CN113843780A - Five-freedom-degree series-parallel robot based on plane parallel mechanism - Google Patents
Five-freedom-degree series-parallel robot based on plane parallel mechanism Download PDFInfo
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- CN113843780A CN113843780A CN202111240090.8A CN202111240090A CN113843780A CN 113843780 A CN113843780 A CN 113843780A CN 202111240090 A CN202111240090 A CN 202111240090A CN 113843780 A CN113843780 A CN 113843780A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
The invention provides a five-degree-of-freedom series-parallel robot based on a plane parallel mechanism, which comprises a supporting module, the plane parallel mechanism and a swinging head, wherein a fixed platform of the plane parallel mechanism is connected with a vertical column linear guide rail in the supporting module, and the swinging head is connected with a movable platform of the parallel mechanism. The plane parallel mechanism comprises a movable platform, a fixed platform and a branched chain module, wherein a first sliding block seat of the first branched chain module and a second sliding block seat of the second branched chain module are respectively connected with a movable sliding table in the movable sliding table in a rotating hinge mode, second mounting ends of the first branched chain module and the second branched chain module are respectively connected with a side connecting hole and a side fixing surface of the movable platform, and a central connecting hole of the movable platform is connected with a swinging head. The plane parallel mechanism utilizes a rope to connect a heavy hammer at the rear end of the supporting upright post through a movable sliding table pulley block in the movable sliding table module, so that the whole balance motion of the plane parallel mechanism is realized. The invention has the advantages of small quantity of joints and kinematic pairs, high structural rigidity and convenient realization of real-time control.
Description
Technical Field
The invention relates to the field of robots, in particular to a five-degree-of-freedom hybrid robot based on a planar parallel mechanism.
Background
At present, the development of new energy automobiles in the world is well known, and the new energy automobiles are vigorously developed in the world. Aiming at the requirements of energy conservation and emission reduction, the method also meets the requirements of the automobile industry for leap-type development and competitiveness improvement. In order to reduce the dead weight of the vehicle body, the vehicle body of the new energy vehicle is formed by welding a large number of aluminum alloy structural members, the processing curved surface is complex, the size is large, various shape defects are easily caused in the processing process, the requirement on the quality control of parts is higher, and further, high requirements are provided for indexes such as the working space, the feeding speed and the positioning accuracy of processing equipment. The aluminum alloy structural part product is mainly processed by a traditional five-axis numerical control processing system and a serial robot at present due to the limitation of size and structure. The traditional five-axis numerical control machining system is large in occupied area, large in weight/working range ratio and low in space positioning accuracy of a serial robot, and cannot meet machining requirements of high accuracy and high reliability. The hybrid processing robot combining the advantages of series and parallel connection becomes the best solution for solving the above problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a five-freedom-degree series-parallel robot based on a plane parallel mechanism, which has the advantages that by adopting the plane parallel mechanism which is composed of two chain modules, a movable platform and a fixed platform and can move one by one and the supporting module, the whole structure of the device has higher rigidity and better flexibility on the premise of less quantity of joints and kinematic pairs, the device is convenient to realize real-time control, and the device has small floor area and is convenient to install compared with the traditional five-freedom-degree machining center.
