A multi-closed loop machining system for large structural part machining

Abstract

This invention discloses a multi-closed-loop machining system for processing large structural components. It includes a mobile trolley that moves within a machining area, a support vehicle mounted on the trolley as its mounting base, and multiple closed-loop mechanisms mounted on the support vehicle. These multiple closed-loop mechanisms perform coarse positioning and fine adjustment of tool orientation within a large spatial area, with their outputs connected to a moving platform on which machining tools are mounted. This invention expands the robot's workspace through the coordinated operation of different branch groups, while ensuring both machining accuracy and efficiency. This invention combines the advantages of high overall rigidity, good flexibility, large workspace, and high efficiency, enabling high-efficiency and high-precision machining of large structural components.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a multi-closed-loop machining system for processing large structural components. Background Technology

[0002] With the rapid development of aerospace, shipbuilding, energy equipment, and large-scale engineering machinery, the demand for manufacturing large structural components is increasing daily. These components are generally characterized by their large size, complex geometry, and high precision requirements. Traditional large gantry-type machine tools, such as Chinese patent CN120395469A, expand the processing range by moving the gantry or workpiece. While these tools offer good rigidity and high precision, they suffer from insufficient flexibility, difficulty adapting to complex spatial trajectories, high equipment costs, and a large footprint. Furthermore, some mobile robots suffer from poor rigidity. For example, Chinese patent CN217776987U, although having a large end effector range, suffers from poor rigidity in its tandem structure, making it difficult to meet the precision requirements for machining large structural components.

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-closed-loop machining system for large structural components and large-scale machining, which has a large adjustment range, high processing efficiency, and high structural rigidity. Summary of the Invention

[0004] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a multi-closed-loop machining system for the machining of large structural parts.

[0005] The technical solution of the present invention is: a multi-closed-loop machining system for machining large structural parts, including a mobile trolley that moves within the machining area, a carrier body that serves as the mounting base on the mobile trolley, and a multi-closed-loop mechanism installed on the carrier body. The multi-closed-loop mechanism performs coarse positioning and fine adjustment of tool position in a large-scale space step by step. The output end of the multi-closed-loop mechanism is connected to a moving platform, and the moving platform is equipped with machining tools.

[0006] The multi-closed-loop mechanism includes a spatial movement branch group and a machining execution branch group. The spatial movement branch group realizes six degrees of freedom coarse positioning, namely translation in the X direction, translation in the Y direction, translation in the Z direction, rotation around the X axis, rotation around the Y axis, and rotation around the Z axis. The machining execution branch group is a combination structure of UPS branch and UCU branch, which completes the fine adjustment of tool pose on the basis of coarse positioning. The two form a dual closed-loop collaborative adjustment structure.

[0007] The spatial moving support assembly includes a first Hooke hinge, which is mounted on the carrier body. A first cylindrical joint is connected to the output end of the first Hooke hinge, and a second Hooke hinge is connected to the output end of the first cylindrical joint and connected to the intermediate connecting plate.

[0008] Furthermore, the spatial moving branch group consists of a first branch, a second branch, a third branch, a fourth branch, a fifth branch, and a sixth branch with identical structures, and is symmetrically arranged between the carrier vehicle body and the intermediate connecting plate.

[0009] Furthermore, the processing execution branch group consists of the seventh branch, the eighth branch, the ninth branch, the tenth branch, the eleventh branch, and the twelfth branch; the ninth branch, the tenth branch, the eleventh branch, and the twelfth branch are UCU branches with the same structure, symmetrically installed between the intermediate connecting plate and the moving platform; the seventh branch and the eighth branch are UPS branches with the same structure, symmetrically installed between the UPS small bracket and the moving platform of the intermediate connecting plate.

[0010] Furthermore, both the seventh and eighth branches include a third Hooke hinge mounted in the UPS bracket, a first sliding joint connected to the output end of the third Hooke hinge, a first ball joint connected to the output end of the first sliding joint, and connected to the moving platform.

