A hybrid robot mechanism for holding a mandrel during the weaving process of a composite structural part
By designing a five-degree-of-freedom hybrid robot mechanism, combining serial and parallel mechanisms, the problems of low stiffness and inflexible movement of the mandrel clamping device during the weaving process of composite structural components were solved, achieving a large working space and high load-bearing capacity, and meeting the mandrel clamping requirements during the weaving process of composite structural components.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG SCI-TECH UNIV
- Filing Date
- 2024-01-09
- Publication Date
- 2026-05-08
AI Technical Summary
In the existing technology, the mandrel clamping device in the process of weaving composite structural parts has problems such as low rigidity, low motion accuracy, weak load-bearing capacity, and the parallel mechanism results in small working space and inflexible movement.
A hybrid robot mechanism combining serial and parallel mechanisms was designed to create a five-degree-of-freedom hybrid robot, including a base, lateral and longitudinal moving platforms, and first and second branches. Multiple prismatic and rotary joints are coordinated by ball screws driven by servo motors, forming motion redundancy.
It achieves a large working space, high rigidity, strong load-bearing capacity, and flexible movement, meeting the requirements for mandrel clamping during the weaving process of composite structural components, and has high motion precision and simple structure.
Smart Images
Figure CN117921628B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a robot, specifically a hybrid robot mechanism for mandrel clamping during the weaving process of composite structural components. Background Technology
[0002] In the weaving of composite structural components, the mandrel clamping robotic arm requires three translational degrees of freedom and two rotational degrees of freedom to meet the operational requirements. Currently, serial robotic arms are commonly used to clamp the mandrels, but this approach suffers from drawbacks such as low stiffness, low motion accuracy, and weak load-bearing capacity. Using a parallel mechanism would result in a small workspace and insufficient motion flexibility.
[0003] Hybrid mechanisms are an emerging type of mechanism, formed by combining serial and parallel mechanisms. They possess advantages such as high rigidity, strong load-bearing capacity, high motion accuracy, large workspace, and flexible operation. Currently, there is no dedicated five-DOF hybrid robot for mandrel clamping. To address the shortcomings of current serial robotic arm mandrel clamping solutions and promote the development of mandrel clamping robots for composite structural component weaving processes, it is necessary to propose a hybrid robot mechanism for mandrel clamping in composite structural component weaving processes that features high rigidity, strong load-bearing capacity, large workspace, and flexible motion. Summary of the Invention
[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a hybrid robot mechanism for mandrel clamping in the weaving process of composite structural parts. The mechanism has a large working space, high rigidity, strong load-bearing capacity, large working space and flexible movement, and can solve the current problem of mandrel clamping in the weaving process of composite structural parts.
[0005] The technical solution of this invention is:
[0006] A hybrid robot mechanism for mandrel clamping in the braiding process of composite structural components is characterized in that: the hybrid robot includes a base, a transverse moving platform positioned on the base by a transverse moving joint, a longitudinal moving platform positioned on the transverse moving platform by a longitudinal moving joint, two first branches positioned between the longitudinal moving platform and the end platform, and two second branches positioned between the transverse moving platform and the end platform.
[0007] Two parallel transverse guide rails are horizontally mounted on the base. Two guide rail grooves are made on the bottom surface of the transverse moving platform. The two transverse guide rails slide and engage with the two guide rail grooves one by one to form a transverse moving pair with the transverse moving platform.
[0008] Two parallel longitudinal guide rails are vertically installed on the side wall of the transverse moving platform. Two guide rail grooves are made on the side of the longitudinal moving platform. The two longitudinal guide rails slide with the two guide rail grooves one by one to form a longitudinal moving pair with the longitudinal moving platform.
[0009] The first branch includes, in sequence, a first revolute joint, a first sliding joint formed by the cooperation of a first sliding joint sleeve and a first sliding joint rod, and a first spherical joint; wherein the first revolute joint is connected to the longitudinal moving platform, and the first spherical joint is connected to the end platform;
[0010] The axis of motion of the first sliding joint in the first branch is perpendicular to the axis of rotation of the first rotary joint, and the axes of rotation of the first rotary joints in the two first branches are parallel to the axis of motion of the longitudinal sliding joint.
[0011] The second branch includes, in sequence, a second spherical joint, a second sliding joint formed by the cooperation of the second sliding joint sleeve and the second sliding joint rod, and a third spherical joint; the second spherical joint is connected to the lateral moving platform, and the third spherical joint is connected to the end platform;
[0012] The drive pairs consist of two first sliding pairs, two second sliding pairs, a lateral sliding pair, and a longitudinal sliding pair; the drive mechanism is a servo motor driving a ball screw.
[0013] The beneficial effects of the present invention are: the hybrid mechanism end platform proposed in the present invention can realize three degrees of freedom of movement and two degrees of freedom of rotation, and has the advantages of high rigidity and load-bearing capacity, high motion accuracy, flexible movement, large working space and simple structure. It can be used in the field of mandrel clamping in the weaving process of composite structural parts. Attached Figure Description
[0014] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention.
[0015] Figure 2 This is a three-dimensional structural diagram of the first branch of an embodiment of the present invention.
[0016] Figure 3 This is a three-dimensional structural diagram of the second branch of an embodiment of the present invention.
