Five-degree-of-freedom series-parallel processing robot

Abstract

The utility model discloses a five-degree-of-freedom series-parallel processing robot, which comprises a three-degree-of-freedom parallel module and a two-degree-of-freedom series-parallel module, the three-degree-of-freedom parallel module comprises a movable platform and three branch chain structures movably connected with the movable platform, and the three-degree-of-freedom parallel module has two rotational degrees of freedom and one moving degree of freedom. The movable platform can be driven to move in a three-degree-of-freedom space; the branched chain structure comprises a leg frame, an outer shell, a linear driving assembly, a first rotation assembly and a second rotation piece, the linear driving assembly can drive the outer shell to reciprocate in the length direction of the leg frame, and the first rotation assembly is rotatably installed on the outer shell around a first rotation axis; and the second rotating piece is rotatably mounted on the outer shell around a second rotating axis. According to the technical scheme provided by the utility model, the problems of large size, limited installation mode and the like in the prior art can be solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, concretely is a kind of five degrees of freedom hybrid processing robot. BACKGROUND

[0002] In industrial production, robot as indispensable part, has been widely applied in automobile industry, automation production line and aerospace industry etc. Five degrees of freedom hybrid processing robot is a kind of hybrid robot with five degrees of freedom, has wide application prospect in many advanced manufacturing, precision assembly, medical operation, aerospace etc.

[0003] For example, Chinese patent application CN107671845B discloses a few joints over-constrained five degrees of freedom hybrid robot, can complete the processing of complex and high-precision parts.But the above type five degrees of freedom hybrid robot structure is complex, and the volume is big, its design has the limitation to the range of motion and attitude, lead to poor flexibility, and due to its unique mechanism arrangement form, the required processing space is big, installation mode is limited, lead to still have improvement space. UTILITY MODEL CONTENT

[0004] The utility model aims at: in order to solve the problem proposed above, provide a kind of five degrees of freedom hybrid processing robot.

[0005] The technical scheme adopted by the utility model is as follows: a kind of five degrees of freedom hybrid processing robot, including three degrees of freedom parallel module and two degrees of freedom series module, the three degrees of freedom parallel module includes dynamic platform and three branch chain structures movably connected with dynamic platform, the three degrees of freedom parallel module has two rotational degrees of freedom and one moving degree of freedom, can drive the dynamic platform movement in three degrees of freedom space;The branch chain structure includes leg support, outer shell, linear drive assembly, first rotary assembly and second rotary piece, the linear drive assembly can drive the outer shell reciprocating movement along the length direction of the leg support, the first rotary assembly is rotatably installed on the outer shell around first rotation axis, the second rotary piece is rotatably installed on the outer shell around second rotation axis, the first rotation axis and second rotation axis intersect and are perpendicular.

[0006] In a preferred embodiment, the two degrees of freedom series module includes rack, first servo motor, second servo motor and main shaft, the first servo motor is installed in the middle part of one end of the dynamic platform, the output end of the first servo motor passes through the dynamic platform and is connected with the rack, can drive the rack rotation along third rotation axis direction.

[0007] In a preferred implementation, the tail of the frame has a receiving cavity, the main shaft is rotatably mounted in the receiving cavity about a fourth rotation axis, and the fourth rotation axis intersects and is perpendicular to the third rotation axis.

[0008] In a preferred implementation, the main shaft has a driving shaft and a driven shaft fixedly connected to two ends of the main shaft respectively, the frame has bearings arranged at two ends of the frame, the driving shaft and the driven shaft are arranged in cooperation with inner rings of the bearings and are rotatable synchronously with the inner rings of the bearings, and the outer end of the driving shaft is sleeved with a driven pulley.

[0009] In a preferred implementation, the second servo motor is embedded in a mounting cavity reserved in the frame, the second servo motor has a driving pulley connected to the driven pulley through a shaft coupling, and the driving pulley and the driven pulley are sleeved with a belt.

[0010] In a preferred implementation, the linear driving assembly includes an inner housing and a cylindrical guide rail, the leg frame has baffles arranged at two ends of the leg frame along a width direction of the leg frame, the cylindrical guide rail is arranged between the two baffles, the inner housing is arranged on the cylindrical guide rail and is movable reciprocally along the cylindrical guide rail, the inner housing has a mover built-in, and the leg frame has a stator arranged along a length direction of the leg frame and cooperating with the mover.

