of the two-axis electric cylinder is arranged at one end adjacent to the six-axis flange, and the two joint hinge points are arranged at one end away from the six-axis flange, and the position of the two joint hinge points on the one-axis connecting rod is higher than the lower hinge point of the two-axis electric cylinder;

[0008] The two-axis connecting rod and the one-axis connecting rod are hinged through the two joint hinges; the two-axis electric cylinder and the one-axis connecting rod are hinged through the lower hinge of the two-axis electric cylinder.

[0009] Furthermore, the two-axis connecting rod has a two-axis electric cylinder upper hinge point at one end close to the two-joint hinge point, and a three-joint hinge point at one end away from the two-joint hinge point;

[0010] The two-axis electric cylinder and the two-axis connecting rod are hinged through the hinge point on the two-axis electric cylinder, and the three-axis connecting rod and the two-axis connecting rod are hinged through the three-joint hinge point.

[0011] Furthermore, one end of the two-axis electric cylinder is sleeved in the first rotating shaft, and the other end is sleeved in the second rotating shaft; the first rotating shaft is hinged to the one-axis connecting rod through the lower hinge point of the two-axis electric cylinder; the second rotating shaft is hinged to the two-axis connecting rod through the upper hinge point of the two-axis electric cylinder.

[0012] Furthermore, a lower hinge point of a three-axis electric cylinder is provided on one end of the two-axis connecting rod close to the upper hinge point of the two-axis electric cylinder, and an upper hinge point of a three-axis electric cylinder is provided on one end of the three-axis connecting rod close to the three-joint hinge point, which is used to hinge the three-axis electric cylinder with the two-axis connecting rod and the three-axis connecting rod respectively.

[0013] Furthermore, one end of the three-axis electric cylinder is sleeved in the third rotating shaft, and the other end is sleeved in the fourth rotating shaft. The third rotating shaft is hinged to the two-axis connecting rod through the lower hinge point of the three-axis electric cylinder, and the fourth rotating shaft is hinged to the three-axis connecting rod through the upper hinge point of the three-axis electric cylinder.

[0014] Furthermore, the upper hinge point of the two-axis electric cylinder, the three-joint hinge point and the lower hinge point of the three-axis electric cylinder form a triangular structure, and the upper hinge point of the two-axis electric cylinder, the three-joint hinge point and the two-joint hinge point are on a straight line.

[0015] Furthermore, the position of the lower hinge point of the three-axis electric cylinder is higher than the two-joint hinge point.

[0016] Furthermore, a magnetic ring is provided between the three-axis connecting rod and the four-axis connecting rod.

[0017] Furthermore, the serial robot structure also includes a single-axis base, a single-axis rotary platform and a turntable connector arranged at the bottom of the single-axis connecting rod. The single-axis base is used to be fixed to the ground, and the single-axis rotary platform is connected to the single-axis connecting rod through the turntable connector to drive the single-axis connecting rod to rotate.

[0018] In general, the above technical solutions conceived by the present invention have the following technical advantages compared with the existing technology:

[0019] The 2-RPR serial robot structure provided by this utility model comprises a six-axis robot body and dual electric cylinder branches. These electric cylinder branches act as the drive for the robot's second and third axes, converting linear motion into rotational motion around the joints of the robot's second and third links, forming a six-degree-of-freedom serial robot. This robot boasts superior rigidity to traditional serial robot configurations, enabling efficient and high-quality machining of large propeller blades.

[0020] 2. The two-axis electric cylinder of the present invention is arranged in front of the robot, which is different from being arranged at the rear. It can reduce the load burden of the electric cylinder drive and save the space occupied by one axis of the robot; the three-axis electric cylinder is arranged at the rear of the robot and is connected to the upper hinge point of the three-axis electric cylinder extending from the rear of the three-axis connecting rod.

[0021] 3. The horizontal position of the lower hinge point of the two-axis electric cylinder of the utility model is lower than the two joint hinge points, which can increase the force arm of the electric cylinder output, thereby reducing the load of the electric cylinder itself, and reserve space for the electric cylinder motor to swing during movement at the one-axis connecting rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the 2-RPR serial robot provided by the utility model for large propeller processing.