The invention provides a five-degree-of-freedom series-parallel robot based on a plane parallel mechanism, which comprises a supporting module, the plane parallel mechanism and a swinging head, wherein a fixed platform of the plane parallel mechanism is connected with a straight guide rail of a middle upright post of the supporting module, and the swinging head is connected with a movable platform of the parallel mechanism. The support module comprises a support upright post, an upright post transmission module, a movable sliding table module, an upright post pulley block, a heavy hammer movable guide rail and a protective cover, the side surfaces of the upper end and the lower end of the supporting upright post are respectively provided with an upright post upper rib plate and an upright post lower rib plate, the upper end of the supporting upright post is connected with the lower end of the upright post pulley block, upright column pulleys are arranged on two sides of the upper end of the upright column pulley block, the front end of the supporting upright column is connected with the first end of an upright column linear guide rail in the upright column transmission module, the second end of the upright post linear guide rail in the upright post transmission module is connected with the fixed platform of the plane parallel mechanism, the first mounting end of the rear end of the support upright post is connected with the first end of the heavy hammer moving guide rail, the second end of the heavy hammer moving guide rail is connected with the heavy hammer, and the protective cover is connected with the second mounting end of the rear end of the support upright post. The plane parallel mechanism comprises a fixed platform, a movable platform, a first branch chain module and a second branch chain module, wherein a first sliding block seat of the first branch chain module and a second sliding block seat of the second branch chain module are respectively connected with a movable sliding table on the fixed platform in a rotating mode through hinges, a second mounting end of the first branch chain module and a second mounting end of the second branch chain module are respectively connected with a side connecting hole and a side fixing surface of the movable platform, and a central connecting hole of the movable platform and a swinging head are connected. The branched chain module comprises a branched chain body, a servo motor, a coupler, a motor base, a ball screw, a screw rod support, a linear guide rail, a grating ruler and a slider base, wherein the inner side of the first end of the branched chain body is connected with the first end of the motor base, the inner side of the second end of the branched chain body is connected with the first end of the screw rod support, a shell of the servo motor is fixedly connected with the outer side of the first end of the branched chain body, an output shaft of the servo motor penetrates through the second end of the motor base, the first end of the ball screw is connected with the second end of the screw rod support, the second end of the ball screw rod is connected with the second end of the screw rod support, the linear guide rail is symmetrically distributed on two sides of the ball screw rod, the slider base is connected with the middle of the linear guide rail in a sliding mode, and the grating ruler is symmetrically distributed on two sides of the branched chain body.
Preferably, the stand transmission module comprises a stand servo motor, a stand speed reducer, a stand coupler, a stand upper bearing seat, a stand ball screw, a stand linear guide rail and a stand lower bearing seat, wherein the stand upper bearing seat and the first end of the stand lower bearing seat are respectively connected with the upper end and the lower end of the front end of the supporting stand, a shell of the stand servo motor is connected with the second end of the stand upper bearing seat, the output end of the stand servo motor is connected with the input end of the stand speed reducer, the output end of the stand speed reducer is connected with the first end of the stand ball screw through the stand coupler, the second end of the stand ball screw is connected with the second end of the stand lower bearing seat, and the stand linear guide rails are symmetrically distributed on two sides of the stand ball screw.
Preferably, the movable sliding table module comprises a fixed platform, a movable sliding table pulley block, a movable sliding table rotating hinge and a movable sliding table sliding block, the fixed platform is of an I-shaped structure, the movable sliding table sliding block is arranged on the first side of the fixed platform, the movable sliding table pulley block is arranged on the upper end of the fixed platform, and the movable sliding table rotating hinge is arranged on two sides of the upper end and the lower end of the fixed platform respectively.
Preferably, in the movable sliding table module, the distance between the movable sliding table pulley blocks is smaller than the distance between the movable sliding table rotating hinges, the number of the movable sliding table rotating hinges is four, and the centers of the movable sliding table rotating hinges positioned at the two sides of the upper end and the lower end of the fixed platform are on the same straight line; in the branched chain module, the distance between the grating rulers is larger than the distance between the linear guide rails.
Preferably, in the first branch chain module, a circular through hole is formed in an outer side of the second end of the first branch chain body, the cylindrical hole is fixedly connected with the rotating hinge, and in the second branch chain module, a cylindrical stepped hole is formed in an outer side of the second end of the second branch chain body.
Preferably, the number of the upright column pulley block is equal to that of the movable sliding table pulley block on the fixed platform, and the central plane of the upright column pulley block and that of the movable sliding table pulley block on the fixed platform are on the same plane.
