CN110509258B - Parallel adsorption type processing robot - Google Patents
Parallel adsorption type processing robot Download PDFInfo
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- CN110509258B CN110509258B CN201910697608.7A CN201910697608A CN110509258B CN 110509258 B CN110509258 B CN 110509258B CN 201910697608 A CN201910697608 A CN 201910697608A CN 110509258 B CN110509258 B CN 110509258B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a parallel adsorption type processing robot, which comprises a five-freedom parallel processing device, a parallel adsorption supporting device and a rack, wherein the rack is of a truss structure with a semi-arch ball structure, the five-freedom parallel processing device is arranged on the rack, the parallel adsorption supporting device comprises a plurality of branched chains, the branched chains are connected on the rack in parallel, each branched chain comprises an adsorption disc, a slide bar, a branched chain side plate, a screw rod, a slide bar sleeve, a motor and a motor sleeve, one end of the slide bar is connected with the adsorption disc through a spherical pair, the other end of the slide bar is connected with the slide bar sleeve through a cylindrical pair and can move along the axial direction of the slide bar sleeve, the top of the slide bar sleeve is connected with the motor through a screw thread, the motor sleeve is sleeved on the motor and is connected with the slide bar sleeve through a screw thread, the tail end of the screw rod is fixedly connected with a motor shaft, and the screw rod, high processing efficiency, good rigidity and the like.
Description
Technical Field
The invention relates to the technical field of machine manufacturing, in particular to a parallel adsorption type processing robot.
Background
The large-scale complex structural part has wide application in the fields of aerospace, energy, traffic and the like. Typical large complex parts include large aircraft structural members, heavy duty gas turbine components, large wind blades, ship propellers, and the like. The improvement of the processing level of the parts has great significance for improving the strength of the national aerospace and navigation fields. However, the large complex structural member has a large size and a complex surface structure, which provides a great challenge for processing. For such large complex structural members, the existing machining center is difficult to effectively machine and has the problem of inconvenient installation and disassembly, so that the machining of the large complex structural members is mainly manual machining. The manual processing is time-consuming and labor-consuming, and has the defect of poor repeatability, so that the processing cost is increased, and the processing efficiency and the processing quality are reduced.
In the prior art, although the serial mechanism is convenient for flexible processing, the rigidity of a robot supporting structure cannot be guaranteed, the bearing capacity is poor, and deviation is easily caused to a machined part in the processing process, so that the design of an adsorption type processing robot which can be adsorbed on the surface of a large-scale complex structural part to process the large-scale complex structural part and guarantee enough rigidity is a technical problem which needs to be solved urgently, but the kinematics analysis of the adsorption type processing robot is more difficult to implement relative to the serial mechanism due to the complex structure of the parallel mechanism, and certain challenges are provided for the popularization of the application of the adsorption type processing robot.
Disclosure of Invention
The invention aims to provide a parallel adsorption type processing robot which has the advantages of convenience in disassembly and assembly, small occupied space, high processing efficiency, good rigidity and the like.
In order to solve the technical problem, the invention discloses a parallel adsorption type processing robot which comprises a five-degree-of-freedom parallel processing device, a parallel adsorption supporting device and a rack, wherein the rack is of a truss structure with a semi-arch ball structure, the five-degree-of-freedom parallel processing device is arranged on the rack, the parallel adsorption supporting device comprises a plurality of branched chains, the branched chains are connected to the rack in parallel, each branched chain comprises an adsorption disc, a sliding rod, a branched chain side plate, a screw rod, a sliding rod sleeve, a motor and a motor sleeve, one end of the sliding rod is connected with the adsorption disc through a spherical pair, the other end of the sliding rod is connected with the sliding rod sleeve through a cylindrical pair and can move along the axial direction of the sliding rod sleeve, the top of the sliding rod sleeve is connected with the motor in a threaded manner, the motor sleeve is sleeved on the motor and is connected with the sliding rod sleeve in a threaded manner, the, the side plates of the branched chains are symmetrically and threadedly connected to two sides of the sliding rod sleeve, and the side plates of the branched chains form a rotating shaft which is connected with a rotating shaft bracket fixedly connected to the edge of the rack.
