A terminal adaptive hybrid roller press joint arm and its application

Abstract

The present invention belongs to the field of aerospace technology, and in particular, relates to an end-adaptive hybrid roller joint arm and its application. The present application provides an end-adaptive hybrid roller joint arm, including a two-translation degree of freedom parallel mechanism, a rotational degree of freedom joint and an adaptive roller. The end of the two-translation degree of freedom parallel mechanism is connected to one end of the rotational degree of freedom joint, and the adaptive roller is installed on the other end of the rotational degree of freedom joint. The present application combines the advantages of a series mechanism and a parallel mechanism, and has the characteristics of a large working space, high flexibility of movement, and strong load-bearing capacity. It can be used as a roller mechanism of automatic tape laying equipment and is applied to tape laying of complex curved surfaces on both wings of airfoil components.

Description

Technical Field

[0001] The invention relates to a terminal self-adaptive hybrid roller-pressing joint arm and application thereof. Background Art

[0002] In the field of aerospace, tape laying for complex curved surfaces on both wings of wing-shaped components is very large in size and has complex curved surfaces. Therefore, the roller pressing mechanism of the automatic tape laying equipment is required to have super high movement flexibility and meet the stiffness requirements to avoid excessive stretching that leads to reduced tape laying accuracy. The series roller pressing mechanism has poor load-bearing capacity, and the parallel roller pressing mechanism has a small working space. The existing automatic tape laying equipment cannot complete the tape laying of complex curved surfaces on both wings of wing-shaped components. At present, the tape laying of complex curved surfaces on both wings of wing-shaped components is mainly carried out by manual trimming, which not only has a long cycle and low production efficiency, but also has poor accuracy and cannot meet the technical requirements of tape laying. Therefore, it is very necessary to propose a hybrid roller pressing mechanism with a simple structure, a large working space, high movement flexibility and strong load-bearing capacity. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention proposes an end-adaptive hybrid roller-pressing articulated arm and its application, which shortens the working cycle, improves production efficiency, has high precision, and ensures the technical requirements of tape laying.

[0004] The technical solution of the present invention to solve the above problems is: a terminal adaptive hybrid roller press joint arm, which is special in that:

[0005] It comprises a parallel mechanism with two translational degrees of freedom, a joint with one rotational degree of freedom and an adaptive roller, wherein the ends of the parallel mechanism with two translational degrees of freedom are connected to one end of the joint with one rotational degree of freedom, and the adaptive roller is installed on the other end of the joint with one rotational degree of freedom;

[0006] The two-translation degree of freedom parallel mechanism comprises a fixed base, a drive motor assembly, a first branch chain assembly and a second branch chain assembly, the fixed base comprises a vertically distributed first drive motor support and a horizontally distributed second drive motor support, the drive motor assembly comprises a first drive motor assembly and a second drive motor assembly;

[0007] The first drive motor assembly and the second drive motor assembly are respectively fixed on the first drive motor support and the second drive motor support, and are respectively connected to one end of the first branch chain assembly and the second branch chain assembly, the other ends of the first branch chain assembly and the second branch chain assembly are both connected to one end of a rotational freedom joint, and the other end of the rotational freedom joint is connected to the adaptive roller.

[0008] Furthermore, the first drive motor assembly includes a first drive motor, a first coupling and a first end face flange; the second drive motor assembly includes a second drive motor, a second coupling and a second end face flange.

[0009] The first drive motor is installed on the first drive motor support in the fixed base by bolt connection, and the first end face flange is connected to the first drive motor through the first coupling; the second drive motor is installed on the second drive motor support in the fixed base by bolt connection, and the second end face flange is connected to the second drive motor through the second coupling.

[0010] Furthermore, the first branch chain assembly comprises a first connecting rod, a first connecting shaft, a second connecting rod, a second connecting shaft and a connecting seat.