Preferably, in the branched module, axes of the servo motor, the coupling, the motor base, the ball screw, and the screw support are on the same straight line.
Compared with the prior art, the invention has the following advantages:
1. the parallel mechanism of the hybrid mechanism only has two branched chains, the modularization degree is high, and the parallel mechanism has small occupied area and good flexibility compared with the traditional five-degree-of-freedom machining center.
2. The rotating hinge mounting holes on the movable sliding table are all in the vertical direction, and the axes of the four holes are located in the same plane, so that the movable sliding table has good manufacturing and assembling manufacturability.
3. The motion planes of the first branched chain module and the second branched chain module in the parallel mechanism are coplanar, so that both the forward solution and the inverse solution of the kinematics have analytical solutions, and real-time control is facilitated.
Drawings
FIG. 1 is a perspective view of a five-degree-of-freedom hybrid robot based on a planar parallel mechanism according to the present invention;
FIG. 2 is a structural diagram of a support module in a five-degree-of-freedom hybrid robot based on a planar parallel mechanism according to the invention;
FIG. 3 is a structural diagram of a movable sliding table module in a five-degree-of-freedom hybrid robot based on a planar parallel mechanism according to the present invention;
FIG. 4 is a rear view of a mobile sliding table module in a five-degree-of-freedom hybrid robot based on a planar parallel mechanism according to the present invention;
FIG. 5 is a structural diagram of a planar parallel mechanism in a five-degree-of-freedom parallel-serial robot based on the planar parallel mechanism;
FIG. 6 is a structural diagram of a first branch chain module in the five-degree-of-freedom hybrid robot based on a planar parallel mechanism according to the present invention;
FIG. 7 is a structural diagram of a second branched chain module in the five-degree-of-freedom hybrid robot based on a planar parallel mechanism according to the present invention;
fig. 8 is a structural diagram of a movable platform of a five-degree-of-freedom hybrid robot based on a plane parallel mechanism.
The main reference numbers:
the support module 1, the plane parallel mechanism 2, the swing head 3, the column lower rib plate 4, the weight moving guide rail 5, the column upper rib plate 6, the weight 7, the column coupler 8, the column pulley 9, the column transmission module 10, the column lower bearing seat 11, the moving sliding table module 12, the protective cover 13, the column ball screw 14, the column upper bearing seat 15, the column reducer 16, the column servo motor 17, the column pulley block 18, the column linear guide rail 19, the moving sliding table pulley block 21, the moving sliding table rotating hinge 22, the moving sliding table slider 23, the first branch module 24, the fixed platform 25, the moving platform 26, the center connecting hole 261, the side connecting hole 262, the side fixing surface 263, the second branch module 27, the first servo motor 28, the first coupler 29, the first motor seat 30, the first ball screw 31, the first screw bearing seat 32, the rotating hinge 33, the first slider seat 34, the linear guide rail comprises a first linear guide rail 35, a first grating ruler 36, a first branch chain body 37, a second servo motor 38, a second coupling 39, a second motor base 40, a second ball screw 41, a second screw support 42, a second slider base 43, a second linear guide rail 44, a second grating ruler 45 and a second branch chain body 46.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The five-degree-of-freedom series-parallel robot based on the plane parallel mechanism comprises a support module 1, a plane parallel mechanism 2 and a swing head 3, wherein a fixed platform 25 of the plane parallel mechanism 2 is connected with a vertical column linear guide rail 19 in the support module 2, and the swing head 3 is connected with a movable platform 26 of the parallel mechanism 2, as shown in figure 1.