[0011] Furthermore, the ninth, tenth, eleventh, and twelfth branches each include a fourth Hooke hinge mounted on the intermediate connecting plate, a second cylindrical joint connected to the output end of the fourth Hooke hinge, and a fifth Hooke hinge connected to the output end of the second cylindrical joint and connected to the moving platform.

[0012] Furthermore, the UPS bracket is positioned on the upper and lower sides of the intermediate connecting plate.

[0013] Furthermore, the UPS bracket is composed of multiple triangular upright plates, with coaxial mounting holes formed in the triangular upright plates, and the two ends of the third Hooke hinge are hinged to the adjacent triangular upright plates.

[0014] Furthermore, the processing execution branch group consists of two groups. UPS branches are installed in the UPS small brackets on both the upper and lower sides of the middle connecting plate, and UCU branches are installed at both the upper and lower ends of the middle connecting plate. The upper processing execution branch group is formed by the UPS branches and UCU branches at the upper end of the middle connecting plate; the lower processing execution branch group is formed by the UPS branches and UCU branches at the lower end of the middle connecting plate.

[0015] Furthermore, two mounting plates are vertically arranged at the lower end of the intermediate connecting plate, and processing execution branch groups are arranged on the outer side of both mounting plates, with the two processing execution branch groups arranged horizontally.

[0016] The beneficial effects of this invention are as follows:

[0017] This invention discloses a multi-closed-loop machining system for processing large structural components. Through the coordinated operation of different branch groups, the robot's workspace is expanded while ensuring both machining accuracy and efficiency. This invention combines the advantages of high overall rigidity, good flexibility, large workspace, and high efficiency, enabling high-efficiency and high-precision machining of large structural components. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the vehicle of the present invention;

[0019] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the spatial movement branch group of the present invention;

[0021] Figure 4 This is a schematic diagram of the processing execution branch group of the present invention;

[0022] Figure 5 This is a schematic diagram of a single branch of the spatial movement branch group of the present invention;

[0023] Figure 6 This is a schematic diagram of the UPS branch of the processing execution branch group of the present invention;

[0024] Figure 7 This is a schematic diagram of the UCU branch of the processing execution branch group of the present invention;

[0025] Figure 8 This is another structural schematic diagram of the present invention;

[0026] in:

[0027] 1. Mobile vehicle 2. Spatial movement support group

[0028] 3. Processing execution branch group; 4. Control system

[0029] 5 First branch 6 Second branch

[0030] 7 Third branch 8 Fourth branch

[0031] 9. Fifth branch 10. Sixth branch

[0032] 11 Intermediate connecting plate 12 Seventh branch chain

[0033] 13 Eighth branch chain 14 Grinding wheel components

[0034] 15 Dynamic Platform 16 Ninth Branch

[0035] 17 Tenth branch 18 Eleventh branch

[0036] 19 Twelfth branch 20 UPS small bracket

[0037] 21 First Hooke hinge 22 First connecting rod

[0038] 23 First servo motor 24 Second connecting rod

[0039] 25 Second Hooke's Hinge 26 First Cylindrical Pair

[0040] 27 Third Hooke hinge 28 Third connecting rod

[0041] 29 Second servo motor 30 Fourth link

[0042] 31 First ball secondary 32 First movement secondary

[0043] 33 Fourth Hooke hinge 34 Fifth link

[0044] 35 Sixth Link 36 Fifth Hooke Hinge

[0045] 37 Second cylindrical joint 38 Car body

[0046] 39 Wheels 40 Third servo motor Detailed Implementation

[0047] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: Example

[0048] like Figures 1 to 8 As shown, a multi-closed-loop machining system for machining large structural parts includes a mobile trolley 1 that moves within the machining area. A carrier body 38, serving as the mounting base, is mounted on the mobile trolley 1. Multiple closed-loop mechanisms are mounted on the carrier body 38. These mechanisms perform coarse positioning and fine adjustment of tool position within a large-scale space step by step. The output end of the multiple closed-loop mechanisms is connected to a moving platform 15, which is equipped with machining tools.