[0011] One end of the first connecting rod is connected to the first end face flange, and the other end is connected to one end of the second connecting rod through the first connecting shaft to form a Hooke's joint. The second connecting shaft is installed on the other end of the second connecting rod and connected to the connecting seat to form a Hooke's joint; the connecting seat is connected to a rotational freedom joint; the first end face flange drives the first connecting rod to rotate in a vertical plane.

[0012] Furthermore, the second branch chain assembly includes a third connecting rod, a third connecting shaft, a fourth connecting rod and a fourth connecting shaft.

[0013] One end of the third connecting rod is connected to the second end face flange, and the other end is connected to one end of the fourth connecting rod through the third connecting shaft to form a rotation pair, and the other end of the fourth connecting rod is connected to a rotational freedom joint through the fourth connecting shaft. The second end face flange drives the third connecting rod to rotate in a horizontal plane.

[0014] Furthermore, the one-degree-of-freedom rotation joint comprises a third drive motor and a U-shaped connecting rod; the U-shaped connecting rod comprises an upper wing, a middle connecting portion and a lower wing;

[0015] One end of the third driving motor is fixed to the bottom end of the connecting seat, and the other end is fixed to the upper wing of the U-shaped connecting rod. The lower wing of the U-shaped connecting rod is connected to the fourth connecting rod through a fourth connecting shaft to form a rotating pair.

[0016] Furthermore, the adaptive roller comprises a posture retaining frame, a sliding rod, a spring connecting seat, a first spring, a second spring, a third spring, a fifth connecting shaft, a roller cover plate, a first plane bearing, a roller and a second plane bearing;

[0017] The posture retaining frame is connected to the middle connecting part of the U-shaped connecting rod, the sliding rod passes through the middle connecting part of the posture retaining frame and the U-shaped connecting rod, and is coaxially matched with the first spring. The end of the sliding rod is connected to the spring connecting seat. One end of the first spring is matched with the posture retaining frame, and the other end is matched with the spring connecting seat. The front end of the spring connecting seat has upper, middle and lower ears.

[0018] The roller cover plate includes a U-shaped structure, and the back of the U-shaped structure has upper, middle and lower ears. The middle ear of the spring connecting seat is connected to the middle ear of the roller cover plate through the fifth connecting shaft to form a rotating pair. One end of the second spring is connected to the upper ear of the spring connecting seat, and the other end is connected to the upper ear of the roller cover plate. One end of the third spring is connected to the lower ear of the spring connecting seat, and the other end is connected to the lower ear of the roller cover plate. The two wings of the roller cover plate are respectively connected to the roller through bearings.

[0019] Furthermore, the first connecting rod is an L-shaped structure, one end of the first connecting rod is connected to the first end face flange, and the other end is connected to one end of the second connecting rod through a first connecting shaft to form a Hooke's joint.

[0020] Furthermore, the first drive motor is mounted on the first drive motor support by bolts, and the second drive motor is mounted on the second drive motor support by bolts.

[0021] Furthermore, the end of the sliding rod is connected to the spring connecting seat through a screw.

[0022] In addition, the present invention also proposes an application of an end-adaptive hybrid rolling joint arm, which is installed at the end of an industrial robot. The industrial robot drives the end-adaptive hybrid rolling joint arm to move and is applied to the rolling of complex curved surfaces on both wings of airfoil components.

[0023] Advantages of the present invention:

[0024] 1. The end adaptive hybrid roller joint arm and its application provided by the present invention provide a new type of three-drive (RRR-RUU) & R hybrid mechanism with large working space, high movement flexibility and strong load-bearing capacity for the complex curved surface laying of both wings of airfoil components in the aerospace field.

[0025] 2. The end-adaptive hybrid rolling joint arm and its application provided by the present invention are aimed at the rolling mechanism of the automatic tape laying equipment for the complex curved surfaces on both wings of the airfoil component, so that it has the characteristics of large working space, high movement flexibility and strong load-bearing capacity, further solving the problem of tape laying on the complex curved surfaces on both wings of the airfoil component, meeting the actual needs of tape laying on the complex curved surfaces on both wings of the airfoil component, and providing a better solution for tape laying on the complex curved surfaces on both wings of the airfoil component in the aerospace field.

