Decoupling pure rotation parallel mechanism with redundant branch chains

Abstract

The invention discloses a decoupling pure rotation parallel mechanism with redundant branch chains, and relates to the technical field of aerospace. Decoupling pure rotation around the x axis, the y axis and the z axis can be achieved, and therefore the laying efficiency and the manufacturing quality are improved. The parallel mechanism comprises a movable platform, a static platform and a branch chain system connected between the movable platform and the static platform. The branch chain system comprises redundant branch chains and three driving branch chains which are arranged at equal intervals in the circumferential direction. The upper ends of the redundant branch chain and the three driving branch chains are hinged to the movable platform, and the lower ends do circular motion on the static platform; the driving branch chain can drive the redundant branch chain to move and achieve posture adjustment of the movable platform. The redundant branch chains can increase the bearing capacity and stability of the parallel mechanism. The performance of the automatic composite material laying parallel mechanism is improved.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a decoupled pure rotation parallel mechanism with redundant branches. Background Art

[0002] In the field of aerospace manufacturing, the composite material automatic placement parallel mechanism, as a device that can carry rollers, can replace heavy manual labor in the rolling process of composite material placement, and can also improve the efficiency and quality of automatic placement, especially in the manufacture of large aerospace components. However, there are few studies on parallel mechanisms suitable for scenarios with attitude adjustment requirements. Therefore, it is urgent to develop a decoupled pure rotation parallel mechanism with redundant branches. Summary of the invention

[0003] The embodiments of the present application provide a decoupled pure rotation parallel mechanism with redundant branches, which can achieve decoupled pure rotation around the x-axis, y-axis and z-axis, thereby improving laying efficiency and manufacturing quality.

[0004] To achieve the above-mentioned objectives, an embodiment of the present application provides a decoupled pure rotational parallel mechanism with redundant branches, comprising a moving platform, a static platform and a branch system connected between the moving platform and the static platform; the branch system comprises redundant branches and three driving branches arranged equidistantly along the circumferential direction; the upper ends of the redundant branches and the three driving branches are hinged to the moving platform, and the lower ends make circular motion on the static platform; the driving branch can drive the redundant branch to move and realize the posture adjustment of the moving platform; the redundant branch can increase the bearing capacity and stability of the parallel mechanism.

[0005] Furthermore, the static platform includes a base and a toothed disc and a guide track fixed to the base; the toothed disc includes three arc-shaped tooth segments, and the angles between the middle arc-shaped tooth segment and the two adjacent arc-shaped tooth segments are both 90°; the guide track is annular and located above the toothed disc.

[0006] Furthermore, the driving branch chain includes a driving branch chain connecting rod, a driving branch chain slider mounting platform, a driving branch chain slider, a motor, a gear and a driving branch chain support assembly; the driving branch chain slider is fixedly connected to the bottom of the driving branch chain slider mounting platform; the upper end of the driving branch chain connecting rod is hinged to the moving platform through the first moving platform rotating shaft, and the lower end is hinged to the driving branch chain slider through the driving branch chain rotating shaft; the driving branch chain slider is slidably connected to the guide rail; the motor is connected to the side of the driving branch chain slider mounting platform through the motor mounting frame; the gear is connected to the output shaft of the motor; the gear is meshed with the gear plate; the driving branch chain support assembly is connected to the lower end of the gear.

[0007] Furthermore, the drive branch chain support assembly includes a first bull's eye wheel and a first bull's eye wheel conversion flange; the first bull's eye wheel is connected to the gear through the first bull's eye wheel conversion flange; and the first bull's eye wheel is in contact with the base.

[0008] Furthermore, the gear is connected to the motor via a gear mounting flange.

[0009] Furthermore, the redundant branch chain includes a redundant branch chain connecting rod, a redundant branch chain slider mounting platform, a redundant branch chain slider and a redundant branch chain support assembly; the redundant branch chain slider is fixedly connected to the bottom of the redundant branch chain slider mounting platform; the upper end of the redundant branch chain connecting rod is hinged to the moving platform through the second moving platform rotating shaft, and the lower end is hinged to the redundant branch chain slider through the redundant branch chain rotating shaft; the redundant branch chain slider is slidably connected to the guide rail; the driving branch chain support assembly is connected to the side of the redundant branch chain slider mounting platform through the support assembly mounting frame.

[0010] Furthermore, the redundant branch chain support assembly includes a second bull's eye wheel, a second bull's eye wheel conversion flange and an adapter flange; the second bull's eye wheel and the adapter flange are respectively connected to the two ends of the second bull's eye wheel conversion flange; the adapter flange is connected to the support assembly mounting frame, and the second bull's eye wheel is in contact with the base.

