WO2021017205A1 - 一种并联吸附式加工机器人 - Google Patents

一种并联吸附式加工机器人 Download PDF

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Publication number
WO2021017205A1
WO2021017205A1 PCT/CN2019/112868 CN2019112868W WO2021017205A1 WO 2021017205 A1 WO2021017205 A1 WO 2021017205A1 CN 2019112868 W CN2019112868 W CN 2019112868W WO 2021017205 A1 WO2021017205 A1 WO 2021017205A1
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Prior art keywords
branch
sliding rod
parallel
screw
motor
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PCT/CN2019/112868
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English (en)
French (fr)
Inventor
谢福贵
刘辛军
陈嘉凯
吕春哲
刘魁
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清华大学
烟台清科嘉机器人联合研究院有限公司
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Publication of WO2021017205A1 publication Critical patent/WO2021017205A1/zh

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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

Definitions

  • the invention relates to the technical field of mechanical manufacturing, in particular to a parallel adsorption processing robot.
  • Large and complex structural parts have a wide range of applications in aerospace, energy and transportation fields.
  • Typical large and complex parts include large aviation structural parts, heavy gas turbine components, large wind turbine blades, and ship propellers.
  • the improvement of the processing level of this kind of parts is of great significance to the improvement of the strength of the national aerospace and navigation fields.
  • the existing machining center is difficult to effectively process, and there are problems of inconvenience in installation and disassembly. Therefore, the processing of large and complex structural parts is often manual processing. Manual processing is time-consuming and laborious, and has the disadvantage of poor repeatability. On the one hand, it increases the processing cost, and on the other hand, it reduces the processing efficiency and processing quality.
  • tandem mechanism is convenient for flexible processing, it cannot guarantee the rigidity of the robot support structure and has poor bearing capacity. It is easy to cause deviations in the processing part during the processing. Therefore, a design that can be adsorbed on the surface of large and complex structural parts It is a technical problem that we need to solve urgently to process the adsorption processing robot with sufficient rigidity.
  • complex structure of the parallel mechanism due to the complex structure of the parallel mechanism, its kinematics analysis is more difficult than that of the series mechanism. The promotion of its application is proposed. challenge.
  • the purpose of the present invention is to provide a parallel adsorption processing robot, which has the advantages of convenient disassembly and assembly, small footprint, high processing efficiency, and good rigidity.
  • a parallel adsorption processing robot which includes a five-degree-of-freedom parallel processing device, a parallel adsorption support device and a frame.
  • the frame is a truss structure with a semi-arch spherical structure.
  • a five-degree-of-freedom parallel processing device is installed on the rack.
  • the parallel adsorption support device includes a plurality of branch chains connected in parallel to the frame.
  • the branch chains include an adsorption plate, a sliding rod, a branch chain side plate, a lead screw, and a slide.
  • a rod sleeve, a motor, and a motor sleeve are examples of branch chains connected in parallel to the frame.
  • the sliding rod is connected with the suction plate through a spherical pair, and the other end is connected with the sliding rod sleeve through a cylindrical pair, which can move along the axial direction of the sliding rod sleeve.
  • the top of the barrel is threadedly connected with the motor, the motor sleeve is sleeved on the motor and is threadedly connected with the sliding rod sleeve, the end of the screw is fixedly connected with the motor shaft, and the screw and the sliding rod are connected by a screw pair.
  • the branch chain side plates are symmetrically screwed on both sides of the sliding rod sleeve, and the branch chain side plates constitute a rotating shaft, and the rotating shaft is connected with a rotating shaft bracket fixed on the edge of the frame.
  • edges of the frame are in a trilateral truss structure, and each side is fixedly connected with a rotating shaft bracket.
  • edge of the frame is a hexagonal truss structure, and each side is fixedly connected with a rotating shaft bracket.
  • edge of the frame is a hexagonal truss structure, and four rotating shaft brackets are fixedly connected to the frame.
  • the five-degree-of-freedom parallel processing device includes a first branch, a second branch, a third branch, a fourth branch, a fifth branch, and a main shaft.