[0026] 3. The end-adaptive hybrid roller-pressing articulated arm and its application provided by the present invention have a dual-drive RRR-RUU single closed-loop parallel mechanism with high movement flexibility, which can realize two-dimensional plane movement, and the whole is a closed chain with strong load-bearing capacity, which can meet the stiffness requirements of different postures. The connecting seat is connected in series with a single-drive rotating joint, which can realize the movement freedom in the two-dimensional plane and the rotation freedom perpendicular to the plane.

[0027] 4. The end-adaptive hybrid roller-pressing joint arm and its application provided by the present invention have a roller cover plate that continuously changes the structural inclination angle along with the contact surface of the roller end to provide support. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the terminal adaptive hybrid roller pressing joint arm of the present invention;

[0029] Figure 2 It is a structural schematic diagram of a fixed base and a driving motor assembly of the present invention;

[0030] Figure 3 is a schematic structural diagram of the first branch chain assembly of the present invention;

[0031] Figure 4 is a schematic structural diagram of a second branch chain assembly of the present invention;

[0032] Figure 5 It is a structural schematic diagram of a rotational freedom joint of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the adaptive roller of the present invention.

[0034] In the figure: 1, two translational degrees of freedom parallel mechanism, 2, one rotational degree of freedom joint, 3, adaptive roller, 11, fixed base, 111, first drive motor support, 112, second drive motor support, 121, first drive motor, 122, first coupling, 123, first end face flange, 124, second drive motor, 125, second coupling, 126, second end face flange, 13, first branch chain assembly, 131, first connecting rod, 132, first connecting shaft, 133, second connecting rod, 134 , second connecting shaft, 135, connecting seat, 14, second branch chain assembly, 141, third connecting rod, 142, third connecting shaft, 143, fourth connecting rod, 144, fourth connecting shaft, 21, third drive motor, 22, U-shaped connecting rod, 31, posture retaining frame, 32, sliding rod, 33, spring connecting seat, 34, first spring, 35, second spring, 36, third spring, 37, fifth connecting shaft, 38, roller cover, 39, first plane bearing, 310, roller, 311, second plane bearing. DETAILED DESCRIPTION

[0035] Hereinafter, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings. According to these detailed descriptions, those skilled in the art can clearly understand the present application and can implement the present application. Without violating the principles of the present application, the features in the various embodiments can be combined to obtain new implementations, or certain features in certain embodiments can be replaced to obtain other preferred implementations.

[0036] In the description of the present application, it should be understood that the terms "vertical", "front", "back", "top", "bottom", "inside", "upper", "middle", "lower", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0038] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0039] See also Figure 1 and Figure 2 The present invention provides an end-adaptive hybrid rolling joint arm, comprising a two-translational freedom parallel mechanism 1, a rotational freedom joint 2 and an adaptive roller 3, wherein the ends of the two-translational freedom parallel mechanism 1 are connected to one end of a rotational freedom joint 2, and the adaptive roller 3 is installed on the other end of the rotational freedom joint 2.

[0040] Specifically, the two-translation degree of freedom parallel mechanism 1 includes a fixed base 11, a drive motor assembly, a first branch chain assembly 13 and a second branch chain assembly 14. The fixed base 11 includes a first drive motor support 111 distributed vertically and a second drive motor support 112 distributed horizontally. The drive motor assembly includes a first drive motor assembly and a second drive motor assembly. The first drive motor assembly and the second drive motor assembly are respectively fixed on the first drive motor support 111 and the second drive motor support 112, and are respectively connected to one end of the first branch chain assembly 13 and the second branch chain assembly 14, the other ends of the first branch chain assembly 13 and the second branch chain assembly 14 are both connected to one end of a rotational degree of freedom joint 2, and the other end of the rotational degree of freedom joint 2 is connected to the adaptive roller 3.

[0041] As a preferred embodiment of the present invention, see Figure 2The first drive motor assembly includes a first drive motor 121, a first coupling 122 and a first end face flange 123; the second drive motor assembly includes a second drive motor 124, a second coupling 125 and a second end face flange 126.