Specifically, the swing head 3 has two forms of a single-degree-of-freedom swing head and a two-degree-of-freedom swing head, the single-degree-of-freedom swing head consists of a C head, and extension shafts at two ends of the C head are connected with a circular through hole on a support lug below the movable platform 26 in the plane parallel mechanism 2 through a rotating hinge; the two-degree-of-freedom swing head comprises a head A and a head C, wherein the head A is a cuboid plate, a short shaft is arranged on the upper portion of the plate and connected with a round hole below the movable platform 26 in the plane parallel mechanism 2 through a rotating hinge, a pair of support lugs are arranged on the lower portion of the head A and provided with round through holes, and extension shafts at the two ends of the head C are connected with the round through holes of the support lugs at the head A through rotating hinges.
The upper end of the supporting upright is connected with the lower end of the upright pulley block 18, a pair of upright pulleys 9 is arranged on two sides of the upper end of the upright pulley block 18, the upright pulleys 9 are arranged on the upper end of the supporting upright in a V shape, a threaded hole is formed in the base to enable the upright pulleys to be connected with the supporting upright, the front end of the supporting upright is connected with the first end of the upright linear guide rail 19 in the upright transmission module 10, the second end of the upright linear guide rail 19 in the upright transmission module 10 is connected with the fixed platform 25 of the plane parallel mechanism 2, the first mounting end of the rear end of the supporting upright is connected with the first end of the heavy hammer moving guide rail 5, the second end of the heavy hammer moving guide rail 5 is connected with the heavy hammer 7, and the protective cover 13 is connected with the second mounting end of the rear end of the supporting upright. The weight 7 is connected with the movable slipway module 12 by a rope to play a balance role by bypassing the upright pulley block 18, and the protective cover 13 provides a protective role for the weight 7.
The upright post transmission module 10 comprises an upright post servo motor 17, an upright post speed reducer 16, an upright post coupler 8, an upright post upper bearing seat 15, an upright post ball screw 14, an upright post linear guide rail 19 and an upright post lower bearing seat 11, wherein machining holes are reserved on the surfaces of the upright post upper bearing seat 15 and the upright post lower bearing seat 11, so that the upright post upper bearing seat and the upright post lower bearing seat are fixedly connected with a support upright post. The first ends of the stand upper bearing seat 15 and the stand lower bearing seat 11 are respectively connected with the upper end and the lower end of the front end of the supporting stand, the shell of the stand servo motor 17 is connected with the second end of the stand upper bearing seat 15, the output end of the stand servo motor 17 is connected with the input end of the stand speed reducer 16, the output end of the stand speed reducer 16 is connected with the first end of the stand ball screw 14 through the stand coupling 8, the second end of the stand ball screw 14 is connected with the second end of the stand lower bearing seat 11, the stand linear guide rails 19 are symmetrically distributed on the two sides of the stand ball screw 14, and the fixed platform 25 can linearly move in the vertical direction on the stand linear guide rails 19.
The movable sliding table module 12, as shown in fig. 3 and 4, includes a fixed platform 25, a movable sliding table pulley block 21, a movable sliding table rotating hinge 22 and a movable sliding table slider 23, the fixed platform 25 is an i-shaped box structure, the shape is an i-shaped structure, the mass is light, the rigidity is good, four movable sliding table sliders 23 are arranged on the first side of the fixed platform 25, and the two upright linear guide rails 19 are connected to enable the fixed platform 25 to move up and down, so as to drive the plane parallel mechanism 2 to move integrally in the vertical direction.
Two movable sliding table pulley blocks 21 are symmetrically arranged at the upper end of the fixed platform 25, the movable sliding table pulley blocks 21 are of a symmetrical structure relative to the axis of the fixed platform 25, the base of each movable sliding table pulley block 21 is in a step form and is provided with a processing hole, the movable sliding table pulley blocks are connected with the fixed platform 25 through bolts, a heavy hammer 13 can be connected to the position, behind the upright post pulley block 18, of each movable sliding table pulley block 18, so that the transmission process of the fixed platform 25 is coordinated, two through holes are symmetrically formed in the two sides of the upper end and the lower end of the fixed platform 25 respectively, movable sliding table rotating hinges 22 are arranged in the through holes respectively, the four movable sliding table rotating hinges 22 are arranged in a rectangular mode and are opposite to each other in pairs, the coincidence of the axes is guaranteed at the vertical position, the bottom of each movable sliding table rotating hinge 22 is in the step form, the two groups of steps are opposite to be used for the rotary positioning of the first branch chain module 24 and the second branch chain module 27, and every two movable sliding table rotating hinges 22 are respectively connected with the first branch chain module 24 and the second branch chain module 27 in the plane parallel mechanism 2 The two chain modules can rotate around respective rotation hinge axes.
