CN115138966A

CN115138966A - Three-branch five-degree-of-freedom ultra-large working space laser processing robot

Info

Publication number: CN115138966A
Application number: CN202210862618.3A
Authority: CN
Inventors: 丁华锋; 曹文熬; 胡泊; 陶恒; 崔俊; 闫樨霖
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2022-10-04

Abstract

The invention relates to a three-branch five-degree-of-freedom super-large working space laser processing robot, belonging to the technical field of robots; the device comprises a rack, a movable platform, five driving motors, an end effector, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected in parallel between the rack and the movable platform; the first branch is sequentially connected with a first guide rail, a first sliding block and a first connecting rod from the rack to the movable platform; the second branch structure is the same as the first branch; the third branch is sequentially connected with a third guide rail, a third sliding block, a motor mounting seat and a third connecting rod from the rack to the movable platform; the five-degree-of-freedom parallel mechanism is adopted to realize five-degree-of-freedom motion, has compact structure and low manufacturing cost, has high rigidity and ultra-large working space, and has good application prospect in the field of aerospace.

Description

Three-branch five-degree-of-freedom super-large working space laser processing robot

Technical Field

The invention relates to the technical field of robots, in particular to a three-branch five-degree-of-freedom super-large working space laser processing robot.

Background

The laser processing has the characteristics of small thermal deformation, high precision and high efficiency, so that the laser processing has a huge application prospect in the field of aerospace. At present, laser processing robots applied to the aerospace field at home and abroad can be mainly classified into a gantry type and a cantilever type. Although the gantry type processing robot has high precision, the moving parts have large mass and high inertia, and the realization of high-speed movement is difficult; the cantilever type processing robot takes a plurality of serial robot arms as an actuating mechanism, compared with a gantry type device, the cantilever type processing robot has compact mechanism and flexible movement, but the defects of poor rigidity and low processing precision exist because a serial mechanism is still adopted.

The parallel robot is used as a closed loop mechanism, an end effector of the parallel robot is connected with a fixed platform through at least two independent branches, compared with a gantry type processing device adopting a serial mechanism, the manufacturing cost and difficulty of the parallel robot are greatly reduced under the condition of ensuring rigidity, compared with a cantilever type processing device, the parallel robot is more compact in structure, and better in rigidity and processing precision, but most of the parallel robots are small in working space and cannot meet the requirement of laser processing of large-size parts.

Chinese patent (CN 108858142A) proposes a five-degree-of-freedom parallel robot, which can realize welding, laser processing and the like of complex curved surfaces, but the structure has small working space and puts higher requirements on assembly precision; chinese patent (CN 101497193A) proposes a three-branch five-degree-of-freedom series-parallel laser processing robot, which adopts a three-branch three-degree-of-freedom parallel mechanism and a two-degree-of-freedom series mechanism connected in series to realize five-axis motion, but a moving platform of the robot is provided with a rotating head of the series mechanism with a certain weight, so that the robot has poor dynamic performance and limited working space. The existing parallel laser processing robot scheme has the advantages of very small working space, easy interference of rod pieces, large inertia of the rod pieces, low speed, no combination of advantages of a gantry machine tool and a serial robot, and incapability of meeting the laser processing requirements of large-size thin-wall structural parts in the fields of aerospace and the like.

Disclosure of Invention

The technical scheme adopted for realizing the purpose of the invention is as follows: a three-branch five-degree-of-freedom super-large working space laser processing robot belongs to the technical field of robots; the system comprises a rack, a movable platform, five driving motors, an end effector, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected in parallel between the rack and the movable platform; the first branch and the second branch have the same structure and are symmetrically distributed; the first branch is sequentially connected with a first guide rail, a first sliding block and a first connecting rod from the rack to the movable platform; the first sliding block is connected with the first guide rail through a first sliding pair, and the first connecting rod is connected with the first sliding block through a first rotating pair and a second rotating pair; the first connecting rod is connected with the movable platform through a third rotating pair and a fourth rotating pair; the first axis of the revolute pair is vertically intersected with the second axis of the revolute pair; the three axes of the revolute pair are vertically intersected with the four axes of the revolute pair; the first axis of the revolute pair is parallel to the fourth axis of the revolute pair; the second axis of the revolute pair and the third axis of the revolute pair are parallel to each other;

