CN109877807A - A (2PRU-PUR)-PP five-axis linkage hybrid robot - Google Patents

Abstract

The invention belongs to robotic technology fields.Purpose is to propose that a kind of rigidity precision that can process complex free curved surface class part is high, flexibility is good, process velocity is fast, working space is big, kinematics is relatively easy, the easy five axis series-parallel robot of (2PRU-PUR)-PP of control.Technical solution is: one kind (2PRU-PUR)-PP five-axle linkage series-parallel robot, supports including fixed frame, the workbench with fixture and by fixed frame and what driving workbench moved horizontally moves horizontally pair；It is characterized by: positioning a parallel institution with being also vertically movable on the fixed frame；The parallel institution includes the moving platform, the shelly-shaped pedestal being movably positioned on fixed frame by vertical shift pair and the first branch being connected in parallel between shelly-shaped pedestal and moving platform, the second branch and third branch for having electro spindle.

Description

One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot

Technical field

The invention belongs to robotic technology fields, and in particular to it is complicated that one kind can satisfy aerospace field large scale structure Novel (the 2PRU-PUR)-PP five-axle linkage series-parallel robot that curved surface is freely processed.

Background technique

The mechanical structure of traditional numeric-control machine mostly uses greatly cascade, and this cascaded structure form makes its movement output End is easy to produce that accumulated error, overall stiffness be not high, movement inertia is big and dynamic response characteristic is poor.In comparison, last century The novel lathe based on parallel institution that the nineties occurs is with compact-sized, rigidity is high, error free accumulation, heavy moving parts It is small, be easily achieved the advantages that high-speed motion and dynamic response characteristic with higher, compensate for traditional number to a certain extent The deficiency for controlling lathe, has catered to demand of the field of machining to high-speed cutting, and then get the attention and study.So And parallel machine also has the full parallel machine of its inborn limitation, especially six degree of freedom, movement coupling is strong, work is empty Between it is small, kinematics is complicated and numerical control programming is complicated the disadvantages of limit the wide popularization and application of parallel machine.With parallel machine The application of structure and parallel institution make constant progress, minority carrier generation lifetime increasingly by the attention of researcher with Favor.For full 6-dof parallel mechanism, minority carrier generation lifetime is with kinematics is simple, coupling is weak, holds The advantages that easy modularization, some minority carrier generation lifetimes are applied successfully in industrial circle.

In field of machining, as the design of modern mechanical components becomes increasingly complex, Space Free-Form Surface class zero Part is widely used to each emphasis key area, such as aerospace, automobile.Such application, to modern processing technique and Manufacture process equipment proposes higher demand, therefore, combines the series-parallel machine tool of serial machine tool and parallel machine advantage in work Relatively wide application is achieved in industry.Series-parallel robot be provided simultaneously with that serial mechanism working space is big and movement flexibly and simultaneously Online structure rigidity is big, bearing capacity is strong, without advantages such as cumulative errors, breaks through the limitation of simple series and parallel mechanism, is more suitable for answering It is an important directions of future robot research and development for the high-speed cutting processing of Space Free-Form Surface type component.Its In the five-axle linkage series-parallel robot as composed by 3-freedom parallel mechanism and two-freedom serial mechanism have it is unique Advantage, the crucial manufacturing equipment that even more each key industry is badly in need of, receives more and more attention.

Existing series-parallel robot Invention Announce patent (such as 103240614 B, CN 105666468 B, CN of CN 105690361 B), in-house joint shaft be mostly it is virtual, be unfavorable for realizing closed-loop control, and hinge quantity in mechanism It is more, influence machining accuracy.It is therefore proposed that a kind of precision is high, speed is fast, rigidity is big, the easy five-axle linkage mixed connection machine of control Device people very it is necessary to.

Summary of the invention

The present invention overcomes the deficiencies in above-mentioned background technique, and complex free curved surface class part can be processed by proposing one kind Rigidity precision it is high, flexibility is good, process velocity is fast, working space is big, kinematics is relatively easy, the easy (2PRU- of control PUR) five axis series-parallel robot of-PP.

Present invention provide the technical scheme that

One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot, including fixed frame, the workbench with fixture and It is supported by fixed frame and what driving workbench moved horizontally moves horizontally pair；It is characterized by: may be used also on the fixed frame Vertically movably position a parallel institution；The parallel institution include with electro spindle moving platform, by vertical shift pair can The shelly-shaped pedestal being movably located on fixed frame and the first branch being connected in parallel between shelly-shaped pedestal and moving platform, Second branch and third branch；

First branch and the second branched structure it is identical and include be sequentially connected to shelly-shaped pedestal and moving platform it Between prismatic pair, revolute pair and Hooke's hinge；In each branch, the pivot center of revolute pair and the axis of prismatic pair are vertical, tiger Gram hinge first rotation axis it is parallel with the pivot center of revolute pair；In first branch and the second branch, two Hookes The first rotation axis of hinge is coaxial, and the pivot center of two revolute pairs is parallel to each other；

The third branch successively include the third prismatic pair for being connected to installation pedestal and moving platform, third Hooke's hinge with And third revolute pair；The pivot center of the third revolute pair is parallel with a wherein pivot center for third Hooke's hinge.