Specifically, in the moving slide module 12, the distance between the moving slide pulley blocks 21 is smaller than the distance between the moving slide rotating hinges 22, the number of the moving slide rotating hinges 22 is four, and the centers of the moving slide rotating hinges 22 located on both sides of the upper and lower ends of the fixed platform 25 are on the same straight line.
The number of the upright column pulley 9 of the upright column pulley block 18 is equal to that of the movable sliding table pulley block 21 on the fixed platform 25, and the central planes of the upright column pulley 9 of the upright column pulley block 18 and the movable sliding table pulley block 21 on the fixed platform 25 are on the same plane.
The planar parallel mechanism 2, as shown in fig. 5, includes a fixed platform 25, a movable platform 26, a first branch chain module 24 and a second branch chain module 27, wherein a first slider seat 34 of the first branch chain module 24 and a second slider seat 43 of the second branch chain module 27 are respectively connected to two pairs of vertically symmetrical sliding table rotating hinges 22 at two sides of the fixed platform 25, so as to implement a rotating motion.
As shown in fig. 8, the movable platform 26 is a frame structure with a symmetrical top-bottom structure, a center connecting hole 261 is formed in the center thereof and is connected with the swing head 3, so as to realize five-degree-of-freedom series-parallel motion, side connecting holes 262 are formed in first ends of two sides of a frame wall of the center connecting hole 261 and are connected with the first branch chain module 24 through the rotating hinge 33, and side fixing surfaces 263 are formed in the other ends of the frame wall and are connected with the positioning cylinder and fixedly connected with the second branch chain module 27 through bolts. The plane parallel mechanism 2 is connected with a heavy hammer 7 behind the support upright post by a rope through a movable sliding table pulley block 21, so that the whole balance motion of the mechanism is realized.
First branch chain module 24 adopts the symmetrical arrangement mode, as shown in fig. 6, including rotating hinge 33, the first branch chain body 37 that provides the support for other parts, first servo motor 28, first shaft coupling 29, first motor cabinet 30, first ball screw 31, first lead screw support 32, first linear guide rail 35, first grating chi 36 and first slider seat 34, first ball screw 31 is in the center axis position of first branch chain body 37, the processing hole is left on first motor cabinet 30 surface, make it be connected with first branch chain body 37 through bolted connection, first motor cabinet 30 provides fixed bearing for the one end of first ball screw 31.
The inner side of the first end of the first branch chain body 37 is connected with the first end of the first motor seat 30, the outer shell of the first servo motor 28 is fixedly connected with the outer side of the first end of the first branch chain body 37, the inner side of the second end of the first branch chain body 37 is connected with the first end of the first lead screw support 32, the outer side of the second end of the first branch chain body 37 is provided with a circular through hole, a cylindrical hole is fixedly connected with a rotating hinge 33, an output shaft of the first servo motor 28 passes through the second end of the first motor seat 30 and is connected with the first end of the first ball lead screw 31 through a first coupler 29, the second end of the first ball lead screw 31 is connected with the second end of the first lead screw support 32, the first linear guide rails 35 are symmetrically distributed at the two sides of the first ball lead screw 31 to realize the axial transmission of the first slider seat 34, the lower end of the first slider seat 34 is slidably connected with the middle part of the first linear guide rails 35, the side surface of the upper end of the first slider seat 34 is provided with a stepped hole, the first grating rulers 36 are symmetrically distributed on two sides of the first supporting chain body 37 to ensure the transmission precision of the whole branched chain, and the distance between the first grating rulers 36 is greater than that between the first linear guide rails 35.
