Motion decoupling 1T2R parallel robot
By using a 1T2R parallel robot with motion decoupling, the moving platform achieves multi-degree-of-freedom motion, solving the problem of rapid and precise adjustment of the race car's tail wing in complex environments. This improves the race car's aerodynamic performance and safety, while reducing space occupation and motion errors.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-05
- Publication Date
- 2026-05-15
AI Technical Summary
Existing racing car rear wing drive mechanisms can only achieve movement adjustment in a single direction, making it difficult to quickly and accurately adjust to the optimal angle in complex track environments. They are also structurally complex, occupy a large amount of space, lack sufficient movement precision and stability, and rely on a single drive source, resulting in poor safety and reliability.
The motion-decoupled 1T2R parallel robot is adopted, which connects the static platform and the moving platform through hybrid branches and simple branches. The moving platform can translate along the y-axis and rotate around the x-axis or y-axis. The multi-drive pair design is adopted to achieve multi-degree-of-freedom motion, ensuring motion accuracy and stability.
It enables flexible adjustment of the tail wing in multiple directions, improves the performance of the race car in complex road conditions, reduces space occupation, enhances structural compactness and redundancy, and ensures motion precision and safety.
Smart Images
Figure CN122033884A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of parallel machine mechanism technology, and specifically to a motion-decoupled 1T2R parallel robot. Background Technology
[0002] In motorsport, aerodynamic performance plays a crucial role in a race car's speed, stability, and handling. Active rear wings, as key components for enhancing a race car's aerodynamic performance, can adjust their angle in real time according to the car's driving conditions, thereby optimizing downforce and air resistance to adapt to different track conditions and driving needs.
[0003] Currently, most active rear wing drive mechanisms used in racing cars on the market adopt traditional mechanical structures. Although these mechanisms have achieved the function of adjusting the rear wing angle to a certain extent, they have many significant defects.
[0004] From a dynamic flexibility perspective, traditional drive mechanisms typically only allow for unidirectional motion adjustments; for example, they can only rotate around an axis to change the rear wing angle. This makes it difficult for the rear wing to quickly and precisely adjust to the optimal angle when dealing with complex and changing track conditions, hindering its ability to fully realize its potential to improve aerodynamic performance. For instance, when cornering at high speeds, a race car needs sufficient downforce to increase tire grip while simultaneously reducing air resistance to increase speed. Traditional drive mechanisms struggle to meet both of these requirements at the same time, limiting the race car's performance in corners.
[0005] In terms of structural compactness, traditional active rear wing drive mechanisms are often complex and occupy a large amount of space. The internal space of a race car is already very limited, and an excessively large drive mechanism will not only increase the overall weight of the race car, affecting its acceleration performance and fuel economy, but will also interfere with the layout and installation of other components, limiting the flexibility and optimization space of the race car design.
[0006] Motion precision and stability are also significant challenges for traditional drive mechanisms. Due to limitations in their mechanical structure and wear on transmission components, traditional drive mechanisms are prone to accumulating motion errors after prolonged operation, leading to inaccurate tail wing angle adjustments and an inability to stably maintain the set position. This not only affects the race car's aerodynamic performance but can also pose safety hazards at high speeds.
[0007] Furthermore, traditional active rear wing drive mechanisms rely on a single drive source to adjust the wing's movement. If the drive source malfunctions or lacks sufficient power, the entire drive mechanism will fail to function properly, causing the rear wing to lose its adjustment capabilities and severely impacting the race car's performance and safety.
[0008] In summary, existing active rear wing drive mechanisms for racing cars have significant shortcomings in terms of maneuverability, structural compactness, motion precision and stability, and drive method, making it difficult to meet the stringent requirements of modern motorsport for high-performance active rear wing drive mechanisms. Therefore, developing a novel active rear wing drive mechanism is of significant practical importance. Summary of the Invention
[0009] The problem with existing technologies is that traditional drive mechanisms used for racing car rear wings typically only allow for movement adjustments in a single direction. This makes it difficult for the rear wing to quickly and accurately adjust to the optimal angle when dealing with complex and ever-changing track environments, thus hindering its potential to fully enhance aerodynamic performance. To address these issues, this invention provides a motion-decoupled 1T2R parallel robot, whose topology includes a static platform, a moving platform, and a hybrid branch and a simple branch III connecting the static and moving platforms.