Furthermore, the edge of the rack is of a trilateral truss structure, and each edge is fixedly connected with a rotating shaft bracket.
Furthermore, the edge of the rack is of a hexagonal truss structure, and each edge is fixedly connected with a rotating shaft bracket.
Furthermore, the edge of the rack is of a hexagonal truss structure, and four rotating shaft brackets are fixedly connected to the rack.
Furthermore, the five-degree-of-freedom parallel processing device comprises a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a main shaft, wherein one end of the first branched chain, one end of the second branched chain, one end of the third branched chain, one end of the fourth branched chain and one end of the fifth branched chain are movably connected with the main shaft respectively, and the other end of the first branched chain, one end of the second branched chain, one end of the third branched chain, one end of the.
Furthermore, the third branched chain comprises a third motor, a third hook hinge, a third lead screw and a third rotary joint, the third motor is connected with the third lead screw through a screw pair, the third hook hinge is located at the bottom of the third motor and connected with the third lead screw, and the third lead screw is movably connected with the main shaft through the third rotary joint.
Furthermore, cross shaft frames are distributed on six sides of the rack.
Furthermore, the first branched chain, the second branched chain, the fourth branched chain and the fifth branched chain have the same structure, the fifth branched chain comprises a fifth motor, a fifth hook hinge, a fifth lead screw and a fifth spherical hinge, the fifth motor is connected with the fifth lead screw through a screw pair, the fifth hook hinge is positioned at the bottom of the fifth motor and is connected with the fifth lead screw, and the fifth lead screw is movably connected with the main shaft through the fifth spherical hinge.
Furthermore, the adsorption disc is an electromagnetic type or vacuum type adsorption disc.
The invention has the advantages and effects that: by implementing the invention, the parallel adsorption supporting device is adsorbed on the surface of a workpiece, the branched chain is connected with the five-freedom-degree parallel processing device in parallel, the rigidity is increased, meanwhile, the branched chain has 3 degrees of freedom, the pose of the five-freedom-degree parallel processing device can be adjusted within a certain range, and the parallel adsorption supporting device is suitable for processing large-scale complex structural members.
Drawings
The foregoing and additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a five-DOF parallel processing device according to the present invention;
FIG. 3 is a schematic structural diagram of the first to fifth branched chains and the main shaft of the five-DOF parallel processing apparatus according to the present invention;
FIG. 4 is a schematic structural view of the housing of the present invention;
FIG. 5 is a schematic structural view of a parallel adsorption support device according to embodiment 1 of the present invention;
fig. 6 is a schematic structural view of first to fifth branched chains of a parallel adsorption support device according to embodiment 1 of the present invention;
FIG. 7 is a schematic structural view of a rack according to embodiment 2 of the present invention;
FIG. 8 is a schematic structural view of a parallel adsorption supporting device according to embodiment 2 of the present invention;
FIG. 9 is a schematic structural view of a rack according to embodiment 3 of the present invention;
fig. 10 is a schematic structural view of a parallel adsorption supporting device according to embodiment 3 of the present invention.
