CN119589635B - A decoupled pure rotational parallel mechanism with redundant branches - Google Patents
A decoupled pure rotational parallel mechanism with redundant branchesInfo
- Publication number
- CN119589635B CN119589635B CN202411705457.2A CN202411705457A CN119589635B CN 119589635 B CN119589635 B CN 119589635B CN 202411705457 A CN202411705457 A CN 202411705457A CN 119589635 B CN119589635 B CN 119589635B
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- redundant
- branch
- branches
- platform
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/003—Program-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
本申请公开了一种具有冗余支链的解耦纯转动并联机构，涉及航空航天技术领域。可实现绕x轴、y轴和z轴的解耦纯转动，从而提高铺放效率和制造质量。该并联机构包括动平台、静平台以及连接在动平台与静平台之间的支链系统；支链系统包括沿圆周方向等距布置的冗余支链和三条驱动支链；冗余支链和三条驱动支链的上端均与动平台铰接，下端在静平台上作圆周运动；驱动支链能够带动冗余支链运动并实现动平台的姿态调整；冗余支链能够增加并联机构的承载力和稳定性。本申请用于提升复合材料自动铺放并联机构的性能。
This application discloses a decoupled pure rotational parallel mechanism with redundant branches, relating to the field of aerospace technology. It enables decoupled pure rotation around the x, y, and z axes, thereby improving layup efficiency and manufacturing quality. The parallel mechanism includes a moving platform, a stationary platform, and a branch system connecting the moving and stationary platforms. The branch system includes redundant branches arranged equidistantly along the circumferential direction and three driving branches. The upper ends of the redundant branches and the three driving branches are hinged to the moving platform, and the lower ends perform circular motion on the stationary platform. The driving branches can drive the redundant branches and achieve attitude adjustment of the moving platform. The redundant branches can increase the load-bearing capacity and stability of the parallel mechanism. This application aims to improve the performance of parallel mechanisms for automated composite material layup.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to a decoupling pure rotation parallel mechanism with redundant branched chains.
Background
In the field of aerospace manufacturing, the composite material automatic laying parallel mechanism is used as a device capable of carrying rollers, and in the rolling process in the composite material laying process, heavy manual labor can be replaced, the automatic laying efficiency and quality can be improved, and the advantages are more obvious especially in the manufacturing of large aerospace components. However, there is less research on parallel mechanisms suitable for the situations with posture adjustment requirements, and therefore, development of a decoupled pure rotation parallel mechanism with redundant branches is needed.
Disclosure of Invention
The embodiment of the application provides a decoupling pure rotation parallel mechanism with redundant branched chains, which can realize decoupling pure rotation around an x axis, a y axis and a z axis, thereby improving the laying efficiency and the manufacturing quality.
In order to achieve the above purpose, the embodiment of the application provides a decoupling pure rotation parallel mechanism with redundant branched chains, which comprises a movable platform, a static platform and a branched chain system connected between the movable platform and the static platform, wherein the branched chain system comprises the redundant branched chains and three driving branched chains which are equidistantly arranged along the circumferential direction, the upper ends of the redundant branched chains and the three driving branched chains are hinged with the movable platform, the lower ends of the redundant branched chains and the three driving branched chains do circular motion on the static platform, the driving branched chains can drive the redundant branched chains to move and realize posture adjustment of the movable platform, and the redundant branched chains can increase the bearing capacity and the stability of the parallel mechanism.
The static platform comprises a base, a fluted disc and a guide track, wherein the fluted disc and the guide track are fixedly connected to the base, the fluted disc comprises three arc-shaped tooth-shaped sections, the included angle between the arc-shaped tooth-shaped section positioned in the middle and the adjacent two arc-shaped tooth-shaped sections is 90 degrees, and the guide track is annular and is positioned above the fluted disc.
The driving branched chain comprises a driving branched chain connecting rod, a driving branched chain sliding block mounting table, a driving branched chain sliding block, a motor, a gear and a driving branched chain supporting component, wherein the driving branched chain sliding block is fixedly connected to the bottom of the driving branched chain sliding block mounting table, the upper end of the driving branched chain connecting rod is hinged to the moving platform through a first moving platform rotating shaft, the lower end of the driving branched chain connecting rod is hinged to the driving branched chain sliding block through a driving branched chain rotating shaft, the driving branched chain sliding block is in sliding connection with a guide rail, the motor is connected to the side of the driving branched chain sliding block mounting table through a motor mounting frame, the gear is connected to an output shaft of the motor, the gear is meshed with a fluted disc, and the driving branched chain supporting component is connected to the lower end of the gear.
Further, the driving branched chain supporting component comprises a first bull's eye wheel and a first bull's eye wheel rotating flange, wherein the first bull's eye wheel is connected with the gear through the first bull's eye wheel rotating flange, and the first bull's eye wheel is in contact with the base.
Further, the gear is connected with the motor through a gear mounting flange.
The redundant branched chain comprises a redundant branched chain connecting rod, a redundant branched chain sliding block mounting table, a redundant branched chain sliding block and a redundant branched chain supporting component, wherein the redundant branched chain sliding block is fixedly connected to the bottom of the redundant branched chain sliding block mounting table, the upper end of the redundant branched chain connecting rod is hinged with the movable platform through a second movable platform rotating shaft, the lower end of the redundant branched chain connecting rod is hinged with the redundant branched chain sliding block through a redundant branched chain rotating shaft, the redundant branched chain sliding block is in sliding connection with the guide rail, and the driving branched chain supporting component is connected to the side of the redundant branched chain sliding block mounting table through a supporting component mounting frame.