[0010] A hybrid branch is a spatial parallel mechanism formed by connecting simple branch I and simple branch II;
[0011] A simple branch I is composed of sequentially connected end sliding joints and several revolute joints;
[0012] Simple branch II is composed of several rotating joints connected in series;
[0013] The end revolute joints of simple branch I and simple branch II near the moving platform are connected by an output rod. A connecting revolute joint is connected in series on the output rod. One end of the connecting revolute joint is connected to the moving platform. The end prismatic joints and end revolute joints of simple branch I and simple branch II away from the moving platform are both located on the stationary platform.
[0014] Simple branch III is composed of end sliding joints and several revolute joints connected in series. The end revolute joints on simple branch III are connected to the other end of the moving platform, and the end sliding joints are located on the stationary platform.
[0015] Using the end prismatic joints on simple branch I as driving joints, the moving platform translates along the y-axis. When the two end prismatic joints and the end revolute joints on the stationary platform are used as driving joints simultaneously, the moving platform rotates around the x-axis or y-axis.
[0016] Preferably, the simple branch I is formed by connecting a first prismatic joint, a first revolute joint, and a second revolute joint in series, with the first prismatic joint located on the stationary platform.
[0017] Preferably, the axes of the first prismatic joint and the first rotary joint are parallel to each other, and the axes of the second rotary joint and the first prismatic joint are perpendicular to each other.
[0018] Preferably, the simple branch II is formed by connecting a third revolute joint, a fourth revolute joint, and a fifth revolute joint in series. The third revolute joint is located on the stationary platform, and the fifth revolute joint is connected to the second revolute joint through an output rod.
[0019] Preferably, the axes of the fourth and fifth revolute joints are parallel to each other, and the axes of the third and fourth revolute joints are perpendicular to each other.
[0020] Preferably, the simple branch III consists of a second prismatic joint, a sixth rotary joint, a seventh rotary joint, an eighth rotary joint, a ninth rotary joint, and a tenth rotary joint connected in series. The second prismatic joint is located on the stationary platform, and the tenth rotary joint is connected to the other end of the moving platform.
[0021] Preferably, the axes of the second sliding joint, the sixth rotary joint, and the seventh rotary joint are parallel to each other; the axes of the eighth, ninth, and tenth rotary joints are parallel to each other; the axes of the seventh and eighth rotary joints are perpendicular to each other; the axes of the second and third rotary joints are parallel to each other; the axes of the second and third rotary joints are perpendicular to each other; the axes of the connecting rotary joint and the tenth rotary joint are parallel to each other; the axes of the connecting rotary joint and the seventh rotary joint are perpendicular to each other; the axes of the connecting rotary joint and the first sliding joint are parallel to each other; and the axes of the connecting rotary joint and the third rotary joint are parallel to each other.