[0011] In a preferred implementation, the inner housing has guide rail sliders symmetrically arranged at two ends of a bottom of the inner housing, the leg frame has linear guide rails corresponding to the guide rail sliders and arranged along a length direction of the leg frame, and the guide rail sliders are movable reciprocally along the linear guide rails.

[0012] In a preferred implementation, the first rotary assembly is two and symmetrically arranged at two ends of the outer housing, the first rotary assembly includes a second bearing and a bearing pressing plate, the second bearing is arranged in cooperation with a shaft hole reserved in the outer housing, the bearing pressing plate is pressed on an inner ring of the second bearing and is rotatable synchronously with the second bearing, the bearing pressing plate passes through the second bearing and is fixed on the inner housing at an inner end of the bearing pressing plate, and the second rotary member is two and symmetrically arranged at the other two ends of the outer housing.

[0013] In a preferred implementation, the three branched chain structures are symmetrically arranged in pairs and are distributed in an isosceles triangle shape, and the leg frame is hingedly connected to the movable platform through a hinge.

[0014] In summary, due to the adoption of the above technical solutions, the utility model has the advantages of high flexibility, wide processing range, small overall volume, small required processing space, wide use range, and suitability for completing machining tasks of large and complex parts, etc. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the whole three-dimensional structure schematic view of the utility model;

[0016] Figure 2 It is the three-dimensional structure schematic view of the utility model in branch chain structure;

[0017] Figure 3 It is the three-dimensional structure schematic view of the utility model after two degrees of freedom series module and dynamic platform split;

[0018] Figure 4 It is Figure 1 The enlarged structure schematic view of A in the utility model.

[0019] Mark in the drawing: 100-three degrees of parallel connection module, 110-branch chain structure, 111-leg support, 112-second rotary piece, 113-inner shell, 114-outer shell, 115-bearing pressing plate, 116-second bearing, 117-guide rail sliding block, 118-linear guide rail, 119-cylindrical guide rail, 120-dynamic platform, 130-hinge, 200-two degrees of freedom series module, 201-first servo motor, 202-second servo motor, 203-rack, 204-driving shaft, 205-main shaft, 206-bearing, 207-driven shaft, 208-driven pulley, 209-belt, 210-driving pulley, 211-coupling, A1-first rotation axis, A2-second rotation axis, A3-third rotation axis, A4-fourth rotation axis. Specific implementation

[0020] In order to make the utility model's purpose, technical scheme and advantage more clearly clear, following combining with the drawing and example, the utility model is further detailedly explained.It should be understood that the specific example described here is only used to explain the utility model, and is not used to limit the utility model.

[0021] Refer to Figures 1-4The application discloses a five-degree-of-freedom hybrid machining robot, which comprises a three-degree-of-freedom parallel module 100 and a two-degree-of-freedom serial module 200, the three-degree-of-freedom parallel module 100 comprises a moving platform 120 and three branch chain structures 110 movably connected with the moving platform 120, the three-degree-of-freedom parallel module 100 has two rotation degrees of freedom and one movement degree of freedom, and can drive the moving platform 120 to move in a three-degree-of-freedom space; the branch chain structure 110 comprises a leg support 111, an outer shell 114, a linear driving assembly, a first rotating assembly and a second rotating part 112, the linear driving assembly can drive the outer shell 114 to reciprocate along the length direction of the leg support 111, the first rotating assembly is rotatably arranged on the outer shell 114 around a first rotating axis A1, the second rotating part 112 is rotatably arranged on the outer shell 114 around a second rotating axis A2, the first rotating axis A1 and the second rotating axis A2 intersect and are perpendicular, through cooperation of the three-degree-of-freedom parallel module 100 and the two-degree-of-freedom serial module 200, five-degree-of-freedom hybrid machining of the robot itself can be realized, meanwhile, the branch chain structure 110 is driven by using the linear driving assembly, the response speed is higher than that of a traditional servo motor plus a ball screw transmission, the accuracy is high, and the branch chain structure 110 is suitable for completing machining tasks of large and complex parts, meanwhile, the overall volume can be reduced, and the required machining space is smaller.