  • the first branch and the second branch One ends of the third branch, the fourth branch and the fifth branch are respectively movably connected with the main shaft, and the other ends are respectively connected with the through holes opened on the frame.
  • the third branch chain includes a third motor, a third Hooke hinge, a third screw and a third rotating joint, the third motor and the third screw are connected by a screw pair, and the third tiger
  • the gram hinge is located at the bottom of the third motor and is connected with the third screw, and the third screw is movably connected with the main shaft through a three-rotation joint.
  • cross-shaft shaft supports are distributed on six sides of the frame.
  • first branch, the second branch, the fourth branch, and the fifth branch have the same structure
  • the fifth branch includes a fifth motor, a fifth Hooke hinge, a fifth screw, and a fifth branch.
  • Five-ball hinge, the fifth motor and the fifth lead screw are connected by a screw pair
  • the fifth Hooke hinge is located at the bottom of the fifth motor and connected to the fifth lead screw, between the fifth lead screw and the main shaft
  • the fifth spherical hinge is movably connected.
  • the suction disk is an electromagnetic or vacuum suction disk.
  • the parallel adsorption support device is adsorbed on the surface of the work piece, and the branch chain is connected in parallel to the five-degree-of-freedom processing device, which increases the rigidity.
  • the branch chain has 3 degrees of freedom.
  • the position of the five-degree-of-freedom processing device can be adjusted within the range, which is suitable for the processing of large and complex structural parts.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a schematic diagram of the structure of the five-degree-of-freedom parallel processing device of the present invention.
  • FIG. 3 is a schematic diagram of the structure of the first to fifth branches and the main shaft of the five-degree-of-freedom parallel processing device of the present invention
  • Figure 4 is a schematic diagram of the structure of the rack of the present invention.
  • FIG. 5 is a schematic structural diagram of the parallel adsorption support device of Embodiment 1 of the present invention.
  • FIG. 6 is a schematic diagram of the structure of the first to fifth branches of the parallel adsorption support device of Embodiment 1 of the present invention.
  • FIG. 7 is a schematic structural diagram of a rack according to Embodiment 2 of the present invention.
  • FIG. 8 is a schematic structural diagram of a parallel adsorption support device according to Embodiment 2 of the present invention.
  • FIG. 9 is a schematic structural diagram of a rack according to Embodiment 3 of the present invention.
  • Fig. 10 is a schematic structural diagram of a parallel adsorption support device of embodiment 3 of the present invention.
  • machining part 100 five-degree-of-freedom machining device 200; first branch chain 210; second branch chain 220; third branch chain 230; third motor 231; third Hooke hinge 232; third screw 233; Three revolute joint 234; fourth branch 240; fifth branch 250; fifth motor 251; fifth Hooke hinge 252; fifth screw 253; fifth spherical hinge 254; main shaft 260; parallel adsorption support device 300; Branch chain 310: adsorption plate 311; sliding rod 312; branch chain side plate 313; rotating shaft 3131; lead screw 314; sliding rod sleeve 315; motor 316; motor sleeve 317; frame 400; rotating shaft bracket 410; ⁇ 420.
  • the present invention discloses a parallel adsorption processing robot, which is used to process large and complex structural parts.
  • the robot includes a five-degree-of-freedom processing device 200, a parallel adsorption support device 300 and a frame 400.
  • the frame 400 is a truss structure with a semi-arch spherical structure.
  • a five-degree-of-freedom parallel processing device 200 is installed on the frame 400.
  • the parallel adsorption support device 300 includes a plurality of branch chains 310, which are connected in parallel to the frame 400.
  • the branch chain 310 includes a suction plate 311, a sliding rod 312, a branch chain 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 to the suction plate 311 is connected by a spherical pair, and the other end is connected with the sliding rod sleeve 315 through a cylindrical pair, which can move along the axial direction of the sliding rod sleeve 315.
