Movable hybrid machining robot based on three-degree-of-freedom force-controlled parallel module

Patent metadata

Field	Value
Publication number	US-12049003-B2
Application number	US-201817059755-A
Country	US
Kind code	B2
Filing date	Nov 19, 2018
Priority date	Jun 5, 2018
Publication date	Jul 30, 2024
Grant date	Jul 30, 2024

Abstract

A movable hybrid machining robot is provided based on a three-degree-of-freedom force-controlled parallel module. In one example, the robot comprises: an automated guided vehicle (III- 11 ) configured to ensure a large moving stroke of the robot; a linear guide rail (III- 12 ) configured to control movement of the hybrid robot when the automated guided vehicle (III- 11 ) is parked; a planar two-degree-of-freedom hybrid robotic arm configured to control in-plane two-degree-of-freedom motion, wherein the in-plane two-degree-of-freedom motion is driven by a motor on a base ( 21 ); and a three-degree-of-freedom, force-controlled parallel machining module (I) configured to control one translational degree of freedom and two rotational degrees of freedom and to control positive pressure on an end effector ( 564 ).

First claim

The invention claimed is:

1. A movable hybrid machining robot comprising:
an automated, guided vehicle configured to ensure a predetermined moving stroke of the robot;
a linear guide rail configured to control movement of the robot when the automated, guided vehicle is parked;
a planar two-degree-of-freedom, hybrid robotic arm configured to control an in-plane two-degree-of-freedom motion, wherein the in-plane two-degree-of-freedom motion is driven by a base motor; and
a three-degree-of-freedom, force-controlled parallel machining module configured to control one translational degree of freedom and two rotational degrees of freedom and to control positive pressure on an end effector, wherein the three-degree-of-freedom, force-controlled parallel machining module comprises:
a base;
a movable platform;
the end effector;
a force controller;
a first limb connected to the base of the parallel machining module by one revolute pair, and connected to the movable platform of the parallel machining module by one Hooke joint or two revolute pairs whose axes are perpendicular to each other, wherein the first limb comprises (i) a first motor, one end of which is connected to the base by the one revolute pair; and (ii) a first screw nut pair fixedly connected with the first motor to form a cylindrical kinematic pair to achieve a linear feeding degree of freedom and a rotational degree of freedom of a screw in the screw nut pair relative to a nut in the screw nut pair, wherein the screw in the first screw nut pair is connected to the movable platform by the one Hooke joint or the two revolute pairs whose axes are perpendicular to each other; and
a second limb and a third limb both of which have structure corresponding to that of the first limb, wherein the first limb, the second limb and the third limb are respectively connected between the base and the movable platform to form a closed loop parallel structure to ensure one translational degree of freedom and two rotational degrees of freedom when the movable platform is fixedly connected to the end effector.

2. The movable hybrid machining robot of claim 1 , wherein the planar two-degree-of-freedom hybrid robotic arm comprises:
a lower arm forming a parallelogram mechanism with a first linkage group to achieve a rotational motion around a center of rotation of a bottom revolute pair driven by the base motor; and
a forearm forming a parallelogram mechanism with a second linkage group to achieve a rotational motion around a center of rotation driven by the base motor using application of a third linkage.

3. The movable hybrid machining robot of claim 1 , wherein the three-degree of-freedom, force-controlled parallel machining module is mounted:
at an end of the planar two-degree-of-freedom hybrid robotic arm, carried by the automated, guided vehicle by cooperating with the linear guide rail to enlarge a workspace range of the robot;
at an end of the planar two-degree-of-freedom hybrid robotic arm, carried by the automated, guided vehicle; or
on the linear guide rail to increase a machining stroke of the robot.

4. The movable hybrid machining robot of claim 1 , wherein the force controller comprises:
a force control spring controlling a positive end pressure by controlling a position during operation;
a damping shock absorber achieving a vibration suppression under force control conditions through coordinating with the force control spring; and
a controller housing combined with the body structure of the parallel machining module to enhance the torque-bearing capacity of the force controller.

5. The movable hybrid machining robot of claim 1 , wherein:
the force controller is disposed at a position in which the screw and the one Hooke joint or the two revolute pairs are connected in each of the first limb, the second limb and the third limb to achieve force control on the first limb, the second limb and the third limb; and
the force controller is disposed at a position in which the movable platform of the three-degree of-freedom, force-controlled parallel machining module is connected to the end effector, so as to control the force on the end effector.

6. The movable hybrid machining robot of claim 5 , wherein the end effector facilitates performance of one or more types of processing operations including: grinding, welding, milling and drilling operations.

7. The movable hybrid machining robot of claim 1 , wherein the force controller further comprises a force sensor providing a feedback on a positive pressure applied during operation, wherein through the force controller, a force/position hybrid control of the end effector of the three-degree-of-freedom force-controlled parallel machining module is performed based on data fed back by the force sensor.

Assignees

• Univ Tsinghua

Inventors

• Xie Fugui
• Liu Xinjun
• Chong Zenghui
• Wang Jinsong

Classifications

• B25J9/0045

  with kinematics chains having a rotary joint at the base · CPC title

• B25J9/1065

  with parallelograms · CPC title

• B25J11/0065

  Polishing or grinding · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J9/0072

  of the hybrid type, i.e. having different kinematics chains · CPC title