[0022] In the embodiment, the three branch chain structures 110 are symmetrically arranged in pairs and are distributed in an isosceles triangle shape, the leg support 111 is hingedly connected with the moving platform 120 through a hinge 130, the three branch chain structures 110 are distributed in an isosceles triangle shape, and the moving platform has a wider moving range.

[0023] In the embodiment, the first rotating assembly is two and symmetrically arranged at two ends of the outer shell 114, the first rotating assembly comprises a second bearing 116 and a bearing pressing plate 115, the second bearing 116 is arranged in a shaft hole reserved in the outer shell 114 in a matched mode, the bearing pressing plate 115 is pressed on an inner ring of the second bearing 116 and can synchronously rotate with the second bearing 116, an inner end of the bearing pressing plate 115 penetrates through the second bearing 116 and is fixed on an inner shell 113, and the second rotating part 112 is two and symmetrically arranged at the other two ends of the outer shell 114, wherein the second rotating part 112 is movably connected with an external rack (not shown in the figure and can be designed according to a machining part) together, and through cooperation of the first rotating assembly and the linear driving assembly, two rotating pairs can be formed, and due to the unique rotating mechanism of the branch chain structure 110, the rack can be designed according to a machining workpiece, and the use range is wide.

[0024] In this embodiment, the two-degree-of-freedom serial module 200 includes a rack 203, a first servo motor 201, a second servo motor 202, and a main shaft 205. The first servo motor 201 is mounted at the middle of one end of the movable platform 120, and the output end of the first servo motor 201 penetrates through the movable platform 120 and is connected with the rack 203, so as to drive the rack 203 to rotate along the third rotation axis A3. The tail of the rack 203 has a receiving cavity, and the main shaft 205 is rotatably arranged in the receiving cavity along the fourth rotation axis A4. The fourth rotation axis A4 intersects with the third rotation axis A3 and is perpendicular to the third rotation axis A3. The first servo motor 201 can drive the rack 203 to rotate along the third rotation axis A3, and the second servo motor 202 can drive the main shaft 205 to rotate along the fourth rotation axis A4. Thus, the main shaft 205 can move in a two-degree-of-freedom space. When the movable platform 120 and the rack 203 are combined together, the five-degree-of-freedom linkage operation can be realized.

[0025] In this embodiment, the main shaft 205 is fixedly connected with a driving shaft 204 and a driven shaft 207 at two ends, respectively. The rack 203 is provided with bearings 206 at two ends. The driving shaft 204 and the driven shaft 207 are arranged in cooperation with the inner rings of the bearings 206 and can rotate synchronously with the inner rings of the bearings 206. The outer end of the driving shaft 204 is sleeved with a driven pulley 208. The second servo motor 202 is embedded in the mounting cavity reserved in the rack 203. The output end of the second servo motor 202 is connected with a driving pulley 210 matched with the driven pulley 208 through a shaft coupling 211. The driving pulley 210 and the driven pulley 208 are sleeved with a belt 209. The rotation principle of the main shaft 205 is that the second servo motor 202 drives the driving pulley 210 to rotate, and then the belt 209 drives the driven pulley 208 to rotate. Since the driven pulley 208 is assembled with the driving shaft 204, the driving shaft 204, the driven shaft 207, and the main shaft 205 can be synchronously driven to rotate around the fourth rotation axis A4. The use of the belt transmission structure to drive the main shaft 205 to rotate makes the end structure of the robot simple and small in mass, and improves the overall rigidity of the robot.

[0026] In this embodiment, the linear drive assembly includes an inner housing 113 and a cylindrical guide rail 119. The leg frame 111 is provided with baffles at two ends along the width direction thereof. The cylindrical guide rail 119 is arranged between the two baffles. The inner housing 113 is arranged on the cylindrical guide rail 119 and can move reciprocatingly along the cylindrical guide rail 119. The inner housing 113 is internally provided with a mover (not shown in the figure). The leg frame 111 is provided with a stator (not shown in the figure) matched with the mover along the length direction thereof. The cooperation of the mover and the stator can make the inner housing 113 move reciprocatingly along the cylindrical guide rail 119, so as to realize one moving degree of freedom of the three-degree-of-freedom parallel module 100. The linear motor module is a structure that has been realized, and the specific structure and how to realize the work will not be described here.