  • the top of the sliding rod sleeve 315 is threadedly connected with the motor 316, and the motor sleeve 317 is sleeved on the motor 316 and threadedly connected with the sliding rod sleeve 315, the end of the screw 314 is fixedly connected with the shaft of the motor 316, and the screw 314 and the sliding rod 312 are connected by a screw pair, and the branch chain side plate 313 is symmetrically threaded to the sliding rod sleeve
  • Both sides of the cylinder 315 and the branch chain side plates 313 constitute a rotating shaft 3131, the rotating shaft 3131 is connected with the rotating shaft bracket 410 fixedly connected to the edge of the frame 400, and the suction plate 311 is adsorbed on the surface of the workpiece 100.
  • the five-degree-of-freedom parallel processing device 200 includes a first branch 210, a second branch 220, a third branch 230, a fourth branch 240, a fifth branch 250, and a main shaft 260.
  • the first branch 210 and the second branch One ends of the chain 220, the third branch 230, the fourth branch 240, and the fifth branch 250 are respectively movably connected with the main shaft 260, and the other ends are respectively connected with the through holes 420 opened on the frame 400.
  • the third branch 230 includes a third motor 231, a third Hooke hinge 232, a third screw 233 and a third rotating joint 234.
  • the third motor 231 and the third screw 233 are connected by a screw pair, and the third Hooke hinge 232 is located at the bottom of the third motor 231 and is connected to the third lead screw 233.
  • the third lead screw 233 is movably connected to the main shaft 260 through a three-rotation joint 234. During operation, the third motor 231 drives the third lead screw 233 to move.
  • the third revolute joint 234 drives the spindle 260 to move to a suitable position on the surface of the workpiece 100 for processing.
  • the first branch chain 210, the second branch chain 220, the fourth branch chain 240 and the fifth branch chain 250 have the same structure.
  • the fifth branch chain 250 includes a fifth motor 251, a fifth Hooke hinge 252, a fifth screw 253 and The fifth spherical hinge 254, the fifth motor 251 and the fifth lead screw 253 are connected by a screw pair, the fifth Hooke hinge 252 is located at the bottom of the fifth motor 251 and is connected to the fifth lead screw 253, the fifth lead screw 253
  • the fifth spherical hinge 254 is movably connected with the main shaft 260.
  • the suction plate 311 in the parallel suction support device 300 is first adsorbed on the surface of the workpiece 100, and the screw 314 is driven by the motor 316 to move the sliding rod 312, and the five-degree-of-freedom processing device 200 is adjusted to a suitable processing position Then lock the drive joint motor 316 of the parallel adsorption support device 300, and use the five-degree-of-freedom processing device 200 to process the workpiece 100.
  • the adsorption support device 300 has 3 degrees of freedom and can adjust the five-degree-of-freedom processing within a certain range.
  • the branch chain 310 is connected in parallel with the frame 400, so that the rigidity of the processing robot is good.
  • the parallel adsorption support device 300 is adsorbed on the surface of the work piece 100, and the branch chain 310 is connected to the frame 400 in parallel to ensure rigidity.
  • the adsorption support device 300 has 3 degrees of freedom and can be adjusted within a certain range.
  • the posture of the five-degree-of-freedom processing device 200 is suitable for processing large and complex structural parts.
  • the parallel adsorption support device 300 has three parallel adsorption support device branches 310,
  • the edge of the frame 400 is a trilateral truss structure, and each side is fixedly connected to a rotating shaft frame 410.
  • the shaft frame and the rotating shaft formed by the two side plates 313 form a rotating pair to realize the 3
  • the branches are connected.
  • the adsorption disk 311 adopts an electromagnetic adsorption disk, which can adjust the adsorption force through the current. On the one hand, it can provide sufficient adsorption force for the processing robot, and on the other hand, it also ensures the flexibility of installation and disassembly of the parallel adsorption support device. When processing non-ferromagnetic materials, it can be replaced with a vacuum suction plate.
  • the edge of the frame 400 is a hexagonal structure, and a rotating shaft bracket 410 is fixedly connected to each side, as shown in FIG.
  • the parallel adsorption support device 300 of this embodiment has 6 parallel adsorption support device branches 310, and the shaft frame at the edge of the frame 400 is formed by two side plates 313 of each parallel adsorption support device branch 310
  • the rotating shaft becomes a rotating pair, which is connected with the six branches 310 of the parallel adsorption support device 300.