[0017] The following are the numbered components in the diagram: Base 1, Transverse guide rail 2, Transverse moving platform 3, Transverse moving pair 4, Longitudinal guide rail 5, Longitudinal moving platform 6, Longitudinal moving pair 7, End platform 8, First rotating pair 9, First moving pair sleeve 10, First moving pair rod 11, First moving pair 12, First spherical pair 13, Second spherical pair 14, Second moving pair sleeve 15, Second moving pair rod 16, Second moving pair 17, Third spherical pair 18. Detailed Implementation
[0018] The present invention will be further described below with reference to the accompanying drawings.
[0019] Figure 1 The hybrid robot mechanism shown for mandrel clamping in the composite structure weaving process includes a base 1, a horizontally movable transverse moving platform 3 positioned on the base, a vertically movable longitudinal moving platform positioned on the transverse moving platform, two first branches positioned between the longitudinal moving platform 6 and the end platform 8, and two second branches positioned between the transverse moving platform 3 and the end platform 8.
[0020] The lateral moving platform is positioned on the base by a lateral moving pair; the lateral moving pair includes two horizontally mounted and parallel lateral guide rails 2 on the base and a lateral moving platform with two guide rail grooves on the bottom surface, and the two lateral guide rails and the two guide rail grooves slide in one-to-one.
[0021] The longitudinal moving platform is positioned on the transverse moving platform by a longitudinal moving pair; the longitudinal moving pair includes two longitudinal guide rails 5 that are vertically installed on the side wall of the transverse moving platform and are parallel to each other, and a longitudinal moving platform with two guide rail grooves on the side, the two longitudinal guide rails and the two guide rail grooves slidingly engaging one by one.
[0022] like Figure 2 As shown: The first branch sequentially includes a first revolute joint 9, a first sliding joint sleeve 10, a first sliding joint rod 11, and a first spherical joint 13; wherein the first revolute joint 9 is connected to the longitudinal moving platform 6, and the first spherical joint 13 is connected to the end platform 8; the moving axis of the first sliding joint 12 in the first branch is perpendicular to the rotation axis of the first revolute joint, and the rotation axes of the first revolute joints in the two first branches are parallel to the moving axis of the longitudinal sliding joint 7; the first sliding joint sleeve 10 and the first sliding joint rod 11 cooperate to form the first sliding joint 12.
[0023] like Figure 3 As shown: The second branch includes, in sequence, a second spherical joint 14, a second sliding joint sleeve 15, a second sliding joint rod 16, and a third spherical joint 18; the second spherical joint 14 is connected to the transverse moving platform 3, and the third spherical joint 18 is connected to the end platform 8; the second sliding joint sleeve 15 and the second sliding joint rod 16 cooperate to form a second sliding joint 17.
[0024] In this invention, the drive pairs are two first prismatic joints 12, two second prismatic joints 17, a lateral prismatic joint 4, and a longitudinal prismatic joint 7; the drive mechanism is a servo motor driving a ball screw; this hybrid mechanism has three degrees of freedom of movement in three directions and two degrees of freedom of rotation in two directions, forming a motion-redundant hybrid mechanism.
Claims
1. A hybrid robot mechanism for mandrel clamping during the weaving process of composite structural components, characterized in that: The hybrid robot includes a horizontally movable platform (3) positioned on a base (1), a vertically movable platform (6) positioned on the horizontally movable platform, two first branches positioned between the vertically movable platform and the end platform, and two second branches positioned between the horizontally movable platform and the end platform. The first branch includes, in sequence, a first revolute joint (9), a first prismatic joint (12), and a first spherical joint (13) connecting the longitudinal moving platform and the end platform; The second branch includes, in sequence, a second spherical joint (14), a second gliding joint (17), and a third spherical joint (18) connecting the lateral moving platform and the end platform.
2. The hybrid robot mechanism for mandrel clamping in the braiding process of composite structural components according to claim 1, characterized in that: The lateral moving platform is positioned on the base by a lateral moving pair (4); the lateral moving pair includes two horizontally mounted and parallel lateral guide rails (2) on the base and a lateral moving platform with two guide rail grooves on the bottom surface, and the two lateral guide rails slide in cooperation with the aforementioned two guide rail grooves one by one.
3. The hybrid robot mechanism for mandrel clamping in the braiding process of composite structural components according to claim 2, characterized in that: The longitudinal moving platform is positioned on the transverse moving platform by a longitudinal moving pair (7); the longitudinal moving pair includes two longitudinal guide rails (5) that are vertically installed on the side wall of the transverse moving platform and are parallel to each other, and a longitudinal moving platform with two guide rail grooves on the side, the two longitudinal guide rails slidingly engaging with the aforementioned two guide rail grooves one by one.
4. The hybrid robot mechanism for mandrel clamping in the braiding process of composite structural components according to claim 3, characterized in that: The axis of motion of the first sliding joint in the first branch is perpendicular to the axis of rotation of the first rotating joint, and the axis of rotation of the first rotating joint in both first branches is parallel to the axis of motion of the longitudinal sliding joint.
5. The hybrid robot mechanism for mandrel clamping in the braiding process of composite structural components according to claim 4, characterized in that: The first sliding joint is formed by the cooperation of a first sliding joint sleeve and a first sliding joint rod; the second sliding joint is formed by the cooperation of a second sliding joint sleeve and a second sliding joint rod.
6. The hybrid robot mechanism for mandrel clamping in the braiding process of composite structural components according to claim 5, characterized in that: The drive pairs consist of two first sliding pairs, two second sliding pairs, a lateral sliding pair, and a longitudinal sliding pair; the drive mechanism is a servo motor driving a ball screw.
Citation Information
Patent Citations
Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom
CN102431028A
Hybrid decoupling machine tool capable of achieving two rotations and three translations
CN108908292A