[0011] Furthermore, the structure of the redundant branch chain connecting rod is the same as that of the driving branch chain connecting rod; the structure of the redundant branch chain slider mounting platform is the same as that of the driving branch chain slider mounting platform; the structure of the redundant branch chain slider is the same as that of the driving branch chain slider; the structure of the support assembly mounting frame is the same as that of the motor mounting frame; the structure of the second moving platform rotating shaft is the same as that of the first moving platform rotating shaft; the structure of the redundant branch chain rotating shaft is the same as that of the driving branch chain rotating shaft.

[0012] Furthermore, the moving platform includes a square frame and a connecting plate arranged at the bottom of the square frame; the redundant branch chain and the three driving branch chains are respectively connected to the corresponding side walls of the square frame; and the connecting plate is provided with a mounting hole for connecting tools.

[0013] Furthermore, the static platform is fixedly connected to the end of the industrial robot to form a serial-parallel hybrid mechanism or fixed to a fixed object.

[0014] Compared with the prior art, this application has the following beneficial effects:

[0015] 1. The embodiment of the present application has a decoupled pure rotation parallel mechanism with redundant branches. On the basis of the existing three-branch pure rotation parallel mechanism, a driven redundant branch is added, and the four branches are arranged at equal intervals, thereby achieving the decoupled pure rotation capabilities around the x-axis, y-axis and z-axis respectively, and can be suitable for scenarios with posture adjustment requirements.

[0016] 2. The parallel structure adopted by the decoupled pure rotation parallel mechanism with redundant branches in the embodiment of the present application has the characteristics of high motion control accuracy, high rigidity and compact structure, and can be widely used in various installation environments. It can be used alone or installed on existing equipment to improve movement capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a three-dimensional structure of a decoupled pure rotation parallel mechanism with redundant branches in an embodiment of the present application from one perspective;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the decoupled pure rotation parallel mechanism with redundant branches in another perspective of the embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the decoupled pure rotation parallel mechanism with redundant branches in another perspective of the embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of a driving branch chain in a decoupled pure rotation parallel mechanism with redundant branches in an embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of the decomposed structure of a driving branch chain in a decoupled pure rotation parallel mechanism with redundant branches in an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the redundant branch chain in the decoupled pure rotation parallel mechanism with redundant branch chain in the embodiment of the present application;

[0024] Figure 7 Schematic diagram of the decomposed structure of the redundant branches in the decoupled pure rotation parallel mechanism with redundant branches according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", 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.

[0027] 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.

[0028] 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.

[0029] Reference Figures 1 to 7 The embodiment of the present application provides a decoupled pure rotation parallel mechanism with redundant branches, including a moving platform 1, a stationary platform 2, and a branch chain system connected between the moving platform 1 and the stationary platform 2. The branch chain system includes three driving branch chains 3 and a redundant branch chain 4 arranged equidistantly along the circumferential direction. The upper ends of the redundant branch chain 4 and the three driving branch chains 3 are hinged to the moving platform 1, and the lower ends make circular motion on the stationary platform 2.

[0030] The three drive branches 3 in the embodiment of the present application are respectively driven by the motors arranged thereon to drive the gears and toothed discs to mesh and realize movement. The coordinated movement of the branches realizes the posture adjustment of the moving platform 1. The function of the redundant branch chain 4 without drive is to increase the overall load-bearing capacity of the mechanism. It can obtain a unique position solution according to inverse kinematics to achieve slave operation. Different tools with posture adjustment requirements can be installed on the moving platform 1 to realize different functions. The present application fills the technical gap in the special manufacturing field, and can improve production efficiency and manufacturing quality while reducing labor costs.

[0031] Reference Figures 1 to 3The static platform 2 includes a base 21, a toothed disc 22 and a guide track 23 fixed to the base 21. The toothed disc 22 includes three arc-shaped toothed segments, and the included angle between the arc-shaped toothed segment in the middle and the two adjacent arc-shaped toothed segments is 90°. The guide track 23 is annular and is located above the toothed disc 22. The base 21 can be fixed to a fixed object for use, or fixed to the end of an industrial robot to form a serial-parallel hybrid mechanism according to the needs of the application.