[0049] The multi-closed-loop mechanism includes a spatial movement branch group 2 and a processing execution branch group 3.

[0050] The spatial movement branch group 2 consists of a first branch 5, a second branch 6, a third branch 7, a fourth branch 8, a fifth branch 9, and a sixth branch 10. These six branches have identical structures and are symmetrically arranged between the carrier body 38 and the intermediate connecting plate 11. The identical structure refers to the identical structure from the fixed side to the output side.

[0051] Specifically, a first Hooke hinge 21 is installed on the carrier body 38. The first Hooke hinge 21 is connected to the first connecting rod 22. A first cylindrical joint 26 is installed on the linear output part of the first connecting rod 22. A second connecting rod 24 is installed on the side wall of the rotational output part of the first cylindrical joint 26. A second Hooke hinge 25 is installed at the other end of the second connecting rod 24. The top of the second Hooke hinge 25 is connected and fixed to the intermediate connecting plate 11.

[0052] The processing execution branch group 3 consists of the seventh branch 12, the eighth branch 13, the ninth branch 16, the tenth branch 17, the eleventh branch 18, and the twelfth branch 19. The ninth branch 16, the tenth branch 17, the eleventh branch 18, and the twelfth branch 19 have the same structure and are symmetrically installed between the intermediate connecting plate 11 and the moving platform 15. The above-mentioned identical structure means that the installation structure of the ninth branch 16, the tenth branch 17, the eleventh branch 18, and the twelfth branch 19 from the intermediate connecting plate 11 to the moving platform 15 is the same.

[0053] The seventh branch 12 and the eighth branch 13 have the same structure and are symmetrically installed between the UPS small bracket 20 and the moving platform 15 on the intermediate connecting plate 11. The above-mentioned identical structure means that the installation structure of the seventh branch 12 and the eighth branch 13 from the UPS small bracket 20 to the moving platform 15 is the same.

[0054] A UPS small bracket 20 is installed on the upper end of the intermediate connecting plate 11. A third Hooke hinge 27 is installed on the upper end of the UPS small bracket 20. A third link 28 is connected to the third Hooke hinge 27. A first sliding joint 32 is installed at the output end of the third link 28. A fourth link 30 serves as the moving output of the first sliding joint 32. A first ball joint 31 is installed at the output end of the fourth link 30. A moving platform 15 is installed on the first ball joint 31 of each branch.

[0055] The UPS bracket 20 is installed on the upper and lower sides of the intermediate connecting plate 11.

[0056] The UPS bracket 20 is composed of multiple triangular upright plates, and coaxial assembly holes are formed in the triangular upright plates.

[0057] Specifically, the multiple processing execution branch groups 3 can adopt different spatial layouts according to processing requirements, including at least but not limited to: a vertical layout symmetrically installed on the upper and lower sides of the intermediate connecting plate 11 to expand the vertical processing space; and a horizontal layout symmetrically installed below the intermediate connecting plate 11 to expand the horizontal processing range. The multiple processing execution branch groups can work collaboratively or independently to achieve multi-task parallel processing.

[0058] Specifically, the machining tool is a grinding wheel component 14 or other machining tools.

[0059] Specifically, the wheels 39 of the mobile trolley 1 are one of Mecanum wheels, steering wheels, omnidirectional wheels or differential wheels, and are directly driven by a motor to achieve omnidirectional movement.

[0060] like Figure 1 As shown, Figure 1 This is a schematic diagram of the vehicle of the present invention. The mobile vehicle 1 includes a supporting vehicle body 38, wheels 39, a battery, and a guidance system, etc., which provide a basis for the system to move.