  • the edge of the frame 400 is a hexagonal structure, and four sides are distributed with rotating shaft brackets 410, as shown in FIG.
  • the parallel adsorption support device 300 of this embodiment has 4 branch chains 310.
  • the shaft brackets on the four sides of the frame 400 and the two side plates 313 of each branch chain 310 form a rotating pair to realize It is connected to the 4 branches 310 of the parallel adsorption support device 300.
  • the four branch chains 310 enable the adsorption support device 300 to be installed more conveniently and with better installation adaptability under the premise of ensuring a certain rigidity.
  • An adsorption-type processing robot is adsorbed on a processing part through a parallel adsorption support device and can adjust the position of the five-degree-of-freedom processing device within a certain range.
  • the parallel adsorption support device is fixed, and the processing part is processed with five degrees of freedom through the five degrees of freedom processing device.
  • the processing robot has the advantages of flexible processing, convenient disassembly and assembly, small footprint, high processing efficiency, etc., and is suitable for processing large and complex structural parts.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality of” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified The limit.
  • installed can be a fixed connection or a detachable connection. , Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified The limit.
  • the specific meaning of the above-mentioned terms in the present invention can be understood according to specific circumstances.
  • the first feature “on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种并联吸附式加工机器人，包括五自由度并联加工装置（200）、并联吸附支撑装置（300）和机架（400），机架（400）呈半拱球结构的桁架结构，机架（400）上安装有五自由度并联加工装置（200），并联吸附支撑装置（300）包括多个支链（310），支链（310）并联连接在机架（400）上，支链（310）包括吸附盘（311）、滑杆（312）、支链侧板（313）、丝杠（314）、滑杆套筒（315）、电机（316）和电机套（317），滑杆（312）一端与吸附盘（311）通过球面副相连，另一端与滑杆套筒（315）通过圆柱副连接，能够沿滑杆套筒（315）的轴向移动，滑杆套筒（315）顶部与电机（316）螺纹连接，电机套（317）套接在电机（316）上并与滑杆套筒（315）螺纹连接，丝杠（314）末端与电机轴固连，且丝杠（314）与滑杆（312）之间通过螺旋副相连，通过并联吸附支撑装置吸附在加工件（100）表面上，增加了刚度，能调整加工装置的位姿，适用于大型复杂结构件的加工。