the third branch is sequentially connected with a third guide rail, a third slide block, a motor mounting seat and a third connecting rod from the machine frame to the movable platform; the third sliding block is connected with the third guide rail through a third sliding pair, and the third connecting rod is connected with the motor mounting seat through a fifth rotating pair and a sixth rotating pair; the third connecting rod is connected with the movable platform through a seventh rotating pair and an eighth rotating pair; the motor mounting seat is fixedly connected with the third sliding block; the five axes of the revolute pair are vertically intersected with the six axes of the revolute pair; the seven axis of the revolute pair is vertically intersected with the eight axis of the revolute pair; the five axes of the revolute pair and the eight axes of the revolute pair are parallel to each other; the six axial lines of the revolute pairs and the seven axial lines of the revolute pairs are parallel to each other;

the four axes of the revolute pair connected with the first branch, the four axes of the revolute pair connected with the second branch and the eight axes of the revolute pair connected with the third branch are parallel to each other; the guide rails of the three branches are parallel to each other, and the end effector is connected with the movable platform through a revolute pair nine; the nine axes of the revolute pair are vertical to the plane of the movable platform; a motor is installed on the first sliding block of the first branch, and the moving pair of the first branch is a driving pair; the second branch has the same drive as the first branch; two motors are arranged on the third sliding block of the third branch, and a third moving pair and a ninth rotating pair of the third branch are driving pairs; the movable platform is provided with a motor which drives the end effector to rotate.

The technical scheme provided by the embodiment of the invention has the following beneficial effects: the invention provides a five-degree-of-freedom ultra-large working space laser processing robot which is a hybrid structure and can output three movements and two rotations. The robot has the important advantages of less joint rotation limitation, large working space and the advantages of a gantry type processing robot compared with other laser processing robots; a multi-joint coupling motion structure is adopted, so that the flexibility of a serial processing robot is realized; all the drives are close to the base, the tail end is light in weight, and the movement performance is excellent; the movable platform can be connected with various machining heads including a laser head, can realize composite machining and ensure the machining precision of the complex curved surface of a large-sized workpiece.

Drawings

FIG. 1 is a schematic diagram of the whole structure of a three-branch five-degree-of-freedom ultra-large space composite processing robot of the present invention;

FIG. 2 is a schematic diagram of a first branch structure of a three-branch five-degree-of-freedom ultra-large space hybrid processing robot according to the present invention;

FIG. 3 is a schematic diagram of a third branch structure of a three-branch five-degree-of-freedom ultra-large space hybrid processing robot according to the present invention;

FIG. 4 is a schematic diagram of the rack and the gear engagement of the sliding block of the guide rail in the three-branch five-degree-of-freedom ultra-large space composite processing robot of the present invention.

The three-dimensional numerical control machine comprises a machine frame 1, a movable platform 2, an end effector 3, a machined part 4, a machined part 5, a machining platform M1, a motor I M2, a motor II M3, a motor III M4, a motor IV M5, a motor V B1, a motor installation seat B1, a slider I H1, a slider II H2, a slider III H3, a guide rail I D1, a guide rail II D2, a guide rail III D3, a first branch I, a second branch II, a third branch III, a gear C1, a rack C2, a grooved wheel W1, a link L2, a link L3, a link III Y1, a sliding pair II Y2, a sliding pair III Y3, a rotating pair I R1, a rotating pair II, a rotating pair III R3, a rotating pair IV R4, a rotating pair R5, a rotating pair V R6, a rotating pair R7, a rotating pair R8 and an eight rotating pair R9.

Detailed Description

The revolute pair axis described in the following examples of implementation refers to the centre line around which the revolute pair rotates. The "up," "down," "left," "right," and "horizontal" orientations are intended to be based on the orientation of the figure(s) and are used for convenience in describing the invention and for simplicity in description, but do not indicate or imply that the elements so referred to must have a particular orientation.