[0061] like Figure 2 As shown, Figure 2 This is a schematic diagram of the overall structure of the invention, showing the overall layout of the mobile trolley 1, the spatial movement branch group 2, and the machining execution branch group 3. The spatial movement branch group 2 provides a wide range of movement capabilities, while the machining execution branch group 3 is used for precision machining.

[0062] Specifically, the spatial moving link group 2 is installed on the moving trolley 1 as the base for installation, and is installed longitudinally on the moving trolley 1. After the moving trolley 1 performs a large stroke position adjustment, the spatial moving link group 2 performs a small range of spatial position adjustment.

[0063] Specifically, the processing execution branch group 3 is installed on the spatial movement branch group 2 as the basis. The processing execution branch group 3 is installed at the position adjustment output end of the spatial movement branch group 2. After the spatial movement branch group 2 performs spatial position adjustment, the processing execution branch group 3 performs two spatial position adjustments based on the planar position adjustment.

[0064] like Figure 3 As shown, Figure 3 This is a schematic diagram of the spatial moving branch assembly of the present invention. The spatial moving branch assembly 2 includes a receiving functional component, namely an intermediate connecting plate 11. The lower end of the intermediate connecting plate 11 is connected to the output end of the spatial moving branch assembly 2, and the spatial moving branch assembly 2 adjusts the spatial position of the intermediate connecting plate 11. A Hooke's hinge support is provided at the lower end of the intermediate connecting plate 11, with two support seats provided for each of the first branch 5, second branch 6, third branch 7, fourth branch 8, fifth branch 9, and sixth branch 10.

[0065] The spatial movement branch group 2 includes a first branch 5, a second branch 6, a third branch 7, a fourth branch 8, a fifth branch 9, and a sixth branch 10. The first branch 5, second branch 6, third branch 7, fourth branch 8, fifth branch 9, and sixth branch 10 have the same structure, differing only in their placement. Specifically, the direction of the bottom support in the first branch 5 and second branch 6 is perpendicular to the direction of the bottom moving joint in the third branch 7, fourth branch 8, fifth branch 9, and sixth branch 10, while the direction of the bottom support in the third branch 7, fourth branch 8, fifth branch 9, and sixth branch 10 is parallel to the direction of the bottom support in the third branch 7, fourth branch 8, fifth branch 9, and sixth branch 10. The first branch 5, second branch 6, third branch 7, fourth branch 8, fifth branch 9, and sixth branch 10 have six degrees of freedom: translation in the X-axis, translation in the Y-axis, translation in the Z-axis, rotation about the X-axis, rotation about the Y-axis, and rotation about the Z-axis.

[0066] Specifically, the bottom support bases of the first branch 5 and the second branch 6 are close to each other; at the same time, the third branch 7 and the fourth branch 8 form a group, which are symmetrical from left to right, and the fifth branch 9 and the sixth branch 10 form a group, which are symmetrical from left to right. The top hinge points of the second branch 6 and the third branch 7 on the same side are close to each other, and the top hinge points of the first branch 5 and the fourth branch 8 on the same side are close to each other; at the same time, the top hinge points of the third branch 7 and the fifth branch 9 on the same side are far apart; the top hinge points of the fourth branch 8 and the sixth branch 10 on the same side are far apart.

[0067] like Figure 4 As shown, Figure 4 This is a schematic diagram of the processing execution branch group of the present invention. The intermediate connecting plate 11 is omitted in this figure. The processing execution branch group adjusts the spatial position of the moving platform 15. The processing execution branch group includes the seventh branch 12, the eighth branch 13, the ninth branch 16, the tenth branch 17, the eleventh branch 18, and the twelfth branch 19 in the installation direction from the intermediate connecting plate 11 to the moving platform 15. The seventh branch 12 and the eighth branch 13 have the same structure, and the ninth branch 16, the tenth branch 17, the eleventh branch 18, and the twelfth branch 19 have the same structure.