[0022] Beneficial effects:
[0023] (1) Traditional drive mechanisms can usually only achieve single-direction motion adjustment, which is difficult to meet the needs of racing cars for rapid and precise adjustment of the tail wing angle in complex track environments. However, the parallel robot of this invention, through a unique topological structure design, can translate along the y-axis when the end slid joint on the simple branch I is used as the drive joint; when the two end slid joints and the end rotary joint on the stationary platform are used as the drive joints at the same time, the moving platform can rotate around the x-axis or y-axis. This multi-degree-of-freedom motion characteristic allows the active tail wing of the racing car installed on the moving platform to be flexibly adjusted in multiple directions according to the racing car's driving state, quickly and accurately reaching the optimal angle. For example, when cornering at high speed, it can provide sufficient downforce to increase tire grip and reduce air resistance to increase speed, fully utilizing the potential of the tail wing to improve the aerodynamic performance of the racing car, and significantly improving the racing car's performance in complex road conditions such as corners;
[0024] (2) Traditional active tail wing drive mechanisms are often complex in structure and occupy a large space, which not only increases the overall weight of the race car, affecting acceleration performance and fuel economy, but also interferes with the layout of other components and limits the space for race car design optimization. The parallel robot of this invention adopts a structure of hybrid branches and simple branch III to connect the static platform and the moving platform. The layout of each branch is compact and reasonable, effectively reducing the overall space occupied. This compact structural design will not add too much extra weight to the race car, but will provide more space for the layout and installation of other components inside the race car, improving the flexibility and optimization of the race car design, and helping to improve the overall performance of the race car;
[0025] (3) Traditional drive mechanisms are limited by mechanical structure and affected by wear of transmission components. After long-term operation, motion errors are prone to accumulate, resulting in inaccurate tail wing angle adjustment and inability to maintain a stable position, affecting the aerodynamic performance of the race car and even causing safety hazards. The parallel robot of this invention ensures the accuracy and stability of motion transmission through precise branch design and reasonable axial relationships between each rotating joint and prismatic joint, such as the first prismatic joint being parallel to the axis of the first rotating joint and the second rotating joint being perpendicular to the axis of the first prismatic joint in simple branch I, and the specific axial relationships between each rotating joint in simple branches II and III. During long-term operation, it can effectively reduce the accumulation of motion errors, make the tail wing angle adjustment more precise, and maintain a stable position, providing stable and reliable aerodynamic support for the race car and ensuring high-speed driving safety;
[0026] (4) Traditional active tail wing drive mechanisms typically rely on a single drive source. If the drive source fails or lacks sufficient power, the entire drive mechanism will malfunction, causing the tail wing to lose its adjustment function and severely impacting the racing car's performance and safety. The parallel robot of this invention adopts a multi-drive pair design, which can select different combinations of drive pairs according to different working conditions to achieve the movement of the moving platform. This multi-drive approach improves the redundancy and reliability of the drive system. Even if one drive pair fails, the other drive pairs can still work together to ensure that the tail wing can continue to make adjustments to a certain extent, maintain the basic aerodynamic performance of the racing car, and greatly enhance the safety and stability of the racing car during driving. Attached Figure Description
[0027] Figure 1 This invention provides a schematic diagram of a motion-decoupled 1T2R parallel robot topology.
[0028] In the diagram: 0 is the static platform, 1 is the dynamic platform, and P is the static platform. 11 First moving pair, R 12 First revolute joint, R 13 The second revolute joint, R 14 Connecting the revolute joint, R 15The tenth revolute joint, R 21 The third revolute joint, R 22 The fourth revolute joint, R 23 The fifth revolute joint, P 31 Second moving pair, R 32 The sixth revolute joint, R 33 The seventh revolute joint, R 34 The eighth revolute joint, R 35 Ninth rotating joint. Detailed Implementation
[0029] The present invention will be described in detail below with reference to embodiments. However, it should be understood that the following embodiments are merely illustrative examples of implementation of the present invention and are not intended to limit the scope of the present invention.
[0030] As per the instruction manual Figure 1 As shown, this invention provides a motion-decoupled 1T2R parallel robot, whose topology includes a static platform 0, a moving platform 1, and a hybrid branch and a simple branch III connecting the static platform 0 and the moving platform 1.
[0031] A hybrid branch is a spatial parallel mechanism formed by connecting simple branch I and simple branch II;
[0032] A simple branch I is composed of sequentially connected end sliding joints and several revolute joints;
[0033] Simple branch II is composed of several rotating joints connected in series;
[0034] The revolute joints at the ends of simple branch I and simple branch II near the moving platform 1 are connected by an output rod, and a connecting revolute joint R is connected in series on the output rod. 14 Connecting revolute joint R 14 One end of the simple branch I and the simple branch II, which are far from the moving platform 1, have their end sliding joints and end rotating joints located on the stationary platform 0.