The axis of the prismatic pair P of three branches is parallel to each other and horizontally disposed, also with move horizontally secondary axis Vertically.

The guide rod axis of prismatic pair also forms the cylinder that a cross section is isosceles right triangle in three branches.

In first branch and the second branch, prismatic pair is active drive pair；In the third branch, third is moved Dynamic pair is active drive pair.

It is described that move horizontally secondary, vertical shift pair be also active drive pair.

The input of the active drive pair drives, and drives ball-screw driving prismatic pair to realize by servo motor.

Compared with prior art, the beneficial effects of the present invention are: the parallel institution that the series-parallel robot uses realizes mesh The preceding least design of hinge number has while meeting the 5-shaft linkage numerical control processing request of complex free curved surface class part The advantages that rigidity precision is high, flexibility is good, process velocity is fast, working space is big, kinematics is relatively easy, control is easy.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the embodiment of the present invention.

Fig. 2 is the schematic perspective view of the parallel institution in Fig. 1.

Fig. 3 is the schematic perspective view of the first branch in parallel institution shown in Fig. 2.

Fig. 4 is the schematic perspective view of the second branch in parallel institution shown in Fig. 2.

Fig. 5 is the schematic perspective view of the second branch in parallel institution shown in Fig. 2.

Have in figure: 2, parallel institution, 3, workbench, 4, fixed frame, 11, X direction guiding rail, 12, Z direction guiding rail, 21, shelly-shaped Pedestal, 22, moving platform, 23, electro spindle, the 24, first branch, the 25, second branch, 26, third branch, the 241, first sliding block, 242, first connecting rod, 243, first movement pair, the 244, first revolute pair, the 245, first Hooke's hinge, the 251, second sliding block, 252, Two connecting rods, the 253, second prismatic pair, the 254, second revolute pair, the 255, second Hooke's hinge, 261, third sliding block, 262, third company Bar, 263, third prismatic pair, 264, third Hooke's hinge, 265, third revolute pair.

Specific embodiment

Below in conjunction with the embodiment shown in that figure, the invention will be further described.

(wherein, P represents prismatic pair to (2PRU-PUR)-PP five-axle linkage series-parallel robot shown in FIG. 1, and R represents rotation Pair, U represents Hooke's hinge, and it is active drive pair that P, which represents the kinematic pair) include: fixed frame 4, the workbench 3 with fixture, It is supported by fixed frame and what driving workbench moved horizontally and (it is mobile to be parallel to X axis direction) moves horizontally pair and by perpendicular Straight prismatic pair is located in the parallel institution 2 on fixed frame with being vertically movable and (it is mobile to be parallel to Z-direction).Move horizontally pair Including X direction guiding rail 11 and the X being slidably matched with X direction guiding rail to sliding block, vertical shift pair includes Z-direction guide rail 12 and and Z-direction The Z-direction sliding block that guide rail is slidably matched；Moving horizontally secondary and vertical shift pair is active drive pair.Move horizontally secondary and vertical shifting Dynamic secondary composition serial mechanism.

Shown in Fig. 2, the parallel institution includes that shelly-shaped pedestal (in figure, is simplified to by shelly-shaped pedestal 21 for convenience of showing Three rod-shaped pedestals being linked together), the moving platform 22 with electro spindle 23 and be connected to shelly-shaped pedestal 21 and moving platform 22 Between the first branch 24, the second branch 25 and third branch 26；Being driven by the input in three branches can be achieved moving platform 22 Y direction (horizontal direction) one-dimensional movement.It is sliding that the shelly-shaped pedestal 21 is connected to the Z-direction cooperated with Z-direction guide rail 12 On block (Z-direction guide rail 12 and Z-direction sliding block engaged therewith formed vertical shift pair), and one is added in Z-direction can make parallel connection The driving that mechanism 2 is slided along Z-direction (vertical shift pair contains the driving, omits in figure).

As shown in Figure 2, Figure 3, Figure 4, first branch 24 and the structure having the same of the second branch 25 and space bit It sets and is symmetric, respectively include the identical sliding block 241 and 251 of structure, the identical connecting rod 242 and 252 of structure and structure phase Same kinematic pair；There are three the kinematic pairs of each branch, and by taking the first branch 24 as an example (the second branched structure is identical), one is Be connected between installation pedestal 21 and the first revolute pair 244 first movement pair 243 (including be fixed in installation pedestal first Guide rod and the first sliding block 241 being slidably matched with guide rod), one is connected between the first sliding block 241 and first connecting rod 242 The first revolute pair 244, one is the first Hooke's hinge 245 for being connected to first connecting rod 242 Yu moving platform 22, which is PRU Branch；The pivot center of first revolute pair 244 is vertical with the axis of first movement pair 243；First Hooke's hinge 245 first rotation axis is parallel with the pivot center of the first revolute pair 244；In two PRU branches, two Hooke's hinges One of pivot center it is coaxial, the pivot center of two revolute pairs is parallel to each other.