[0068] Specifically, the bottom connection points of the eleventh branch 18 and the twelfth branch 19 are in a group and are close to each other; the bottom connection points of the ninth branch 16 and the tenth branch 17 are in a group and are close to each other; the top connection points of the tenth branch 17 and the eleventh branch 18 are close to each other, and the top connection points of the ninth branch 16, the twelfth branch 19, the tenth branch 17, and the eleventh branch 18 are arranged in a triangle.

[0069] In one implementation, the output parts of the seventh branch 12 and the eighth branch 13, namely the first ball joint 31, are triangular in shape and connected to the bottom of the moving platform 15.

[0070] As one implementation method, machining tools are mounted on the moving platform 15 of the machining execution branch group 3. Through the coordinated operation of multiple machining execution branch groups, high-efficiency machining of large structural components is achieved.

[0071] like Figure 5 As shown, Figure 5 This is a schematic diagram of a single-branch structure of the spatial movement branch assembly of the present invention. Each of the first branch 5, second branch 6, third branch 7, fourth branch 8, fifth branch 9, and sixth branch 10 includes a first Hooke hinge 21. The first Hooke hinge 21 is fixed to the carrier body 38. The rotating end of the first Hooke hinge 21 is connected to the first connecting rod 22. A first cylindrical joint 26 is installed at the upper end of the first connecting rod 22. The axis of the first cylindrical joint 26 is perpendicular to the rotation direction of the first Hooke hinge 21. The end of the first cylindrical joint is connected to the second connecting rod 24. At the same time, a second Hooke hinge 25 is installed at the far end of the second connecting rod 24 to realize the rotational connection between the intermediate connecting plate 11 and the second connecting rod 24.

[0072] Specifically, the first cylindrical joint 26 is an active joint, driven by the first servo motor 23. Under the drive of the first cylindrical joint 26, the second connecting rod 24 actively moves along its axis.

[0073] As one implementation method, the process of the first servo motor 23 driving the first cylindrical joint 26 is as follows:

[0074] The first cylindrical pair includes a pulley at the end of a lead screw nut, a lead screw nut, a threaded section of the second connecting rod 24, a bearing, and a first connecting rod 22. A first servo motor 23 drives the pulley at the end of the lead screw nut via a synchronous belt. The pulley drives the lead screw nut to rotate. The lead screw nut is threadedly connected to the second connecting rod 24. The rotational motion of the lead screw nut is converted into linear extension / retraction motion of the second connecting rod 24 along its axis through the transmission action of the threaded engagement. Simultaneously, the outer ring of the lead screw nut transitions into a fit with the inner ring of the bearing, and the outer ring of the bearing transitions into a fit with the bearing seat at the end of the first connecting rod 22. This bearing allows the lead screw nut to rotate relative to the first connecting rod 22 while rotating around its own axis. When the motor is locked, there is no relative movement between the lead screw nut and the second connecting rod 24; however, they can achieve rotational motion relative to the axis of the first connecting rod 22 through the bearing. The linear movement of the second connecting rod 24 and its rotational motion around the axis of the first connecting rod 22 are independent of each other, jointly realizing the extension / retraction adjustment along its own axis and the rotational adjustment around its own axis of the first cylindrical pair 26.

[0075] like Figure 6 As shown, Figure 6 This is a schematic diagram of the UPS branch structure of the processing execution branch group of the present invention. Taking one of the seventh branch 12 and the eighth branch 13 as an example, the UPS structure is adopted.

[0076] Specifically, the third Hooke hinge 27 is connected to the UPS small bracket 20, and the output part of the third Hooke hinge 27 is connected to the third link 28. The end of the third link 28 is equipped with a first sliding joint 32 (driven by the second servo motor 29), and the end of the first sliding joint 32 is connected to the fourth link 30. At the same time, the far end of the fourth link 30 is equipped with a first ball joint 31 and is connected and fixed to the moving platform 15, so as to realize the rotational connection between the moving platform 15 and the fourth link 30.