[0023] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0024] 1-single-axis connecting rod; 101-lower hinge point of second-axis electric cylinder; 102-second joint hinge point; 2-second-axis electric cylinder; 3-second-axis connecting rod; 301-upper hinge point of second-axis electric cylinder; 302-third joint hinge point; 303-lower hinge point of third-axis electric cylinder; 4-third-axis electric cylinder; 5-third-axis connecting rod; 501-upper hinge point of third-axis electric cylinder; 6-magnetic ring; 7-fourth-axis connecting rod; 8-fifth-axis connecting rod; 9-sixth-axis flange; 11-single-axis base; 12-single-axis rotary platform; 13-turntable connector. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the following embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0026] See also Figure 1 This utility model provides a 2-RPR (R represents revolute pair, P represents translation pair) serial robot structure for large propeller machining. It comprises a six-axis robot body and dual electric cylinder branches. The electric cylinder branches drive the robot's second and third axes, converting the linear motion of the electric cylinders into rotational motion around the joints of the robot's second and third links, forming a six-degree-of-freedom serial robot.

[0027] Specifically, the serial robot structure includes a one-axis connecting rod 1, a two-axis electric cylinder 2, a two-axis connecting rod 3, a three-axis electric cylinder 4, a three-axis connecting rod 5, a four-axis connecting rod 7, a five-axis connecting rod 8, and a six-axis flange 9; among them, the one-axis connecting rod 1, the two-axis connecting rod 3, the three-axis connecting rod 5, the four-axis connecting rod 7, the five-axis connecting rod 8, and the six-axis flange 9 constitute the six-axis robot body, and the two-axis electric cylinder 2 and the three-axis electric cylinder 4 constitute the electric cylinder branch chain.

[0028] The one-axis connecting rod 1 is hinged to the two-axis connecting rod 3 and the two-axis electric cylinder 2 respectively. The two-axis connecting rod 3 is also hinged to the two-axis electric cylinder 2, the three-axis electric cylinder 4 and the three-axis connecting rod 5 respectively. The three-axis connecting rod 5 and the four-axis connecting rod 7, the four-axis connecting rod 7 and the five-axis connecting rod 8, and the five-axis connecting rod 8 and the six-axis flange 9 are all connected through a reducer.

[0029] In particular, the serial robot structure also includes a single-axis base 11, a single-axis rotary platform 12 and a turntable connector 13 arranged at the bottom of the single-axis connecting rod 1. The single-axis base 11 is used to be fixed to the ground, and the single-axis rotary platform 12 is connected to the single-axis connecting rod 1 through the turntable connector 13 for driving the single-axis connecting rod 1 to rotate.

[0030] The single-axis connecting rod 1 is provided with a two-axis electric cylinder lower hinge 101 and a two-joint hinge 102. The two-axis electric cylinder lower hinge 101 is located at the end adjacent to the six-axis flange 9, while the two-joint hinge 102 is located at the end away from the six-axis flange 9. The two-joint hinge 102 is located higher on the single-axis connecting rod 1 than the two-axis electric cylinder lower hinge 101. This arrangement increases the lever arm of the electric cylinder output, thereby reducing the load on the electric cylinder itself, and reserves space on the single-axis connecting rod 1 for the electric cylinder motor to swing during movement. The two-axis connecting rod 3 is provided with a two-axis electric cylinder upper hinge 301 at the end adjacent to the two-joint hinge 102, and a three-joint hinge 302 at the end away from the two-joint hinge 102. The three-axis connecting rod 5 includes two hinges: one is the three-joint hinge 302, and the other is the three-axis electric cylinder upper hinge 501.

[0031] The two-axis connecting rod 3 is hinged to the one-axis connecting rod 1 through the two-joint hinge point 102 ; the two-axis electric cylinder 2 is hinged to the one-axis connecting rod 1 through the lower hinge point 101 of the two-axis electric cylinder.

[0032] The two-axis electric cylinder 2 is hinged to the two-axis connecting rod 3 via a hinge point 301 on the two-axis electric cylinder, and the three-axis connecting rod 5 is hinged to the two-axis connecting rod 3 via a three-joint hinge point 302 .

[0033] One end of the two-axis electric cylinder 2 is sleeved within the first rotating shaft, and the other end is sleeved within the second rotating shaft. The first rotating shaft is hinged to the single-axis connecting rod 1 via the lower hinge point 101 of the two-axis electric cylinder. The second rotating shaft is hinged to the two-axis connecting rod 3 via the upper hinge point 301 of the two-axis electric cylinder. Placing the two-axis electric cylinder 2 in front of the robot, as opposed to placing it at the rear, reduces the load burden on the cylinder drive and saves space on the robot's single axis. The three-axis electric cylinder 4 is placed at the rear of the robot and connected to the upper hinge point 501 extending from the rear of the three-axis connecting rod 5.