As shown in Fig. 2, Fig. 5, the third branch 26 includes third sliding block 261, third connecting rod 262 and kinematic pair；Institute There are three the kinematic pairs stated, and one is the (packet of third prismatic pair 263 being connected between installation pedestal 21 and third Hooke's hinge 264 The third sliding block 261 for including third guide rod and being slidably matched with third guide rod), one is to be connected to third sliding block 261 and third Third Hooke's hinge 264 between connecting rod 262, one is the third revolute pair 265 for being connected to third connecting rod 262 Yu moving platform 22, The branch is PUR branch, wherein the prismatic pair being connected between installation pedestal 21 and third Hooke's hinge 264 is active drive pair； The pivot center of the third revolute pair 265, it is parallel with a wherein pivot center for third Hooke's hinge 264.

As shown in Fig. 2, the moving platform 22 is isosceles right triangle ABC, ∠ BAC=90 °, AB in the triangle =AC.The axis of the prismatic pair of three branches is parallel to each other always, and horizontally disposed (being parallel to Y-axis arrangement).It is described The guide rod axis of prismatic pair also forms the cylinder (imaginary) that a cross section is isosceles right triangle in three branches；That is: any Perpendicular to the plane of secondary axis mobile in three branches, three intersection points with the guide rod axis in prismatic pair constitute an isosceles Right angled triangle；In the isosceles right triangle, the intersection point on third guide rod is the vertex at right angle in right angled triangle, and first leads Two intersection points on bar, the second guide rod are respectively the vertex of two acute angles of right angled triangle；The line on the vertex of two acute angles It is also horizontally disposed.

In the present invention, all prismatic pairs are active drive pair, and active drive pair drives ball-screw machine by servo motor Structure realizes driving；When mobile secondary motion, it can be achieved that between the moving platform 22 and workbench 4 of parallel institution 2 five-axle linkage phase To movement effects；Fixture on workbench is used to clamp workpiece to be processed, and the cutter of processing is then installed on electro spindle, thus Form complete machining chain.

Claims (6)

1. A (2PRU-PUR)-PP five-axis linkage hybrid robot, comprising a fixed frame (4), a worktable (3) with a clamp, and a horizontal moving pair supported by the fixed frame and driving the worktable to move horizontally; It is characterized in that: a parallel mechanism (2) can also be positioned vertically movable on the fixed frame; A shell-like base (21) positioned on the fixed frame and a first branch (24), a second branch (25) and a third branch (26) connected in parallel between the shell-like base and the moving platform ; The first branch chain and the second branch chain have the same structure, and they all sequentially include a moving pair, a rotating pair and a Hooke hinge connected between the shell-shaped base and the moving platform; The axis is perpendicular to the axis of the moving pair, and the first rotation axis of the Hooke hinge is parallel to the rotation axis of the rotating pair; in the first branch chain and the second branch chain, the first rotation axes of the two Hooke hinges are coaxial , the axes of rotation of the two rotating pairs are parallel to each other; The third branch chain sequentially includes a third moving pair (263), a third Hooke hinge (264) and a third rotating pair (265) connected to the mounting base and the moving platform. The rotation axis is parallel to one of the rotation axes of the third Hooke hinge. 2. The (2PRU-PUR)-PP five-axis linkage hybrid robot according to claim 1, characterized in that: the axes of the moving pairs of the three branched chains are parallel to each other and are arranged horizontally, and are also parallel to the axes of the horizontal moving pairs. The axis is vertical. 3. The (2PRU-PUR)-PP five-axis linkage hybrid robot according to claim 2, wherein the guide rod axis of the moving pair in the three branch chains also forms a column whose cross section is an isosceles right triangle body. 4. The (2PRU-PUR)-PP five-axis linkage hybrid robot according to claim 3, characterized in that: in the first branch chain and the second branch chain, the moving pair is an active driving pair; the In the third branch of , the third moving pair is the active driving pair. 5 . The (2PRU-PUR)-PP five-axis linkage hybrid robot according to claim 3 , wherein the horizontal moving pair and the vertical moving pair are also active driving pairs. 6 . 6. The (2PRU-PUR)-PP five-axis linkage hybrid robot according to claim 4 or 5, characterized in that: the input drive of the active drive pair is realized by relying on the servo motor to drive the ball screw to drive the mobile pair.