[0027] In the embodiment, the inner shell 113 is symmetrically provided with guide rail sliders 117 at both ends of the bottom, the leg support 111 is provided with linear guides 118 corresponding to the guide rail sliders 117 along the length direction, the guide rail sliders 117 can reciprocate along the linear guides 118, and through cooperation of the guide rail sliders 117 and the linear guides 118, auxiliary guiding for movement of the inner shell 113 and the mover can be realized, and stability during movement of the linear driving assembly can be ensured.

[0028] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A five-degree-of-freedom hybrid machining robot, characterized by comprising: The three-degree-of-freedom parallel module and the two-degree-of-freedom serial module are included, the three-degree-of-freedom parallel module includes a moving platform and three branch chain structures movably connected with the moving platform, the three-degree-of-freedom parallel module has two rotational degrees of freedom and one moving degree of freedom, and can drive the moving platform to move in three degrees of freedom space; the branch chain structure includes a leg support, an outer shell, a linear drive assembly, a first rotary assembly and a second rotary part, the linear drive assembly can drive the outer shell to reciprocate along the length direction of the leg support, the first rotary assembly is rotatably mounted on the outer shell around a first rotation axis, the second rotary part is rotatably mounted on the outer shell around a second rotation axis, and the first rotation axis and the second rotation axis intersect and are perpendicular.

2. The five-degree-of-freedom hybrid machining robot according to claim 1, characterized in that: The two-degree-of-freedom serial module includes a rack, a first servo motor, a second servo motor and a main shaft, the first servo motor is mounted at the middle of one end of the moving platform, the output end of the first servo motor penetrates through the moving platform and is connected with the rack, and the rack can be driven to rotate along the third rotation axis.

3. The hybrid processing robot with five degrees of freedom according to claim 2, characterized in that: The tail of the rack has a containing cavity, the main shaft is rotatably mounted in the containing cavity around a fourth rotation axis, and the fourth rotation axis intersects and is perpendicular to the third rotation axis.

4. The hybrid processing robot with five degrees of freedom according to claim 3, characterized in that: The main shaft is fixedly connected with a driving shaft and a driven shaft at two ends respectively, bearings are arranged at two ends of the rack, the driving shaft and the driven shaft are arranged in cooperation with the inner rings of the bearings and can rotate synchronously with the inner rings of the bearings, and a driven belt pulley is sleeved on the outer end of the driving shaft.

5. The hybrid processing robot of claim 4, wherein: The second servo motor is embedded in the mounting cavity reserved in the rack, the output end of the second servo motor is connected with a driving belt pulley matched with the driven belt pulley through a shaft coupling, and a belt is sleeved between the driving belt pulley and the driven belt pulley.

6. The hybrid processing robot of claim 1, wherein: The linear drive assembly includes an inner shell and a cylindrical guide rail, the leg support is provided with baffles at two ends in the width direction, the cylindrical guide rail is arranged between the two baffles, the inner shell is arranged on the cylindrical guide rail and can reciprocate along the cylindrical guide rail, a mover is arranged in the inner shell, and a stator matched with the mover is arranged on the leg support in the length direction.

7. The five-DOF hybrid machining robot according to claim 6, characterized in that: Symmetrical guide rail sliders are arranged at two ends of the bottom of the inner shell, straight guide rails corresponding to the guide rail sliders are arranged on the leg support in the length direction, and the guide rail sliders can reciprocate along the straight guide rails.

8. The hybrid processing machine robot of claim 6, wherein: The first rotary assembly is two and symmetrically distributed at two ends of the outer shell, the first rotary assembly includes a second bearing and a bearing pressing plate, the second bearing is arranged in cooperation in the shaft hole reserved in the outer shell, the bearing pressing plate is pressed on the inner ring of the second bearing and can rotate synchronously with the second bearing, the inner end of the bearing pressing plate penetrates through the second bearing and is fixed on the inner shell, and the second rotary part is two and symmetrically distributed at the other two ends of the outer shell.

9. The five-DOF hybrid machine tool robot according to claim 1, characterized in that: The three branch chain structures are symmetrically arranged in pairs and distributed in an isosceles triangle, and the leg support is hinged to the moving platform through a hinge.

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