Description

一种并联吸附式加工机器人 技术领域
本发明涉及机械制造技术领域，特别涉及一种并联吸附式加工机器人。
背景技术
大型复杂结构件在航空航天、能源和交通等领域具有广泛的应用。典型的大型复杂零件包括大型航空结构件、重型燃气轮机组件、大型风电叶片、船舰螺旋桨等。这类零件加工水平的提高，对于国家航天航空和航海领域的实力提升具有重大意义。但由于大型复杂结构件具有尺寸大，表面结构复杂，对其加工提出了很大的挑战。对于这类大型复杂结构件，现有加工中心难以进行有效加工，且存在安装、拆卸不便的问题，因此大型复杂结构件的加工往往以人工加工为主。人工加工费时费力，而且具有重复性差的缺点，一方面增加了加工成本，另一方面降低了加工效率和加工质量。
现有技术中，串联机构虽然便于灵活加工，但是不能够保证机器人支撑结构的刚度，承载能力差，在加工过程中对加工件容易造成偏差，因此，设计一种能吸附于大型复杂结构件表面对其进行加工且保证有足够的刚度的吸附式加工机器人是我们急需解决的技术问题，但是由于并联机构结构复杂，其运动学分析相对串联机构更为困难，对其应用的推广提出了一定的挑战。
发明内容
本发明的目的在于提出一种并联吸附式加工机器人，该加工机器人具有拆装方便、占地空间小、加工效率高、刚度好等优点。
为解决上述技术问题，本发明公开了了一种并联吸附式加工机器人，它包括五自由度并联加工装置、并联吸附支撑装置和机架，所述机架呈半拱球结构 的桁架结构，机架上安装有五自由度并联加工装置，并联吸附支撑装置包括多个支链，所述支链并联连接在机架上，支链包括吸附盘、滑杆、支链侧板、丝杠、滑杆套筒、电机和电机套，所述滑杆一端与吸附盘通过球面副相连，另一端与滑杆套筒通过圆柱副连接，能够沿滑杆套筒的轴向移动，所述滑杆套筒顶部与电机螺纹连接，所述电机套套接在电机上并与滑杆套筒螺纹连接，所述丝杠末端与电机轴固连，且丝杠与滑杆之间通过螺旋副相连，所述支链侧板对称螺纹连接在滑杆套筒的两侧，且支链侧板构成回转轴，所述回转轴与机架边缘上固连的旋转轴轴架连接。
进一步的，所述机架的边缘呈三边形桁架结构，每个边上固连一个旋转轴轴架。
进一步的，所述机架的边缘呈六边形桁架结构，每个边上固连一个旋转轴轴架。
进一步的，所述机架的边缘呈六边形桁架结构，且机架上固连四个旋转轴轴架。
进一步的，所述五自由度并联加工装置包括第一支链、第二支链、第三支链、第四支链、第五支链和主轴，所述第一支链、第二支链、第三支链、第四支链、第五支链的一端分别与主轴活动连接，另一端分别与机架上开设的通孔连接。
进一步的，所述第三支链包括第三电机，第三虎克铰，第三丝杠和第三转动关节，所述第三电机与第三丝杠通过螺旋副连接，所述第三虎克铰位于第三电机的底部并与第三丝杠连接，所述第三丝杠与主轴之间通过三转动关节活动连接。
进一步的，所述机架的六个边上分布有十字轴轴架。
进一步的，所述第一支链、第二支链、第四支链和第五支链结构相同，所述第五支链包括第五电机、第五虎克铰、第五丝杠和第五球铰，所述第五电机与第五丝杠通过螺旋副连接，所述第五虎克铰位于第五电机的底部并与第五丝杠连接，所述第五丝杠与主轴之间通过第五球铰活动连接。
进一步的，所述吸附盘为电磁式或者真空式吸附盘。
本发明的优点效果有：通过实施本发明使得并联吸附支撑装置吸附在工作件表面上，支链并联连接五自由度加工装置上，增加了刚度，同时，支链具有3个自由度，在一定范围内能够调整五自由度加工装置的位姿，适用于大型复杂结构件的加工。
附图说明
本发明上述的附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明的结构示意图；
图2是本发明五自由度并联加工装置的结构示意图；
图3是本发明五自由度并联加工装置的第一至第五支链、主轴的结构示意图；
图4是本发明机架的结构示意图；
图5是本发明实施例1的并联吸附支撑装置的结构示意图；
图6是本发明实施例1的并联吸附支撑装置的第一至第五支链的结构示意图；
图7是本发明实施例2的机架的结构示意图；
图8是本发明实施例2的并联吸附支撑装置的结构示意图；
图9是本发明实施例3的机架的结构示意图；
图10是本发明实施例3的并联吸附支撑装置的结构示意图。