The invention provides a three-branch five-degree-of-freedom ultra-large working space laser processing robot, which is structurally shown in figure 1 and comprises a rack 1, a movable platform 2, five driving motors, an end effector 3, a first branch I, a second branch II and a third branch III, wherein the first branch I, the second branch II and the third branch III are connected in parallel between the rack 1 and the movable platform 2; the first I branch is sequentially connected with a guide rail I D1, a sliding block I H1 and a connecting rod I L1 from the rack to the movable platform; the second II branch is sequentially connected with a guide rail II D2, a sliding block II H2 and a connecting rod II L2 from the rack to the movable platform; the third III branch is sequentially connected with a guide rail III D3, a sliding block III H3, a motor mounting seat B1 and a connecting rod III L3 from the rack to the movable platform; the first sliding block I H1 of the first I branch is connected with the first guide rail D1 through a grooved pulley W1, meanwhile, a gear C1 and a rack C2 are meshed, a first connecting rod I L1 is connected with the first sliding block I H1 through a first revolute pair R1 and a second revolute pair R2, and the first connecting rod I L1 is connected with the movable platform 2 through a third revolute pair R3 and a fourth revolute pair R4; the axis of the first revolute pair R1 is vertically intersected with the axis of the second revolute pair R2, the axis of the third revolute pair R3 is vertically intersected with the axis of the fourth revolute pair R4, the axis of the first revolute pair R1 is vertical to the first H1 plane of the sliding block, the axis of the first revolute pair R1 is parallel to the axis of the fourth revolute pair R4, and the axis of the second revolute pair R2 is parallel to the axis of the third revolute pair R3; the second II branch has the same structure as the first I branch; the third-III-branch sliding block III H3 is connected with the guide rail III D3 through a grooved pulley W1, meanwhile, a gear C1 and a rack C2 are meshed, a connecting rod III L3 is connected with a motor IV 4 through a five-revolute-pair R5 and a six-revolute-pair R6, the connecting rod III L3 is connected with the movable platform 2 through a seven-revolute-pair R7 and an eight-revolute-pair R8, the axis of the five-revolute-pair R5 is vertical to the axis of the six-revolute-pair R6, the axis of the seven-revolute-pair R7 is vertical to the axis of the eight-revolute-pair R8, the axis of the five-revolute-pair R5 is vertical to the first sliding block H1 plane and parallel to the third sliding block H3 plane, the axis of the five-revolute-pair R5 is parallel to the axis of the eight-revolute-pair R8, and the axis of the six-pair R6 is parallel to the axis of the seven-revolute-pair R7; the four R4 axes of the revolute pair connected with the first branch I, the four R4 axes of the revolute pair connected with the second branch II and the eight R8 axes of the revolute pair connected with the third branch III of the movable platform 2 are parallel to each other; the end effector 3 is connected with the movable platform 2 through a revolute pair nine R9; the axes of the nine R9 revolute pairs are vertical to the plane of the movable platform 2; the first motor M1, the second motor M2 and the third motor M3 are respectively arranged on the first sliding block H1, the second sliding block H2 and the third sliding block H3 and respectively drive the first sliding block H1 to move on the first guide rail D1, the second sliding block H2 to move on the second guide rail D2 and the third sliding block H3 to move on the third guide rail D3; the motor IV 4 is arranged on the sliding block III H3 and drives the revolute pair nine R9 of the connecting rod III L3 to rotate; the motor five M5 is arranged on the movable platform 2 and drives the end effector 3 to rotate; the first I branch and the second II branch are symmetrically arranged and are respectively arranged on the right side of the rack 1 and the left side of the rack 1, and the third III branch is vertically arranged and is arranged on the upper side of the rack 1; the workpiece 4 is fixed to the machining table 5.

Claims

1. A three-branch five-degree-of-freedom super-large working space laser processing robot is characterized in that: the system comprises a rack, a movable platform, five driving motors, an end effector, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected in parallel between the rack and the movable platform; the first branch and the second branch have the same structure and are symmetrically distributed; the first branch is sequentially connected with a first guide rail, a first sliding block and a first connecting rod from the rack to the movable platform; the first sliding block is connected with the first guide rail through a first sliding pair, and the first connecting rod is connected with the first sliding block through a first rotating pair and a second rotating pair; the first connecting rod is connected with the movable platform through a third rotating pair and a fourth rotating pair; the first axis of the revolute pair is vertically intersected with the second axis of the revolute pair; the three axes of the revolute pair are vertically intersected with the four axes of the revolute pair; the first axis of the revolute pair is parallel to the fourth axis of the revolute pair; the second axis of the revolute pair and the third axis of the revolute pair are parallel to each other;

the four axes of the revolute pair connected with the first branch, the four axes of the revolute pair connected with the second branch and the eight axes of the revolute pair connected with the third branch are parallel to each other; the guide rails of the three branches are parallel to each other, and the end effector is connected with the movable platform through a revolute pair nine; the nine axes of the revolute pair are vertical to the plane of the movable platform; a motor is installed on the first sliding block of the first branch, and the moving pair of the first branch is a driving pair; the second branch has the same drive as the first branch; two motors are arranged on the third sliding block of the third branch, and a third moving pair and a ninth rotating pair of the third branch are driving pairs; a motor is arranged on the movable platform and drives the end effector to rotate.