[0032] Reference Figure 4 and Figure 5 The driving branch chain 3 includes a driving branch chain connecting rod 31, a driving branch chain slider mounting platform 32, a driving branch chain slider 33, a motor 34, a gear 35 and a driving branch chain support assembly. The driving branch chain slider 33 is fixedly connected to the bottom of the driving branch chain slider mounting platform 32. The upper end of the driving branch chain connecting rod 31 is hinged to the moving platform 1 through the first moving platform rotating shaft 36 to form a rotating pair, and the lower end is hinged to the driving branch chain slider 33 through the driving branch chain rotating shaft 37 to form a rotating pair. The driving branch chain slider 33 is slidably connected to the guide rail 23. The motor 34 is connected to the side of the driving branch chain slider mounting platform 32 through the motor mounting bracket 38. The gear 35 is connected to the output shaft of the motor 34 through the gear mounting flange 39. The gear 35 is meshed with the toothed disc 22, and the driving branch chain support assembly is connected to the lower end of the gear 35.

[0033] The driving branch chain support assembly includes a first bull's eye wheel 310 and a first bull's eye wheel conversion flange 311. The first bull's eye wheel 310 is connected to the gear 35 through the first bull's eye wheel conversion flange 311. The first bull's eye wheel 310 contacts the base 21 and moves thereon to play a supporting role during the movement.

[0034] When the bottom surface of the moving platform 1 is parallel to the bottom surface of the base 21, it is in the initial position. In this state, the three driving branch chains 3 are spaced 90 degrees apart from each other. The three driving branch chains 3 drive the branch chain sliders 33 to make circular motions on the guide rails 23. The three rotating pairs from bottom to top in a single branch chain are formed by combining the first moving platform rotating shaft 36 and the driving branch chain rotating shaft 37. Among them, the motor 34 drives the rotating pair at the bottom of the branch chain 3 to realize the movement of the slider along the guide rail 23.

[0035] Reference Figure 6 and Figure 7The redundant branch chain 4 includes a redundant branch chain connecting rod 41, a redundant branch chain slider mounting platform 42, a redundant branch chain slider 43 and a redundant branch chain support assembly. The redundant branch chain slider 43 is fixedly connected to the bottom of the redundant branch chain slider mounting platform 42. The upper end of the redundant branch chain connecting rod 41 is hinged to the moving platform 1 through the second moving platform rotating shaft 44, and the lower end is hinged to the redundant branch chain slider 43 through the redundant branch chain rotating shaft 45. The redundant branch chain slider 43 is slidably connected to the guide rail 23. The driving branch chain support assembly is connected to the side of the redundant branch chain slider mounting platform 42 through the support assembly mounting frame 46.

[0036] The redundant branch chain 4 support assembly includes a second bull's eye wheel 47, a second bull's eye wheel conversion flange 48 and an adapter flange 49. The second bull's eye wheel 47 and the adapter flange 49 are respectively connected to the two ends of the second bull's eye wheel conversion flange 48. The adapter flange 49 is connected to the support assembly mounting frame 46, and the second bull's eye wheel 47 is in contact with the base 21.

[0037] The redundant branch chain 4 has the same structure as some parts of the drive branch chain 3. Specifically, the structure of the redundant branch chain connecting rod 41 is the same as that of the drive branch chain connecting rod 31. The structure of the redundant branch chain slider mounting platform 42 is the same as that of the drive branch chain slider mounting platform 32. The structure of the redundant branch chain slider 43 is the same as that of the drive branch chain slider 33. The structure of the support component mounting frame 46 is the same as that of the motor mounting frame 38. The structure of the second moving platform rotating shaft 44 is the same as that of the first moving platform rotating shaft 36. The structure of the redundant branch chain rotating shaft 45 is the same as that of the drive branch chain rotating shaft 37. The structure of the second bull's eye wheel 47 is the same as that of the first bull's eye wheel 310. The structure of the second bull's eye wheel conversion flange 48 is the same as that of the first bull's eye wheel conversion flange 311.

[0038] In the initial position, the redundant branch chain 4 and the three driving branch chains 3 are spaced 90 degrees from each other, and they make circular motion on the guide rail 23 through the slider, but they are not equipped with a driving device. During the movement of the three driving branch chains 3, they can obtain a unique position according to the inverse kinematics principle, thereby realizing driven motion.

[0039] Reference Figures 1 to 3 The moving platform 1 includes a square frame 11 and a connecting plate 12 arranged at the bottom of the square frame 12. The redundant branch chain 4 and the three driving branch chains 3 are respectively connected to the corresponding side walls of the square frame 12. The connecting plate 12 is provided with a mounting hole 13, and the mounting hole 13 can be installed with different tools with posture adjustment requirements to achieve different functions.

[0040] The embodiments of the present application have a compact structure, high rigidity, and high mobility, and are suitable for tasks that require tool posture adjustment, such as rolling processes during composite material laying. They can replace heavy manual labor and improve work efficiency and quality, especially in the manufacture of large aerospace components.