[0077] In one implementation, the first movable pair 32 is driven by the second servo motor 29. The second servo motor 29 may include, but is not limited to, being connected to the movable pair via a transmission belt, or it may be directly driven or connected using a coupling.

[0078] like Figure 7 As shown, Figure 7 This is a schematic diagram of the processing execution branch group UCU branch structure of the present invention. Taking one of the branches 16, 17, 18, and 19 as an example, the UCU structure is adopted.

[0079] Specifically, the fourth Hooke hinge 33 is connected to the intermediate connecting plate 11, and a second cylindrical joint 37 is installed at the output part of the fourth Hooke hinge 33. The end of the second cylindrical joint 37 is connected to the sixth link 35, and a fifth Hooke hinge 36 is installed at the far end of the sixth link 35 to realize the rotational connection between the moving platform 15 and the sixth link 35.

[0080] Specifically, a fourth Hooke hinge 33 is installed on the upper end of the intermediate connecting plate 11, a fifth link 34 is connected to the fourth Hooke hinge 33, a second cylindrical joint 37 is installed at the output end of the fifth link 34, a sixth link 35 serves as the moving output of the second cylindrical joint 37, a fifth Hooke hinge 36 is installed at the output end of the sixth link 35, and a moving platform 15 is installed on the fifth Hooke hinge 36 of each branch.

[0081] The sixth link 35 can extend and retract, and the second cylindrical joint 37 is an active joint, driven by the third servo motor 40, with the same driving method as the first cylindrical joint 26.

[0082] As one implementation method, wheel 39 can be, but is not limited to, Mecanum wheels, steering wheels, casters, and differential wheels. When wheel 39 is a Mecanum wheel, it is driven by a direct-drive motor. Example

[0083] A multi-closed-loop machining system for large structural components, such as Figure 8 As shown, the system includes a mobile trolley 1, a spatial movement branch group 2, and a processing execution branch group 3. The arrangement of the mobile trolley 1 and the spatial movement branch group 2 is exactly the same as that in Embodiment 1.

[0084] The difference lies in that the processing execution branch group 3 is installed based on the spatial movement branch group 2. The processing execution branch group 3 is installed below the intermediate connecting plate 11. After the spatial movement branch group 2 is adjusted in spatial position, the processing execution branch group 3 is adjusted in spatial position a second time based on the planar position adjustment. Multiple processing execution branch groups 3 are arranged symmetrically in the horizontal direction to support multi-task parallel processing.

[0085] This invention discloses a multi-closed-loop machining system for processing large structural components, including a carrier body that moves with a mobile trolley, on which a multi-closed-loop mechanism is installed. The mobile trolley serves as the system's mobile base, carrying the entire multi-closed-loop mechanism unit to move over a large range. The multi-closed-loop mechanism consists of multiple branch groups, where the spatial movement branch group is responsible for coarse positioning of the system in a large-scale space, and the machining execution branch group is responsible for fine adjustment of the tool position.

[0086] This invention combines the advantages of high overall rigidity, large working space, good flexibility, and high processing efficiency, enabling high-efficiency and high-precision processing of large structural components.