[0034] A three-axis electric cylinder lower hinge 303 is also provided on the two-axis connecting rod 3 at one end close to the two-axis electric cylinder upper hinge 301, and a three-axis electric cylinder upper hinge 501 is provided on the three-axis connecting rod 5 at one end close to the three-joint hinge 302, which is used to hinge the three-axis electric cylinder 4 with the two-axis connecting rod 3 and the three-axis connecting rod 5 respectively.

[0035] One end of the three-axis electric cylinder 4 is sleeved in the third rotating shaft, and the other end is sleeved in the fourth rotating shaft. The third rotating shaft is hinged to the two-axis connecting rod 3 through the lower hinge point 303 of the three-axis electric cylinder, and the fourth rotating shaft is hinged to the three-axis connecting rod 5 through the upper hinge point 501 of the three-axis electric cylinder.

[0036] The upper hinge point 301 of the two-axis electric cylinder, the three-joint hinge point 302 and the lower hinge point 303 of the three-axis electric cylinder form a triangle structure, and the upper hinge point 301 of the two-axis electric cylinder, the three-joint hinge point 302 and the two-joint hinge point 102 are on a straight line.

[0037] In particular, the position of the lower hinge point 303 of the three-axis electric cylinder is higher than the two-joint hinge point 102.

[0038] To achieve the rotation of the robot's second and third axes, the lower hinge of the two-axis electric cylinder 2 is installed on the previous axis of the rotating axis, that is, the two-axis electric cylinder 2 is hinged to the first axis connecting rod 1 through the lower hinge 101 of the two-axis electric cylinder, and the upper hinge of the electric cylinder is installed on the current rotating axis, that is, it is hinged to the two-axis connecting rod 3 through the upper hinge 301 of the two-axis electric cylinder. The three-axis electric cylinder 4 is hinged to the previous connecting rod, the second axis connecting rod 3, through the lower hinge 303 of the three-axis electric cylinder, and is hinged to the three-axis connecting rod 5 through the upper hinge 501 of the three-axis electric cylinder. When the electric cylinder moves, the linear motion force of the screw acts on the connecting rod, and there is a rotational torque relative to the hinge of the rotating joint, which can realize the conversion of the linear motion of the electric cylinder into the rotational motion of the connecting rod.

[0039] The three-axis connecting rod 5 is connected to the four-axis connecting rod 7 through the reducer and the magnetic ring 6. The four-axis connecting rod 7 is connected to the five-axis connecting rod 8 through the reducer. The six-axis flange 9 is installed on the end face of the six-axis reducer. Figure 1 The hollow cylinder at the front end of the three-axis connecting rod 5 is coaxially mounted with a reducer and a magnetic ring. When the reducer rotates, the four-axis connecting rod 7 rotates around the axis of the three-axis connecting rod 5.

[0040] The reducers of the four-axis connecting rod 7 and the five-axis connecting rod 8 are installed at one end inside the hollow cylindrical structure of the four-axis connecting rod 7. The reducer and the hollow cylinder of the four-axis connecting rod 7 are coaxial, and the other end of the hollow cylinder is a support bearing. The connecting plates at both ends of the five-axis connecting rod 8 extend toward the four-axis connecting rod 7, one end is connected to the reducer of the four-axis connecting rod 7, and the other end is matched with the bearing. When the reducer rotates, the five-axis connecting rod 8 as a whole rotates around the axis of the hollow cylinder of the four-axis connecting rod 7.

[0041] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A 2-RPR serial robot structure for large propeller processing, characterized in that: It includes a one-axis connecting rod (1), a two-axis electric cylinder (2), a two-axis connecting rod (3), a three-axis electric cylinder (4), a three-axis connecting rod (5), a four-axis connecting rod (7), a five-axis connecting rod (8), and a six-axis flange (9); The one-axis connecting rod (1) is respectively hinged to the two-axis connecting rod (3) and the two-axis electric cylinder (2); the two-axis connecting rod (3) is also respectively hinged to the two-axis electric cylinder (2), the three-axis electric cylinder (4) and the three-axis connecting rod (5); the three-axis connecting rod (5) and the four-axis connecting rod (7), the four-axis connecting rod (7) and the five-axis connecting rod (8), and the five-axis connecting rod (8) and the six-axis flange (9) are all connected via a reducer.