图例：加工件100；五自由度加工装置200；第一支链210；第二支链220；第三支链230；第三电机231；第三虎克铰232；第三丝杠233；第三转动关节234；第四支链240；第五支链250；第五电机251；第五虎克铰252；第五丝杠253；第五球铰254；主轴260；并联吸附支撑装置300；支链310：吸附盘311；滑杆312；支链侧板313；回转轴3131；丝杠314；滑杆套筒315；电机316；电机套317；机架400；旋转轴轴架410；通孔420。
具体实施方式
下面详细描述本发明的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
如图1-4所示，本发明公开了一种并联吸附式加工机器人，该机器人用于加工大型复杂结构件，该机器人包括五自由度加工装置200、并联吸附支撑装置300和机架400，机架400呈半拱球结构的桁架结构，机架400上安装有五自由度并联加工装置200，并联吸附支撑装置300包括多个支链310，支链310并联连接在机架400上，五自由度并联加工装置200上，支链310包括吸附盘311、滑杆312、支链侧板313、丝杠314、滑杆套筒315、电机316和电机套317，滑杆312一端与吸附盘311通过球面副相连，另一端与滑杆套筒315通过圆柱副连接，能够沿滑杆套筒315的轴向移动，滑杆套筒315顶部与电机316螺纹连接，电机套317套接在电机316上并与滑杆套筒315螺纹连接，丝杠314末端与电机316轴固连，且丝杠314与滑杆312之间通过螺旋副相连， 支链侧板313对称螺纹连接在滑杆套筒315的两侧，且支链侧板313构成回转轴3131，回转轴3131与机架400边缘上固连的旋转轴轴架410连接，吸附盘311吸附在加工件100表面。
五自由度并联加工装置200包括第一支链210、第二支链220、第三支链230、第四支链240、第五支链250和主轴260，第一支链210、第二支链220、第三支链230、第四支链240、第五支链250的一端分别与主轴260活动连接，另一端分别与机架400上开设的通孔420连接。
第三支链230包括第三电机231，第三虎克铰232，第三丝杠233和第三转动关节234，第三电机231与第三丝杠233通过螺旋副连接，第三虎克铰232位于第三电机231的底部并与第三丝杠233连接，第三丝杠233与主轴260之间通过三转动关节234活动连接，工作时，第三电机231驱动第三丝杠233移动，通过第三转动关节234带动主轴260移动到加工件100表面合适的位置进行加工。
第一支链210、第二支链220、第四支链240和第五支链250结构相同，第五支链250包括第五电机251、第五虎克铰252、第五丝杠253和第五球铰254，所述第五电机251与第五丝杠253通过螺旋副连接，第五虎克铰252位于第五电机251的底部并与第五丝杠253连接，第五丝杠253与主轴260之间通过第五球铰254活动连接。
加工前，先通过并联吸附支撑装置300中的吸附盘311吸附在加工件100表面，通过电机316驱动丝杠314，使得滑杆312移动，并将五自由度加工装置200调整到合适的加工位姿，再将并联吸附支撑装置300的驱动关节电机316锁定，利用五自由度加工装置200对加工件100进行加工，吸附支撑装置300具有3个自由度，能够在一定范围内调整五自由度加工装置200的位姿， 支链310与机架400并联连接，使加工机器人刚度良好。通过实施本发明使得并联吸附支撑装置300吸附在工作件100表面上，支链310并联连接机架400上，保证了刚度，同时，吸附支撑装置300具有3个自由度，在一定范围内能够调整五自由度加工装置200的位姿，适用于大型复杂结构件的加工。
实施例1
如图5所示，并联吸附支撑装置300具有3个并联吸附支撑装置支链310，
机架400的边缘呈三边形桁架结构，每个边上固连一个旋转轴轴架410，轴架与两个侧板313构形成的转轴成转动副，实现与并联吸附支撑装置300的3条支链相连。其中，吸附盘311采用电磁式吸附盘，可以通过电流大小调控吸附力大小，一方面能为加工机器人提供充足的吸附力，另一方面也保证了并联吸附支撑装置安装，拆卸的灵活性。加工非铁磁性材料时，可以替换为真空式吸附盘。
实施例2
本实施例与实施例1的不同之处在于，在本实施例中，如图7所示，机架400边缘为六边形结构，每个边上固连一个旋转轴轴架410，如图8所示，本实施例的并联吸附支撑装置300具有6个并联吸附支撑装置支链310，机架400边缘的轴架与每个并联吸附支撑装置支链310的两个侧板313构形成的转轴成转动副，实现与并联吸附支撑装置300的6个支链310相连。通过增加3条支链，实现对机架400的冗余驱动，从而可以在一定程度上提高吸附支撑装置的刚度。