Claims

1. A multi-closed-loop machining system for machining large structural components, comprising a mobile trolley (1) that moves within the machining area, characterized in that: The mobile trolley (1) is equipped with a carrier body (38) as the installation base. Multiple closed-loop mechanisms are installed on the carrier body (38). The multiple closed-loop mechanisms perform coarse positioning and fine adjustment of tool position in a large-scale space step by step. The output end of the multiple closed-loop mechanisms is connected to the moving platform (15), and the moving platform (15) is equipped with machining tools. The multi-closed-loop mechanism includes a spatial movement branch group (2) and a machining execution branch group (3). The spatial movement branch group (2) realizes six degrees of freedom coarse positioning, including X-axis translation, Y-axis translation, Z-axis translation, rotation around the X-axis, rotation around the Y-axis, and rotation around the Z-axis. The machining execution branch group (3) is a combination structure of UPS branch and UCU branch, which completes the fine adjustment of tool posture on the basis of coarse positioning. The two form a double closed-loop collaborative adjustment structure. The processing execution branch group (3) consists of the seventh branch (12), the eighth branch (13), the ninth branch (16), the tenth branch (17), the eleventh branch (18), and the twelfth branch (19); the ninth branch (16), the tenth branch (17), the eleventh branch (18), and the twelfth branch (19) are UCU branches with the same structure, symmetrically installed between the intermediate connecting plate (11) and the moving platform (15); the seventh branch (12) and the eighth branch (13) are UPS branches with the same structure, symmetrically installed between the UPS small bracket (20) and the moving platform (15) of the intermediate connecting plate (11); The seventh branch (12) and the eighth branch (13) both include a third Hooke hinge (27) installed in the UPS bracket (20), a first movable pair (32) connected to the output end of the third Hooke hinge (27), a first ball joint (31) connected to the output end of the first movable pair (32), and connected to the moving platform (15); The bottom connection points of the eleventh branch (18) and the twelfth branch (19) are in a group and are close to each other; the bottom connection points of the ninth branch (16) and the tenth branch (17) are in a group and are close to each other; the top connection points of the tenth branch (17) and the eleventh branch (18) are close to each other, and the top connection points of the ninth branch (16), the twelfth branch (19), the tenth branch (17), and the eleventh branch (18) are arranged in a triangle. The output parts of the seventh branch (12) and the eighth branch (13), namely the first ball joint (31), are triangular in shape and connected to the bottom of the moving platform (15).

2. The multi-closed-loop machining system for large structural components according to claim 1, characterized in that: The spatial moving branch assembly (2) includes a first Hooke hinge (21), which is mounted on the carrier body (38). A first cylindrical joint (26) is connected to the output end of the first Hooke hinge (21), and a second Hooke hinge (25) is connected to the output end of the first cylindrical joint (26) and connected to the intermediate connecting plate (11).

3. The multi-closed-loop machining system for large structural components according to claim 1, characterized in that: The ninth branch (16), tenth branch (17), eleventh branch (18), and twelfth branch (19) all include a fourth Hooke hinge (33) installed on the intermediate connecting plate (11), a second cylindrical pair (37) connected to the output end of the fourth Hooke hinge (33), and a fifth Hooke hinge (36) connected to the output end of the second cylindrical pair (37) and connected to the moving platform (15).

4. The multi-closed-loop machining system for large structural components according to claim 1, characterized in that: The UPS bracket (20) is set on the upper and lower sides of the intermediate connecting plate (11).

5. A multi-closed-loop machining system for large structural components according to claim 4, characterized in that: The UPS bracket (20) is composed of multiple triangular upright plates, and coaxial assembly holes are formed in the triangular upright plates. The third Hooke hinge (27) is hinged at both ends to the adjacent triangular upright plates.

6. A multi-closed-loop machining system for large structural components according to claim 4, characterized in that: The processing execution branch group (3) consists of two groups. UPS branches are provided in the UPS small brackets (20) on both the upper and lower sides of the middle connecting plate (11). UCU branches are provided at both the upper and lower ends of the middle connecting plate (11). The upper processing execution branch group (3) is formed by the UPS branch and UCU branch at the upper end of the middle connecting plate (11); the lower processing execution branch group (3) is formed by the UPS branch and UCU branch at the lower end of the middle connecting plate (11).

7. A multi-closed-loop machining system for large structural components according to claim 1, characterized in that: Two mounting plates are vertically arranged at the lower end of the intermediate connecting plate (11), and processing execution branch groups (3) are arranged on the outer side of the two mounting plates. The two processing execution branch groups (3) are arranged horizontally.

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