The second branched chain module 27 is arranged symmetrically, as shown in fig. 7, and includes a second branched chain body 46 providing support for other components, a second servo motor 38, a second coupler 39, a second motor base 40, a second ball screw 41, a second screw support 42, a second linear guide rail 44, a second grating scale 45 and a second slider base 43, wherein the second ball screw 41 is located at a central axis position of the second branched chain body 46, a processing hole is reserved on the surface of the second motor base 40, the second branched chain module is connected with the second branched chain body 46 through a bolt connection, and the second motor base 40 provides a fixed support for one end of the second ball screw 41.
The inner side of the first end of the second branched chain body 46 is connected with the first end of the second motor base 40, the inner side of the second end of the second branched chain body 46 is connected with the first end of the second lead screw support 42, the housing of the second servo motor 38 is fixedly connected with the outer side of the first end of the second branched chain body 46, the outer side of the second end of the second branched chain body 46 is provided with a cylindrical step hole, the output shaft of the second servo motor 38 penetrates through the second end of the second motor base 40 and is connected with the first end of the second ball screw 41 through the second coupling 39, the second end of the second ball screw 41 is connected with the second end of the second lead screw support 42, the second linear guide rails 44 are symmetrically distributed on two sides of the second ball screw 41, the second slider base 43 is slidably connected with the middle of the second linear guide rails 44, the second grating rulers 45 are symmetrically distributed on two sides of the second branched chain body 46, and the distance between the second grating rulers 45 is greater than the distance between the second linear guide rails 44.
The first slider seat 34 and the second slider seat 43 are both box-type I-shaped structures, the middle axis is provided with a threaded hole for branch screw rod transmission, the upper plane and the lower plane are both provided with symmetrical cylindrical step holes for positioning with the upper movable sliding table rotating hinge 22 and the lower movable sliding table rotating hinge 22 of the fixed platform 25, the bottom is provided with a threaded hole, and four movable sliders which are symmetrically arranged enable the four movable sliders to be fixedly connected with the slider seats and do guide movement in the length direction of the branched chain; the lead screw is matched with a lead screw nut arranged in the revolute pair component to realize the transmission of the branched chain; the front end of the branched chain body is provided with a circular through hole for installing a rotary hinge connected movable platform 26.
Preferably, in the first branch chain module 24, the axes of the first servo motor 28, the first coupling 29, the first motor base 30, the first ball screw 31 and the first screw support 32 are on the same straight line; in the second branching module 27, the axes of the second servo motor 38, the second coupling 39, the second motor mount 40, the second ball screw 41, and the second screw mount 42 are on the same straight line.
The five-degree-of-freedom hybrid robot based on the planar parallel mechanism is further described by combining the embodiment as follows:
the working process of the device of the invention is realized as follows:
firstly, according to the working condition of processing a special curved surface, a swing head 3 with two degrees of freedom is selected, namely an AC swing mode is adopted, namely, the head A is a rectangular plate, the upper part of the plate is provided with a short shaft, the short shaft is connected with a round hole below a movable platform 26 in a plane parallel mechanism 2 through a rotating hinge, the lower part of the head A is provided with a pair of support lugs, the support lugs are provided with round through holes, and extension shafts at two ends of the head C are connected with the round through holes of the support lugs of the head A through the rotating hinge. The top of the mechanism realizes the rotation of the swing head by arranging a motor to drive a synchronous belt, and the symmetrical arrangement of the first branch chain module 24 and the second branch chain module 27 realizes the one-to-one rotation of the movable platform 26 in the plane parallel mechanism 2.