Legend: a work piece 100; a five-degree-of-freedom parallel processing device 200; a first branch 210; a second branch 220; a third branch 230; a third motor 231; a third hook joint 232; a third lead screw 233; a third revolute joint 234; a fourth branch 240; a fifth branch 250; a fifth motor 251; a fifth hooke hinge 252; a fifth lead screw 253; a fifth spherical hinge 254; a main shaft 260; the parallel adsorption supporting device 300; branched chain 310: an adsorption disk 311; a slide bar 312; a branched side plate 313; a rotating shaft 3131; a lead screw 314; a ram sleeve 315; a motor 316; a motor housing 317; a frame 400; a rotating shaft pedestal 410; a through hole 420.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1-4, the invention discloses a parallel adsorption type processing robot, which is used for processing large complex structural members, the robot comprises a five-degree-of-freedom parallel processing device 200, a parallel adsorption supporting device 300 and a rack 400, the rack 400 is in a truss structure of a semi-arch sphere structure, the five-degree-of-freedom parallel processing device 200 is installed on the rack 400, the parallel adsorption supporting device 300 comprises a plurality of branched chains 310, the branched chains 310 are connected in parallel on the rack 400, the five-degree-of-freedom parallel processing device 200 is provided, the branched chains 310 comprise an adsorption disc 311, a sliding rod 312, a branched side plate 313, a lead screw 314, a sliding rod sleeve 315, a motor 316 and a motor sleeve 317, one end of the sliding rod 312 is connected with the adsorption disc 311 through a spherical pair, the other end of the sliding rod sleeve 315 is connected with a cylindrical pair through a cylindrical pair and can move along the axial direction of the sliding rod, the motor sleeve 317 is sleeved on the motor 316 and is in threaded connection with the sliding rod sleeve 315, the tail end of the screw rod 314 is fixedly connected with the shaft of the motor 316, the screw rod 314 is connected with the sliding rod 312 through a screw pair, the branched side plates 313 are symmetrically in threaded connection with two sides of the sliding rod sleeve 315, the branched side plates 313 form a rotating shaft 3131, the rotating shaft 3131 is connected with a rotating shaft pedestal 410 fixedly connected with the edge of the frame 400, and the adsorption disc 311 is adsorbed on the surface of the workpiece 100.
The five-degree-of-freedom parallel processing device 200 comprises a first branched chain 210, a second branched chain 220, a third branched chain 230, a fourth branched chain 240, a fifth branched chain 250 and a main shaft 260, wherein one end of the first branched chain 210, one end of the second branched chain 220, one end of the third branched chain 230, one end of the fourth branched chain 240 and one end of the fifth branched chain 250 are movably connected with the main shaft 260, and the other end of the first branched chain 210, one end of the second branched chain 220, one end of the third branched chain 230.
The third branched chain 230 includes a third motor 231, a third hooke joint 232, a third lead screw 233 and a third rotary joint 234, the third motor 231 is connected with the third lead screw 233 through a screw pair, the third hooke joint 232 is located at the bottom of the third motor 231 and is connected with the third lead screw 233, the third lead screw 233 is movably connected with the spindle 260 through the third rotary joint 234, when the third branched chain works, the third motor 231 drives the third lead screw 233 to move, and the spindle 260 is driven by the third rotary joint 234 to move to a proper position on the surface of the workpiece 100 for processing.
The first branched chain 210, the second branched chain 220, the fourth branched chain 240 and the fifth branched chain 250 have the same structure, the fifth branched chain 250 comprises a fifth motor 251, a fifth hooke joint 252, a fifth lead screw 253 and a fifth spherical hinge 254, the fifth motor 251 is connected with the fifth lead screw 253 through a screw pair, the fifth hooke joint 252 is located at the bottom of the fifth motor 251 and is connected with the fifth lead screw 253, and the fifth lead screw 253 is movably connected with the main shaft 260 through the fifth spherical hinge 254.
Before processing, the workpiece 100 is adsorbed on the surface of the workpiece 100 through the adsorption disc 311 in the parallel adsorption supporting device 300, the screw 314 is driven through the motor 316, the slide rod 312 moves, the five-degree-of-freedom parallel processing device 200 is adjusted to a proper processing pose, the driving joint motor 316 of the parallel adsorption supporting device 300 is locked, the workpiece 100 is processed through the five-degree-of-freedom parallel processing device 200, the adsorption supporting device 300 has 3 degrees of freedom, the pose of the five-degree-of-freedom parallel processing device 200 can be adjusted within a certain range, and the branched chain 310 is connected with the rack 400 in parallel, so that the rigidity of the processing robot is good. By implementing the parallel adsorption supporting device 300 and the parallel adsorption supporting device 400, the parallel adsorption supporting device 300 is adsorbed on the surface of the workpiece 100, the branched chain 310 is connected to the rack 400 in parallel, the rigidity is guaranteed, meanwhile, the adsorption supporting device 300 has 3 degrees of freedom, the pose of the five-degree-of-freedom parallel machining device 200 can be adjusted within a certain range, and the parallel adsorption supporting device is suitable for machining large-scale complex structural members.