[0042] The first drive motor 121 is installed on the first drive motor support 111 in the fixed base 11 by bolt connection, and the first end face flange 123 is connected to the first drive motor 121 through the first coupling 122; the second drive motor 124 is installed on the second drive motor support 112 in the fixed base 11 by bolt connection, and the second end face flange 126 is connected to the second drive motor 124 through the second coupling 125.

[0043] As a preferred embodiment of the present invention, see Figure 1 and Figure 3 The first branch chain assembly 13 includes a first connecting rod 131, a first connecting shaft 132, a second connecting rod 133, a second connecting shaft 134 and a connecting seat 135.

[0044] Specifically, the first connecting rod 131 is an L-shaped structure, one end of the first connecting rod 131 is connected to the first end face flange 123, and the other end is connected to one end of the second connecting rod 133 through the first connecting shaft 132 to form a Hooke's joint, and the second connecting shaft 134 is installed on the other end of the second connecting rod 133 and connected to the connecting seat 135 to form a Hooke's joint; the connecting seat 135 is connected to a rotational freedom joint 2; the first end face flange 123 drives the first connecting rod 131 to rotate in a vertical plane.

[0045] As a preferred embodiment of the present invention, see Figure 1 and Figure 4 The second branch chain assembly 14 includes a third connecting rod 141, a third connecting shaft 142, a fourth connecting rod 143 and a fourth connecting shaft 144.

[0046] Specifically, one end of the third connecting rod 141 is connected to the second end face flange 126, and the other end is connected to one end of the fourth connecting rod 143 through the third connecting shaft 142 to form a revolute pair, and the other end of the fourth connecting rod 143 is connected to a rotational freedom joint 2 through the fourth connecting shaft 144. The second end face flange 126 drives the third connecting rod 141 to rotate in the horizontal plane.

[0047] As a preferred embodiment of the present invention, see Figure 5The one-degree-of-freedom rotation joint 2 includes a third drive motor 21 and a U-shaped connecting rod 22; the U-shaped connecting rod 22 includes an upper wing, a middle connecting part and a lower wing; one end of the third drive motor 21 is fixed to the bottom end of the connecting seat 135, and the other end is fixed to the upper wing of the U-shaped connecting rod 22; the lower wing of the U-shaped connecting rod 22 is connected to the fourth connecting rod 143 through a fourth connecting shaft 144 to form a rotating pair.

[0048] As a preferred embodiment of the present invention, see Figure 6 The adaptive roller 3 includes a posture retaining frame 31, a sliding rod 32, a spring connecting seat 33, a first spring 34, a second spring 35, a third spring 36, a fifth connecting shaft 37, a roller cover plate 38, a first plane bearing 39, a roller 310 and a second plane bearing 311.

[0049] Specifically, the posture retaining frame 31 is connected to the middle connecting part of the U-shaped connecting rod 22, the sliding rod 32 passes through the middle connecting part of the posture retaining frame 31 and the U-shaped connecting rod 22, and is coaxially matched with the first spring 34. The end of the sliding rod 32 is connected to the spring connecting seat 33 by a screw, one end of the first spring 34 is matched with the posture retaining frame 31, and the other end is matched with the spring connecting seat 33. The front end of the spring connecting seat 33 has upper, middle and lower ears.

[0050] The roller cover plate 38 includes a U-shaped structure, and the back of the U-shaped structure has upper, middle and lower ears. The middle ear of the spring connecting seat 33 is connected to the middle ear of the roller cover plate 38 through the fifth connecting shaft 37 to form a rotating pair. One end of the second spring 35 is connected to the upper ear of the spring connecting seat 33, and the other end is connected to the upper ear of the roller cover plate 38. One end of the third spring 36 is connected to the lower ear of the spring connecting seat 33, and the other end is connected to the lower ear of the roller cover plate 38. The two wings of the roller cover plate 38 are respectively connected to the roller 310 through the first plane bearing 39 and the second plane bearing 311.