Then, fixedly connecting the selected swing head 3 with the central connecting hole 261 of the movable platform 26, and respectively connecting the first slider seat 34 of the first branch chain module 24 and the second slider seat 43 of the second branch chain module 27 with two pairs of vertically symmetrical movable sliding table rotating hinges 22 on two sides of the fixed platform 25; the rotating hinge 33 of the first branch chain module 24 is connected with the side connecting hole 262 of the movable platform 26, and the second branch chain module 27 is connected with the side fixing surface 263 of the movable platform 26 through a bolt and a positioning cylinder.
Finally, the movable sliding table sliding block 23 of the fixed platform 25 in the plane parallel mechanism 2 is connected with the upright post linear guide rail 19 in the upright post transmission module 10, so that the movable sliding table sliding block can move in the vertical direction along the upright post linear guide rail 19, and the movable sliding table pulley block 21 of the fixed platform 25 is connected with the heavy hammer 7 behind the support upright post by using a rope, so that the motion balance is ensured. The five-freedom-degree series-parallel robot basic configuration is formed by the movable platform 26 of the plane parallel mechanism 2, the two-freedom-degree swing head 3 and the single-freedom-degree integral vertical movement of the plane parallel mechanism 2.
After the hybrid robot is installed, a special curved surface to be processed is firstly fixed on a machine tool, when the direction needs to be changed, the first branched chain body 37 and the second branched chain body 46 are moved by driving the first branched chain module 24 and the second branched chain module 27 of the plane parallel mechanism 2, the first branched chain module 24, the second branched chain module 27 and the movable platform 26 are always in the same plane in the moving process, the posture change of the movable platform 26 is realized through the translation of the first branched chain module 24 and the second branched chain module 27, namely one rotation and one translation two degrees of freedom in the plane, and the processing of the curved surface is completed.
When the pose change of the movable platform 26 reaches the movement limit, the movable platform 26 drives the swing head 3 to move, namely, the motor of the swing head 3 is driven to realize the bidirectional rotation along the X axis and the Z axis in the coordinate system of the swing head 3, namely, two rotational degrees of freedom at the position of the tool nose point are realized, so that the position adjustment of the tool nose point is completed, and the positioning of the tool nose is quickly completed.
After the special curved surface is processed, the plane parallel mechanism 2 is driven by the column ball screw 14 to move along the column linear guide rail 19 in the vertical direction to the direction far away from the special curved surface through the driving action of the column servo motor 17 in the column transmission module 10, so that the whole processing process is completed.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. A five-freedom-degree series-parallel robot based on a plane parallel mechanism comprises a supporting module, the plane parallel mechanism and a swinging head, wherein a fixed platform of the plane parallel mechanism is connected with a straight-line guide rail of a middle upright post of the supporting module, the swinging head is connected with a movable platform of the parallel mechanism,
the support module comprises a support upright post, an upright post transmission module, a movable sliding table module, an upright post pulley block, a heavy hammer movable guide rail and a protective cover, the side surfaces of the upper end and the lower end of the supporting upright post are respectively provided with an upright post upper rib plate and an upright post lower rib plate, the upper end of the supporting upright post is connected with the lower end of the upright post pulley block, upright column pulleys are arranged on two sides of the upper end of the upright column pulley block, the front end of the supporting upright column is connected with the first end of an upright column linear guide rail in the upright column transmission module, the second end of the upright post linear guide rail in the upright post transmission module is connected with the fixed platform of the plane parallel mechanism, the first mounting end at the rear end of the support upright is connected with the first end of the heavy hammer moving guide rail, the second end of the heavy hammer moving guide rail is connected with the heavy hammer, and the protective cover is connected with the second mounting end at the rear end of the support upright;
the plane parallel mechanism comprises a fixed platform, a movable platform, a first branched chain module and a second branched chain module, wherein a first slider seat of the first branched chain module and a second slider seat of the second branched chain module are respectively connected with a movable sliding table on the fixed platform in a rotating hinge manner, second mounting ends of the first branched chain module and the second branched chain module are respectively connected with a side connecting hole and a side fixed surface of the movable platform, and a central connecting hole of the movable platform is connected with the swinging head;
the branched chain module comprises a branched chain body, a servo motor, a coupler, a motor base, a ball screw, a screw rod support, a linear guide rail, a grating ruler and a slider base, wherein the inner side of the first end of the branched chain body is connected with the first end of the motor base, the inner side of the second end of the branched chain body is connected with the first end of the screw rod support, a shell of the servo motor is fixedly connected with the outer side of the first end of the branched chain body, an output shaft of the servo motor penetrates through the second end of the motor base, the first end of the ball screw is connected with the second end of the screw rod support, the second end of the ball screw rod is connected with the second end of the screw rod support, the linear guide rail is symmetrically distributed on two sides of the ball screw rod, the slider base is connected with the middle of the linear guide rail in a sliding mode, and the grating ruler is symmetrically distributed on two sides of the branched chain body.