Example 1
As shown in fig. 5, the parallel adsorption supporting means 300 has 3 parallel adsorption supporting means branches 310,
the edge of the frame 400 is a triangular truss structure, each edge is fixedly connected with a rotating shaft bracket 410, and the shaft brackets and the rotating shafts formed by the two side plates 313 form a rotating pair to realize connection with 3 branched chains of the parallel adsorption supporting device 300. Wherein, the adsorption disc 311 adopts the electromagnetic type adsorption disc, can adjust and control the adsorption affinity size through the electric current size, can provide sufficient adsorption affinity for processing robot on the one hand, and on the other hand has also guaranteed the flexibility of parallelly connected absorption strutting arrangement installation, dismantlement. When processing non-ferromagnetic material, can replace vacuum type adsorption disc.
Example 2
The difference between this embodiment and embodiment 1 is that, in this embodiment, as shown in fig. 7, the edge of the rack 400 is in a hexagonal structure, and a rotating shaft pedestal 410 is fixedly connected to each edge, as shown in fig. 8, the parallel adsorption supporting device 300 of this embodiment has 6 parallel adsorption supporting device branches 310, and the pedestal at the edge of the rack 400 and the two side plates 313 of each parallel adsorption supporting device branch 310 form a rotating shaft as a rotating pair, so as to be connected to the 6 branches 310 of the parallel adsorption supporting device 300. By adding 3 branched chains, redundant driving of the rack 400 is realized, so that the rigidity of the adsorption supporting device can be improved to a certain extent.
Example 3
The difference between this embodiment and embodiment 1 is that in this embodiment, as shown in fig. 9, the edge of the rack 400 has a hexagonal structure, and the rotating shaft mounts 410 are distributed on four sides, as shown in fig. 10, the parallel adsorption supporting device 300 of this embodiment has 4 branched chains 310, and the shaft mounts on the four sides of the edge of the rack 400 and the two side plates 313 of each branched chain 310 form rotating shafts as a rotating pair, so as to connect with the 4 branched chains 310 of the parallel adsorption supporting device 300. The 4 branched chains 310 enable the adsorption supporting device 300 to be installed more conveniently and conveniently on the premise of ensuring certain rigidity, and installation adaptability is better.
The adsorption type processing robot provided by the embodiment of the invention is adsorbed on a workpiece through the parallel adsorption supporting device and can adjust the pose of the five-degree-of-freedom parallel processing device within a certain range. During machining, the parallel adsorption supporting device is fixed, and the machined part is machined in five degrees of freedom through the five-degree-of-freedom parallel machining device. The processing robot has the advantages of flexible processing, convenience in dismounting, small occupied space, high processing efficiency and the like, and is suitable for processing large-scale complex structural parts.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. The utility model provides a parallelly connected absorption formula processing robot which characterized in that: the five-freedom parallel machining device comprises a five-freedom parallel machining device (200), a parallel adsorption supporting device (300) and a rack (400), wherein the rack (400) is of a truss structure with a semi-arch sphere structure, the five-freedom parallel machining device (200) is installed on the rack (400), the parallel adsorption supporting device (300) can be adsorbed on the surface of a machined part, the five-freedom parallel machining device (200) can be adjusted to a proper machining pose after adsorption, then a joint is locked to provide stable support for the five-freedom parallel machining device (200), the parallel adsorption supporting device (300) comprises a plurality of branched chains (310), the branched chains (310) are connected to the rack (400) in parallel, each branched chain (310) comprises an adsorption disc (311), a sliding rod (312), a branched chain side plate (313), a lead screw (314), a sliding rod sleeve (315), a motor (316) and a motor sleeve (317), one end of each sliding rod (312) is connected with the adsorption disc (311) through a spherical, the other end of the sliding rod sleeve is connected with the sliding rod sleeve (315) through a cylindrical pair and can move along the axial direction of the sliding rod sleeve (315), the top of the sliding rod sleeve (315) is in threaded connection with a motor (316), a motor sleeve (317) is sleeved on the motor (316) and is in threaded connection with the sliding rod sleeve (315), the tail end of a lead screw (314) is fixedly connected with a shaft of the motor (316), the lead screw (314) is connected with a sliding rod (312) through a spiral pair, branched chain side plates (313) are symmetrically in threaded connection with two sides of the sliding rod sleeve (315), the branched chain side plates (313) form a rotating shaft (3131), and the rotating shaft (3131) is connected with a rotating shaft bracket (410) fixedly connected with the edge of the rack (400); the edge of the rack (400) is of a hexagonal truss structure, and four rotating shaft brackets (410) are fixedly connected to the rack (400).