[0035] Simple branch III is composed of end sliding joints and several revolute joints connected in series. The end revolute joints on simple branch III are connected to the other end of moving platform 1, and the end sliding joints are located on stationary platform 0.
[0036] With the end prismatic joint on the simple branch I as the driving joint, the moving platform 1 translates along the y-axis. When the two end prismatic joints and the end revolute joint on the stationary platform 0 are used as driving joints at the same time, the moving platform 1 rotates around the x-axis or y-axis.
[0037] In one specific implementation, the simple branch I consists of a first movable joint P connected in series. 11 First revolute joint R 12 Second revolute joint R 13Connected together, the first moving sub-P 11 Located on static platform 0.
[0038] In one specific implementation, the first moving pair P 11 With the first revolute joint R 12 The axes are parallel to each other, and the second revolute joint R 13 With the first moving sub-P 11 The axes are perpendicular to each other.
[0039] In one specific implementation, the simple branch II consists of a third revolute joint R connected in series. 21 Fourth revolute joint R 22 and the fifth revolute joint R 23 The third revolute joint R is formed by connecting the parts. 21 Located on the static platform 0, the fifth rotary joint R 23 With the second revolute joint R 13 Connect via the output rod.
[0040] In one specific implementation, the fourth rotating joint R 22 With the fifth revolute joint R 23 The axes are parallel to each other, and the third revolute joint R 21 With the fourth revolute joint R 22 The axes are perpendicular to each other.
[0041] In one specific implementation, simple branch III consists of a second moving joint P connected in series. 31 The sixth revolute joint R 32 7th rotating joint R 33 Eighth rotating joint R 34 Ninth rotating joint R 35 and the tenth rotating joint R 15 Second moving sub-P 31 Located on the static platform 0, the tenth revolute joint R 15 Connect to the other end of the moving platform 1.
[0042] In one specific implementation, the second moving pair P 31 The sixth revolute joint R 32 7th rotating joint R 33 The axes are parallel to each other, and the eighth revolute joint R 34 Ninth rotating joint R 35 and the tenth rotating joint R 15 The axes are parallel to each other, and the seventh revolute joint R 33 With the eighth revolute joint R 34 The axes are perpendicular to each other, and the second revolute joint R 13 With the third revolute joint R 21 The axes are parallel to each other, and the second revolute joint R 13With the connecting revolute joint R 14 The axes are perpendicular to each other, and the second revolute joint R 13 With the third revolute joint R 21 The axes are perpendicular to each other, and the connecting revolute joint R 14 With the tenth revolute joint R 15 The axes are parallel to each other, and the connecting revolute joint R 14 With the seventh revolute joint R 33 The axes are perpendicular to each other, and the connecting revolute joint R 14 With the first moving sub-P 11 The axes are parallel to each other, and the connecting revolute joint R 14 With the third revolute joint R 21 The axes are parallel to each other.
[0043] An active tail wing drive mechanism for racing cars is disclosed, which is mounted on the moving platform 1 of the aforementioned motion-decoupled 1T2R parallel robot topology. Based on the vehicle's actual driving conditions, such as speed and steering, the angle of attack of the tail wing rotates around the x-axis, and the roll angle rotates around the y-axis. Simultaneously, its distance from the vehicle's center of gravity can be finely adjusted along the x-axis to achieve optimal aerodynamic performance for the racing car.
[0044] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A motion-decoupled 1T2R parallel robot, characterized in that, The topology includes a static platform (0), a moving platform (1), and a hybrid branch and a simple branch III connecting the static platform (0) and the moving platform (1); A hybrid branch is a spatial parallel mechanism formed by connecting simple branch I and simple branch II; A simple branch I is composed of sequentially connected end sliding joints and several revolute joints; Simple branch II is composed of several rotating joints connected in series; The revolute joints at the ends of simple branch I and simple branch II near the moving platform (1) are connected by an output rod, and a connecting revolute joint (R) is connected in series on the output rod. 14 ), connecting rotating joint (R) 14 One end of the simple branch I and the simple branch II, which are far from the moving platform (1), are connected to the moving platform (1). The end sliding joints and end rotating joints of the simple branch I and the simple branch II, which are far from the moving platform (1), are located on the stationary platform (0). Simple branch III is composed of end sliding joints and several revolute joints connected in series. The end revolute joints on simple branch III are connected to the other end of the moving platform (1), and the end sliding joints are located on the stationary platform (0). With the end sliding joint on the simple branch I as the driving joint, the moving platform (1) translates along the y-axis. When the two end sliding joints and the end revolute joint on the stationary platform (0) are used as driving joints at the same time, the moving platform (1) rotates around the x-axis or y-axis.