2. The five-degree-of-freedom parallel-serial robot based on planar parallel mechanism according to claim 1, it is characterized in that the upright post transmission module comprises an upright post servo motor, an upright post speed reducer, an upright post coupler, an upright post upper bearing seat, an upright post ball screw, an upright post linear guide rail and an upright post lower bearing seat, the first ends of the upright post upper bearing seat and the upright post lower bearing seat are respectively connected with the upper end and the lower end of the front end of the supporting upright post, the shell of the upright post servo motor is connected with the second end of the bearing seat on the upright post, the output end of the upright post servo motor is connected with the input end of the upright post speed reducer, the output end of the upright post speed reducer is connected with the first end of the upright post ball screw through an upright post coupling, the second end of the stand column ball screw is connected with the second end of the stand column lower bearing seat, and the stand column linear guide rails are symmetrically distributed on two sides of the stand column ball screw.
3. The five-degree-of-freedom series-parallel robot based on the plane parallel mechanism is characterized in that the movable sliding table module comprises a fixed platform, a movable sliding table pulley block, a movable sliding table rotating hinge and a movable sliding table sliding block, the fixed platform is in an I-shaped structure, the movable sliding table sliding block is arranged on the first side of the fixed platform, the movable sliding table pulley block is arranged at the upper end of the fixed platform, and the movable sliding table rotating hinge is respectively arranged on two sides of the upper end and the lower end of the fixed platform.
4. The five-degree-of-freedom parallel-serial robot based on the planar parallel mechanism according to claim 1, wherein in the moving slide module, the distance between the moving slide pulley blocks is smaller than the distance between the moving slide rotating hinges, the number of the moving slide rotating hinges is four, and the centers of the moving slide rotating hinges located on both sides of the upper and lower ends of the fixed platform are on the same straight line; in the branched chain module, the distance between the grating rulers is larger than the distance between the linear guide rails.
5. The five-degree-of-freedom hybrid robot based on the planar parallel mechanism according to claim 1, wherein in the first branch chain module, a circular through hole is formed at an outer side of the second end of the first branch chain body, the cylindrical hole is fixedly connected with the rotating hinge, and in the second branch chain module, a cylindrical stepped hole is formed at an outer side of the second end of the second branch chain body.
6. The five-degree-of-freedom hybrid robot based on the plane parallel mechanism according to claim 1 or 2, wherein the number of the column pulleys of the column pulley block and the number of the movable sliding table pulley blocks on the fixed platform are equal, and the center planes of the column pulleys of the column pulley block and the movable sliding table pulley blocks on the fixed platform are on the same plane.
7. The five-degree-of-freedom hybrid robot based on the planar parallel mechanism according to claim 1 or 5, wherein in the branched-chain module, axes of the servo motor, the shaft coupling, the motor base, the ball screw and the screw support are on the same straight line.
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