2. The parallel adsorption-type processing robot of claim 1, wherein: the edge of the frame (400) is of a trilateral truss structure, and each edge is fixedly connected with a rotating shaft bracket (410).
3. The parallel adsorption-type processing robot of claim 1, wherein: the edge of the machine frame (400) is of a hexagonal truss structure, and each edge is fixedly connected with a rotating shaft bracket (410).
4. The parallel adsorption-type processing robot of claim 1, wherein: the five-degree-of-freedom parallel processing device (200) comprises a first branched chain (210), a second branched chain (220), a third branched chain (230), a fourth branched chain (240), a fifth branched chain (250) and a main shaft (260), wherein one end of the first branched chain (210), one end of the second branched chain (220), one end of the third branched chain (230), one end of the fourth branched chain (240) and one end of the fifth branched chain (250) are movably connected with the main shaft (260), and the other end of the first branched chain, one end of the second branched chain (220), one end of the third branched chain (230), one end of the fourth.
5. The parallel adsorption-type processing robot of claim 4, wherein: the third branched chain (230) comprises a third motor (231), a third hooke joint (232), a third lead screw (233) and a third rotary joint (234), the third motor (231) is connected with the third lead screw (233) through a screw pair, the third hooke joint (232) is located at the bottom of the third motor (231) and connected with the third lead screw (233), and the third lead screw (233) is movably connected with the main shaft (260) through the third rotary joint (234).
6. The parallel adsorption-type processing robot of claim 4, wherein: the first branched chain (210), the second branched chain (220), the fourth branched chain (240) and the fifth branched chain (250) are identical in structure, the fifth branched chain (250) comprises a fifth motor (251), a fifth hook hinge (252), a fifth lead screw (253) and a fifth spherical hinge (254), the fifth motor (251) is connected with the fifth lead screw (253) through a screw pair, the fifth hook hinge (252) is located at the bottom of the fifth motor (251) and connected with the fifth lead screw (253), and the fifth lead screw (253) is movably connected with the main shaft (260) through the fifth spherical hinge (254).
7. The parallel adsorption-type processing robot of claim 1, wherein: the adsorption disc (311) is an electromagnetic type or vacuum type adsorption disc.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910697608.7A CN110509258B (en) | 2019-07-31 | 2019-07-31 | Parallel adsorption type processing robot |
| PCT/CN2019/112868 WO2021017205A1 (en) | 2019-07-31 | 2019-10-23 | Parallel-suction-type machining robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910697608.7A CN110509258B (en) | 2019-07-31 | 2019-07-31 | Parallel adsorption type processing robot |
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| CN110509258B true CN110509258B (en) | 2021-06-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111687864B (en) * | 2020-06-28 | 2021-01-12 | 清华大学 | Adsorption type parallel machining robot |
| CN114888771B (en) * | 2022-07-14 | 2022-09-20 | 广东东软学院 | Large-scale structural part machining robot based on adsorption type |
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| WO2002016092A1 (en) * | 2000-08-20 | 2002-02-28 | Berliner Elektronenspeichering-Gesellschaft Für Synchrotronstrahlung M.B.H. | Device for multi-axis fine adjustable bearing of a component |
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| WO2021017205A1 (en) | 2021-02-04 |
| CN110509258A (en) | 2019-11-29 |
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