2. The motion-decoupled 1T2R parallel robot according to claim 1, characterized in that, Simple branch I consists of a first moving joint (P) connected in series. 11 ), first revolute joint (R) 12 ), second revolute joint (R) 13 The first moving pair (P) is connected together. 11 ) is located on the static platform (0).
3. The motion-decoupled 1T2R parallel robot according to claim 2, characterized in that, First moving pair (P) 11 ) and the first revolute joint (R 12 The axes of the two parts are parallel to each other, and the second revolute joint (R) 13 ) and the first moving pair (P 11 The axes of the two axes are perpendicular to each other.
4. The motion-decoupled 1T2R parallel robot according to claim 1, characterized in that, Simple branch II consists of a third revolute joint (R) connected in series. 21 ), fourth revolute joint (R) 22 ) and the fifth revolute joint (R 23 The third revolute joint (R) is formed by connecting the two parts. 21 Located on the static platform (0), the fifth rotary joint (R) 23 ) and the second revolute joint (R 13 It is connected via the output rod.
5. A motion-decoupled 1T2R parallel robot according to claim 4, characterized in that, Fourth revolute joint (R) 22 ) and the fifth revolute joint (R 23 The axes of the three revolute joints (R) are parallel to each other. 21 ) and the fourth revolute joint (R 22 The axes of the two axes are perpendicular to each other.
6. A motion-decoupled 1T2R parallel robot according to claim 1, characterized in that, Simple branch III consists of a second moving joint (P) connected in series. 31 ), sixth revolute joint (R) 32 ), the seventh revolute joint (R) 33 ), the eighth revolute joint (R) 34 ), Ninth Rotary Joint (R) 35 ) and the tenth revolute joint (R 15 ), second moving pair (P 31 Located on the static platform (0), the tenth revolute joint (R) 15 ) is connected to the other end of the moving platform (1).
7. A motion-decoupled 1T2R parallel robot according to claim 6, characterized in that, Second moving pair (P) 31 ), sixth revolute joint (R) 32 ), the seventh revolute joint (R) 33 The axes of the eighth revolute joint (R) are parallel to each other. 34 ), Ninth Rotary Joint (R) 35 ) and the tenth revolute joint (R 15 The axes of the seventh revolute joint (R) are parallel to each other. 33 ) and the eighth revolute joint (R 34 The axes of the two parts are perpendicular to each other, and the second revolute joint (R) 13 ) and the third revolute joint (R 21 The axes of the two parts are parallel to each other, and the second revolute joint (R) 13 ) and connecting rotating joint (R 14 The axes of the two parts are perpendicular to each other, and the second revolute joint (R) 13 ) and the third revolute joint (R 21 The axes of the two parts are perpendicular to each other, and they are connected by a revolute joint (R). 14 ) and the tenth revolute joint (R 15 The axes of the two parts are parallel to each other, and they are connected by a revolute joint (R). 14 ) and the seventh revolute joint (R 33 The axes of the two parts are perpendicular to each other, and they are connected by a revolute joint (R). 14 ) and the first moving pair (P 11 The axes of the two parts are parallel to each other, and they are connected by a revolute joint (R). 14 ) and the third revolute joint (R 21 The axes of the two axes are parallel to each other.
8. An active rear wing drive mechanism for racing cars, characterized in that, An active tail wing drive mechanism is installed on the motion platform (1) of the motion-decoupled 1T2R parallel robot topology as described in any one of claims 1-7.