[0051] Example

[0052] See also Figures 1 to 6 , an adaptive hybrid rolling joint arm with two translations and one rotation, comprising a two-translation degree of freedom parallel mechanism 1, a rotational degree of freedom joint 2 and an adaptive roller 3. The two-translation degree of freedom parallel mechanism 1 is connected to one end of the rotational degree of freedom joint 2 at the end, and the adaptive roller 3 is installed on the other end of the rotational degree of freedom joint 2 by screw connection.

[0053] Specifically, the two-translation degree of freedom parallel mechanism 1 includes a fixed base 11, a drive motor assembly, a first branch chain assembly 13 and a second branch chain assembly 14. A first drive motor support 111 and a second drive motor support 112 are vertically distributed in the fixed base 11 and are respectively connected to the drive motor assembly.

[0054] The drive motor assembly includes a first drive motor 121, a first coupling 122, a first end face flange 123, a second drive motor 124, a second coupling 125 and a second end face flange 126. The connection between the parts of the drive motor assembly 12 is as follows: the first drive motor 121 is installed on the first drive motor support 111 in the fixed base 11 through bolt connection, the first end face flange 123 is connected to the first drive motor 121 through the first coupling 122, the second drive motor 124 is installed on the second drive motor support 112 in the fixed base 11 through bolt connection, and the second end face flange 126 is connected to the second drive motor 124 through the second coupling 125.

[0055] The first branch chain assembly 13 includes a first connecting rod 131, a first connecting shaft 132, a second connecting rod 133, a second connecting shaft 134 and a connecting seat 135. The connection between the parts of the first branch chain assembly 13 is as follows: one end of the first connecting rod 131 is connected to the first end face flange 123 in the driving motor assembly 12, and the other end is connected to one end of the second connecting rod 133 through the first connecting shaft 132 to form a Hooke's hinge, and the second connecting shaft 134 is installed on the other end of the second connecting rod 132 and connected to the connecting seat 135 to form a Hooke's hinge.

[0056] The second branch chain assembly 14 includes a third connecting rod 141, a third connecting shaft 142, a fourth connecting rod 143 and a fourth connecting shaft 144. The connection method between the parts of the second branch chain assembly 14 is: one end of the third connecting rod 141 is connected to the second end face flange 126 in the drive motor assembly 12, and the other end is connected to one end of the fourth connecting rod 143 through the third connecting shaft 142 to form a rotating pair, and the fourth connecting shaft 144 is installed on the other end of the fourth connecting rod 143.

[0057] The one-degree-of-freedom rotation joint 2 includes: a third drive motor 21 and a U-shaped connecting rod 22. The connection between the parts of the one-degree-of-freedom rotation joint 2 is as follows: one end of the third drive motor 21 is installed at the bottom end of the connecting seat 135 in the first branch chain assembly 13 by screw connection, and the other end is installed at the top end of the U-shaped connecting rod 22, and the bottom end of the U-shaped connecting rod 22 is connected to the fourth connecting rod 143 through the fourth connecting shaft 144 in the second branch chain assembly 14 to form a rotating pair.

[0058] The adaptive roller 3 comprises a posture holder 31, a slide bar 32, a spring connection seat 33, a first spring 34, a second spring 35, a third spring 36, a fifth connection shaft 37, a roller cover plate 38, a first plane bearing 39, a roller 310 and a second plane bearing 311. The connection between the parts of the adaptive roller 3 is as follows: the posture holder 31 is matched with the U-shaped connecting rod 22 in a rotational freedom joint 2 and is installed by screw connection, the slide bar 32 passes through the posture holder 31 and is coaxially matched with the first spring 34, the end of the slide bar 32 is connected to the spring connection seat 33 by screws, one end of the first spring 34 is matched with the posture holder 31, and the other end is matched with the spring connection seat 33, the front end of the spring connection seat 33 has upper, middle and lower ears, The rear end of the roller cover plate 38 has upper, middle and lower ears. The middle ear of the spring connecting seat 33 is connected to the middle ear of the roller cover plate 38 through the fifth connecting shaft 37 to form a rotating pair. One end of the second spring 35 is connected to the upper ear of the spring connecting seat 33, and the other end is connected to the upper ear of the roller cover plate 38. One end of the third spring 36 is connected to the lower ear of the spring connecting seat 33, and the other end is connected to the lower ear of the roller cover plate 38. The front end of the roller cover plate 38 is coaxially connected to the first plane bearing 39, the roller 310 and the second plane bearing 311 in sequence.