实施例3
本实施例与实施例1的不同之处在于，在本实施例中，如图9所示，机架 400边缘为六边形结构，其中四条边上分布有旋转轴轴架410，如图10所示，本实施例的并联吸附支撑装置300具有4个支链310，机架400边缘四条边上的轴架与每个支链310的两个侧板313构形成的转轴成转动副，实现与并联吸附支撑装置300的4个支链310相连。4个支链310能使吸附支撑装置300在保证一定刚度的前提下安装更便捷，安装适应性更好。
本发明实施例的一种的吸附式加工机器人，通过并联吸附支撑装置吸附在加工件上并可在一定范围内调整五自由度加工装置的位姿。加工时，并联吸附支撑装置固定，通过五自由度加工装置，对加工件进行五自由度加工。该加工机器人具有加工灵活，拆装方便，占地空间小，加工效率高等优点，适用于大型复杂结构件的加工。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连 接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (8)

  1. 一种并联吸附式加工机器人，其特征在于：它包括五自由度并联加工装置(200)、并联吸附支撑装置(300)和机架(400)，所述机架(400)呈半拱球结构的桁架结构，机架(400)上安装有五自由度并联加工装置(200)，并联吸附支撑装置(300)包括多个支链(310)，所述支链(310)并联连接在机架(400)上，支链(310)包括吸附盘(311)、滑杆(312)、支链侧板(313)、丝杠(314)、滑杆套筒(315)、电机(316)和电机套(317)，所述滑杆(312)一端与吸附盘(311)通过球面副相连，另一端与滑杆套筒(315)通过圆柱副连接，能够沿滑杆套筒(315)的轴向移动，所述滑杆套筒(315)顶部与电机(316)螺纹连接，所述电机套(317)套接在电机(316)上并与滑杆套筒(315)螺纹连接，所述丝杠(314)末端与电机(316)轴固连，且丝杠(314)与滑杆(312)之间通过螺旋副相连，所述支链侧板(313)对称螺纹连接在滑杆套筒(315)的两侧，且支链侧板(313)构成回转轴(3131)，所述回转轴(3131)与机架(400)边缘上固连的旋转轴轴架(410)连接。
  2. 根据权利要求1所述的并联吸附式加工机器人，其特征在于：所述机架(400)的边缘呈三边形桁架结构，每个边上固连一个旋转轴轴架(420)。
  3. 根据权利要求1所述的并联吸附式加工机器人，其特征在于：所述机架(400)的边缘呈六边形桁架结构，每个边上固连一个旋转轴轴架(420)。
  4. 根据权利要求1所述的并联吸附式加工机器人，其特征在于：所述机架(400)的边缘呈六边形桁架结构，且机架(400)上固连四个旋转轴轴架(420)。
  5. 根据权利要求1所述的并联吸附式加工机器人，其特征在于：所述五自由度并联加工装置(200)包括第一支链(210)、第二支链(220)、第三支 链(230)、第四支链(240)、第五支链(250)和主轴(260)，所述第一支链(210)、第二支链(220)、第三支链(230)、第四支链(240)、第五支链(250)的一端分别与主轴(260)活动连接，另一端分别与机架(400)上开设的通孔(420)连接。
  6. 根据权利要求5所述的并联吸附式加工机器人，其特征在于：所述第三支链(230)包括第三电机(231)，第三虎克铰(232)，第三丝杠(233)和第三转动关节(234)，所述第三电机(231)与第三丝杠(233)通过螺旋副连接，所述第三虎克铰(232)位于第三电机(231)的底部并与第三丝杠(233)连接，所述第三丝杠(233)与主轴(260)之间通过三转动关节(234)活动连接。
  7. 根据权利要求5所述的并联吸附式加工机器人，其特征在于：所述第一支链(210)、第二支链(220)、第四支链(240)和第五支链(250)结构相同，所述第五支链(250)包括第五电机(251)、第五虎克铰(252)、第五丝杠(253)和第五球铰(254)，所述第五电机(251)与第五丝杠(253)通过螺旋副连接，所述第五虎克铰(252)位于第五电机(251)的底部并与第五丝杠(253)连接，所述第五丝杠(253)与主轴(260)之间通过第五球铰(254)活动连接。
  8. 根据权利要求1所述的并联吸附式加工机器人，其特征在于：所述吸附盘(311)为电磁式或者真空式吸附盘。
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