[0041] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A decoupled pure rotation parallel mechanism with redundant branches, characterized in that: It includes a moving platform, a static platform and a branch chain system connected between the moving platform and the static platform; the branch chain system includes redundant branch chains and three driving branch chains arranged equidistantly along the circumferential direction; the upper ends of the redundant branch chains and the three driving branch chains are hinged to the moving platform, and the lower ends make circular motion on the static platform; the driving branch chain can drive the redundant branch chain to move and realize the posture adjustment of the moving platform; the redundant branch chain can increase the bearing capacity and stability of the parallel mechanism.

2. The decoupled pure rotation parallel mechanism with redundant branches according to claim 1, characterized in that: The static platform includes a base, a toothed disc and a guide track fixed to the base; the toothed disc includes three arc-shaped tooth segments, and the angles between the middle arc-shaped tooth segment and the two adjacent arc-shaped tooth segments are both 90°; the guide track is annular and located above the toothed disc.

3. The decoupled pure rotation parallel mechanism with redundant branches according to claim 2, characterized in that: The driving branch chain includes a driving branch chain connecting rod, a driving branch chain slider mounting platform, a driving branch chain slider, a motor, a gear and a driving branch chain supporting assembly; the driving branch chain slider is fixedly connected to the bottom of the driving branch chain slider mounting platform; the upper end of the driving branch chain connecting rod is hinged to the moving platform through the first moving platform rotating shaft, and the lower end is hinged to the driving branch chain slider through the driving branch chain rotating shaft; the driving branch chain slider is slidably connected to the guide rail; the motor is connected to the side of the driving branch chain slider mounting platform through the motor mounting frame; the gear is connected to the output shaft of the motor; the gear is meshed with the gear plate; the driving branch chain supporting assembly is connected to the lower end of the gear.

4. The decoupled pure rotation parallel mechanism with redundant branches according to claim 3, characterized in that: The drive branch chain support assembly comprises a first bull's eye wheel and a first bull's eye wheel conversion flange; the first bull's eye wheel is connected to the gear through the first bull's eye wheel conversion flange; and the first bull's eye wheel is in contact with the base.

5. The decoupled pure rotation parallel mechanism with redundant branches according to claim 3, characterized in that: The gear is connected to the motor via a gear mounting flange.

6. The decoupled pure rotation parallel mechanism with redundant branches according to claim 4, characterized in that: The redundant branch chain includes a redundant branch chain connecting rod, a redundant branch chain slider mounting platform, a redundant branch chain slider and a redundant branch chain support assembly; the redundant branch chain slider is fixedly connected to the bottom of the redundant branch chain slider mounting platform; the upper end of the redundant branch chain connecting rod is hinged to the moving platform through the second moving platform rotating shaft, and the lower end is hinged to the redundant branch chain slider through the redundant branch chain rotating shaft; the redundant branch chain slider is slidably connected to the guide rail; the driving branch chain support assembly is connected to the side of the redundant branch chain slider mounting platform through the support assembly mounting frame.

7. The decoupled pure rotation parallel mechanism with redundant branches according to claim 6, characterized in that: The redundant branch chain support assembly includes a second bull's eye wheel, a second bull's eye wheel conversion flange and an adapter flange; the second bull's eye wheel and the adapter flange are respectively connected to the two ends of the second bull's eye wheel conversion flange; the adapter flange is connected to the support assembly mounting frame, and the second bull's eye wheel is in contact with the base.

8. The decoupled pure rotation parallel mechanism with redundant branches according to claim 7, characterized in that: The structure of the redundant branch chain connecting rod is the same as that of the driving branch chain connecting rod; the structure of the redundant branch chain slider mounting platform is the same as that of the driving branch chain slider mounting platform; the structure of the redundant branch chain slider is the same as that of the driving branch chain slider; the structure of the support assembly mounting frame is the same as that of the motor mounting frame; the structure of the second moving platform rotating shaft is the same as that of the first moving platform rotating shaft; the structure of the redundant branch chain rotating shaft is the same as that of the driving branch chain rotating shaft.

9. The decoupled pure rotation parallel mechanism with redundant branches according to claim 1, characterized in that: The moving platform comprises a square frame and a connecting plate arranged at the bottom of the square frame; the redundant branch chain and the three driving branch chains are respectively connected to the corresponding side walls of the square frame; and the connecting plate is provided with a mounting hole for connecting tools.

10. The decoupled pure rotation parallel mechanism with redundant branches according to claim 1, characterized in that: The static platform is fixedly connected to the end of the industrial robot to form a serial-parallel hybrid mechanism or fixed to a fixed object.

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