[0059] In summary, the end adaptive hybrid roller joint arm with two translations and one rotation proposed by the present invention, on the one hand, the dual-drive RRR-RUU single closed-loop parallel mechanism has high movement flexibility, can realize two-dimensional plane movement, and is a closed chain as a whole, with strong bearing capacity, which can meet the stiffness requirements of different postures, and its connecting seat 135 is connected in series with a single-drive rotating joint, so that the U-shaped connecting rod 22 has the freedom of movement in the two-dimensional plane and the freedom of rotation perpendicular to the plane. By controlling the movement of the first drive motor 121, the second drive motor 124 and the third drive motor 21, the technical requirements of tape laying for the complex curved surfaces of the two wings of the airfoil component can be met; on the other hand, the first spring 34, the second spring 35 and the third spring 36 in the adaptive spring 3 are connected to the spring connecting seat 33 at equal intervals, so that the roller cover plate 38 can continuously change the structural inclination angle with the contact surface at the end of the roller 310, providing support to fit different tape laying curved surfaces.

[0060] The present invention also proposes an application of a terminal adaptive hybrid roller-pressing articulated arm, wherein the terminal adaptive hybrid roller-pressing articulated arm is installed at the terminal of an industrial robot to form a tape-laying robot, and the industrial robot drives the terminal adaptive hybrid roller-pressing articulated arm to move. Since the tape-laying robot includes the terminal adaptive hybrid roller-pressing articulated arm, the tape-laying robot has all the functions of the terminal adaptive hybrid roller-pressing articulated arm, which will not be described in detail here.

[0061] The above descriptions are merely embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related system fields, are also included in the protection scope of the present invention.