2. The 2-RPR serial robot structure for large propeller processing according to claim 1 is characterized in that: The one-axis connecting rod (1) is provided with a two-axis electric cylinder lower hinge point (101) and two joint hinge points (102), and the two-axis electric cylinder lower hinge point (101) is arranged at one end adjacent to the six-axis flange (9), and the two joint hinge points (102) are arranged at one end away from the six-axis flange (9), and the position of the two joint hinge points (102) on the one-axis connecting rod (1) is higher than the two-axis electric cylinder lower hinge point (101); The two-axis connecting rod (3) and the one-axis connecting rod (1) are hinged via the two-joint hinge points (102); the two-axis electric cylinder (2) and the one-axis connecting rod (1) are hinged via the lower hinge point (101) of the two-axis electric cylinder.

3. The 2-RPR serial robot structure for large propeller processing according to claim 2 is characterized in that: The two-axis connecting rod (3) is provided with a two-axis electric cylinder upper hinge (301) at one end close to the two-joint hinge (102), and a three-joint hinge (302) at one end away from the two-joint hinge (102); The two-axis electric cylinder (2) and the two-axis connecting rod (3) are hinged via a hinge point (301) on the two-axis electric cylinder, and the three-axis connecting rod (5) and the two-axis connecting rod (3) are hinged via the three-joint hinge point (302).

4. The 2-RPR serial robot structure for large propeller processing according to claim 3 is characterized in that: One end of the two-axis electric cylinder (2) is sleeved in the first rotating shaft, and the other end is sleeved in the second rotating shaft; the first rotating shaft is hinged to the one-axis connecting rod (1) through the lower hinge point (101) of the two-axis electric cylinder; the second rotating shaft is hinged to the two-axis connecting rod (3) through the upper hinge point (301) of the two-axis electric cylinder.

5. The 2-RPR serial robot structure for large propeller processing according to claim 3 is characterized in that: A three-axis electric cylinder lower hinge (303) is further provided on one end of the two-axis connecting rod (3) close to the two-axis electric cylinder upper hinge (301), and a three-axis electric cylinder upper hinge (501) is provided on one end of the three-axis connecting rod (5) close to the three-joint hinge (302), for articulating the three-axis electric cylinder (4) to the two-axis connecting rod (3) and the three-axis connecting rod (5), respectively.

6. The 2-RPR serial robot structure for large propeller processing according to claim 5 is characterized in that: One end of the three-axis electric cylinder (4) is sleeved in the third rotating shaft, and the other end is sleeved in the fourth rotating shaft. The third rotating shaft is hinged to the two-axis connecting rod (3) through the lower hinge point (303) of the three-axis electric cylinder, and the fourth rotating shaft is hinged to the three-axis connecting rod (5) through the upper hinge point (501) of the three-axis electric cylinder.

7. The 2-RPR serial robot structure for large propeller processing according to claim 5 is characterized in that: The upper hinge point (301) of the two-axis electric cylinder, the three-joint hinge point (302) and the lower hinge point (303) of the three-axis electric cylinder form a triangular structure, and the upper hinge point (301) of the two-axis electric cylinder, the three-joint hinge point (302) and the two-joint hinge point (102) are on a straight line.

8. The 2-RPR serial robot structure for large propeller processing according to claim 7 is characterized in that: The position of the lower hinge point (303) of the three-axis electric cylinder is higher than the two-joint hinge point (102).

9. The 2-RPR serial robot structure for large propeller processing according to claim 1 is characterized in that: A magnetic ring (6) is further provided between the three-axis connecting rod (5) and the four-axis connecting rod (7).

10. The 2-RPR serial robot structure for large propeller processing according to any one of claims 1 to 9, characterized in that: The 2-RPR serial robot structure for large propeller processing further comprises a single-axis base (11), a single-axis rotary platform (12) and a turntable connector (13) arranged at the bottom of the single-axis connecting rod (1), wherein the single-axis base (11) is used for being fixed to the ground, and the single-axis rotary platform (12) is connected to the single-axis connecting rod (1) via the turntable connector (13) for driving the single-axis connecting rod (1) to rotate.

Images