Claims

1. A terminal adaptive hybrid roller press joint arm, characterized in that: It comprises a two-translation-freedom parallel mechanism (1), a rotational-freedom joint (2) and an adaptive roller (3), wherein the ends of the two-translation-freedom parallel mechanism (1) are connected to one end of the rotational-freedom joint (2), and the adaptive roller (3) is mounted on the other end of the rotational-freedom joint (2); The two-translation-freedom parallel mechanism (1) comprises a fixed base (11), a drive motor assembly, a first branch chain assembly (13) and a second branch chain assembly (14); the fixed base (11) comprises a vertically distributed first drive motor support (111) and a horizontally distributed second drive motor support (112); the drive motor assembly comprises a first drive motor assembly and a second drive motor assembly; The first drive motor assembly and the second drive motor assembly are respectively fixed on the first drive motor support (111) and the second drive motor support (112), and are respectively connected to one end of the first branch chain assembly (13) and the second branch chain assembly (14); the other ends of the first branch chain assembly (13) and the second branch chain assembly (14) are both connected to one end of a rotational freedom joint (2); the other end of the rotational freedom joint (2) is connected to the adaptive roller (3); The first drive motor assembly comprises a first drive motor (121), a first coupling (122) and a first end face flange (123); the second drive motor assembly comprises a second drive motor (124), a second coupling (125) and a second end face flange (126); The first drive motor (121) is mounted on a first drive motor support (111) in the fixed base (11), and the first end face flange (123) is connected to the first drive motor (121) via a first coupling (122); the second drive motor (124) is mounted on a second drive motor support (112) in the fixed base (11), and the second end face flange (126) is connected to the second drive motor (124) via the second coupling (125); The first branch chain assembly (13) comprises a first connecting rod (131), a first connecting shaft (132), a second connecting rod (133), a second connecting shaft (134) and a connecting seat (135); One end of the first connecting rod (131) is connected to the first end face flange (123), and the other end is connected to one end of the second connecting rod (133) via the first connecting shaft (132) to form a Hooke's joint; the second connecting shaft (134) is installed on the other end of the second connecting rod (133) and connected to the connecting seat (135) to form a Hooke's joint; the connecting seat (135) is connected to a rotational freedom joint (2); the first end face flange (123) drives the first connecting rod (131) to rotate in a vertical plane; The second branch chain assembly (14) comprises a third connecting rod (141), a third connecting shaft (142), a fourth connecting rod (143) and a fourth connecting shaft (144); One end of the third connecting rod (141) is connected to the second end face flange (126), and the other end is connected to one end of the fourth connecting rod (143) via the third connecting shaft (142) to form a rotation pair; the other end of the fourth connecting rod (143) is connected to a rotational freedom joint (2) via the fourth connecting shaft (144); the second end face flange (126) drives the third connecting rod (141) to rotate in a horizontal plane; The one-degree-of-rotational-freedom joint (2) comprises a third drive motor (21) and a U-shaped connecting rod (22); the U-shaped connecting rod (22) comprises an upper wing, a middle connecting portion and a lower wing; One end of the third drive motor (21) is fixed to the bottom end of the connecting seat (135), and the other end is fixed to the upper wing of the U-shaped connecting rod (22); the lower wing of the U-shaped connecting rod (22) is connected to the fourth connecting rod (143) via a fourth connecting shaft (144) to form a revolute pair; The adaptive roller (3) comprises a posture retaining frame (31), a sliding rod (32), a spring connecting seat (33), a first spring (34), a second spring (35), a third spring (36), a fifth connecting shaft (37), a roller cover plate (38) and a roller (310); The posture retaining frame (31) is connected to the middle connecting portion of the U-shaped connecting rod (22); the sliding rod (32) passes through the middle connecting portion of the posture retaining frame (31) and the U-shaped connecting rod (22) and is coaxially matched with the first spring (34); the end of the sliding rod (32) is connected to the spring connecting seat (33); one end of the first spring (34) is matched with the posture retaining frame (31) and the other end is matched with the spring connecting seat (33); the front end of the spring connecting seat (33) has upper, middle and lower ears. The roller cover plate (38) comprises a U-shaped structure, the back of the U-shaped structure has upper, middle and lower ears, the middle ear of the spring connection seat (33) is connected to the middle ear of the roller cover plate (38) via the fifth connection shaft (37) to form a rotation pair, one end of the second spring (35) is connected to the upper ear of the spring connection seat (33), and the other end is connected to the upper ear of the roller cover plate (38), one end of the third spring (36) is connected to the lower ear of the spring connection seat (33), and the other end is connected to the lower ear of the roller cover plate (38), and the two wings of the roller cover plate (38) are respectively connected to the roller (310) via bearings.

2. The terminal adaptive hybrid roller press joint arm according to claim 1, characterized in that: The first connecting rod (131) is an L-shaped structure; one end of the first connecting rod (131) is connected to the first end face flange (123), and the other end is connected to one end of the second connecting rod (133) via a first connecting shaft (132) to form a Hooke's joint.

3. The terminal adaptive hybrid roller press joint arm according to claim 2, characterized in that: The first drive motor (121) is mounted on the first drive motor support (111) by means of bolts, and the second drive motor (124) is mounted on the second drive motor support (112) by means of bolts.

4. The terminal adaptive hybrid rolling joint arm according to claim 3 is characterized in that: The end of the slide rod (32) is connected to the spring connection seat (33) via a screw.

5. An application of an end-adaptive hybrid roller-pressing joint arm, characterized in that: The terminal adaptive hybrid rolling joint arm described in any one of claims 1 to 4 is installed at the end of an industrial robot, and the industrial robot drives the terminal adaptive hybrid rolling joint arm to move, and is applied to rolling the complex curved surfaces on both wings of airfoil components.

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