Further, the redundant branched chain support assembly comprises a second bullnose wheel, a second bullnose wheel conversion flange and an adapter flange, wherein the second bullnose wheel and the adapter flange are respectively connected to two ends of the second bullnose wheel conversion flange, the adapter flange is connected with the support assembly mounting frame, and the second bullnose wheel is in contact with the base.
Further, the structure of the redundant branched chain connecting rod is the same as that of the driving branched chain connecting rod, the structure of the redundant branched chain sliding block installing table is the same as that of the driving branched chain sliding block installing table, the structure of the redundant branched chain sliding block is the same as that of the driving branched chain sliding block, the structure of the supporting component installing frame is the same as that of the motor installing frame, the structure of the second movable platform rotating shaft is the same as that of the first movable platform rotating shaft, and the structure of the redundant branched chain rotating shaft is the same as that of the driving branched chain rotating shaft.
The movable platform further comprises a square frame and a connecting plate arranged at the bottom of the square frame, wherein the redundant branched chains and the three driving branched 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 a tool.
Further, the static platform is fixedly connected to the tail end of the industrial robot to form a serial-parallel mechanism or fixedly connected to a fixed object.
Compared with the prior art, the application has the following beneficial effects:
1. The decoupling pure rotation parallel mechanism with the redundant branched chains is added with one driven redundant branched chain on the basis of the existing three-branched-chain pure rotation parallel mechanism, and four branched chains are distributed at equal intervals, so that decoupling pure rotation capacity around an x axis, a y axis and a z axis is realized, and the decoupling pure rotation parallel mechanism can be suitable for scenes with gesture adjustment requirements.
2. The decoupling pure rotation parallel mechanism with the redundant branched chains has the characteristics of high motion control precision, high rigidity and compact structure, can be widely applied to various installation environments, and can be independently used or installed on the existing equipment to improve the motion capability.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a decoupling pure rotation parallel mechanism with redundant branches according to an embodiment of the present application;
FIG. 2 is a schematic perspective view of another view of a decoupled pure rotational parallel mechanism with redundant branches according to an embodiment of the present application;
FIG. 3 is a schematic perspective view of another view of a decoupled pure rotational parallel mechanism with redundant branches according to an embodiment of the present application;
fig. 4 is a schematic perspective view of a driving branch in a decoupling pure rotation parallel mechanism with a redundant branch according to an embodiment of the present application;
FIG. 5 is a schematic diagram of an exploded structure of a driving branch in a decoupled pure rotation parallel mechanism with redundant branches according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a perspective structure of a redundant branch in a decoupling pure rotation parallel mechanism with a redundant branch according to an embodiment of the present application;
fig. 7 is a schematic diagram of an exploded structure of a redundant branch in a decoupling pure rotation parallel mechanism with a redundant branch according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, it should be noted that the terms "mounted," "connected," "coupled," and "connected," are to be construed broadly, as well as, for example, fixedly connected, detachably connected, or integrally connected, unless otherwise specifically defined and defined, and that the specific meaning of the terms in the present application is understood as appropriate to a person of ordinary skill in the art.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Referring to fig. 1 to 7, an embodiment of the present application provides a decoupled pure rotation parallel mechanism with redundant branches, which includes a movable platform 1, a stationary platform 2, and a branch system connected between the movable platform 1 and the stationary platform 2. The branched chain system comprises three driving branches 3 and one redundant branch 4 arranged equidistantly in the circumferential direction. The upper ends of the redundant branched chains 4 and the three driving branched chains 3 are hinged with the movable platform 1, and the lower ends of the redundant branched chains and the three driving branched chains do circular motion on the static platform 2.
In the embodiment of the application, three driving branched chains 3 respectively drive gears and fluted discs to mesh through motors arranged on the driving branched chains to realize movement, the matched movement of the branched chains realizes the posture adjustment of the movable platform 1, and the function of the non-driving redundant branched chains 4 is to increase the integral bearing capacity of the mechanism, and can obtain a unique position solution according to inverse kinematics, thereby realizing the driven. Different tools with gesture adjustment requirements can be installed at the movable platform 1 to realize different functions, the application fills the technical gap in the special manufacturing field, and can realize the improvement of production efficiency and manufacturing quality and the reduction of labor cost.
Referring to fig. 1 to 3, the stationary platform 2 includes a base 21 and a toothed disc 22 and a guide rail 23 fixedly attached to the base 21. The fluted disc 22 comprises three arc-shaped tooth-shaped sections, and the included angles between the arc-shaped tooth-shaped section positioned in the middle and two adjacent arc-shaped tooth-shaped sections are 90 degrees. The guide rail 23 is annular and is located above the toothed disc 22. The base 21 can be fixedly connected to a fixed object for use according to application requirements, or can be fixedly connected to the tail end of an industrial robot to form a serial-parallel mechanism.
Referring to fig. 4 and 5, the driving branch 3 includes a driving branch link 31, a driving branch slider mount 32, a driving branch slider 33, a motor 34, a gear 35, and a driving branch support assembly. The driving branched slider 33 is fixedly connected to the bottom of the driving branched slider mounting table 32. The upper end of the driving branched chain connecting rod 31 is hinged with the movable platform 1 through a first movable platform rotating shaft 36 to form a revolute pair, and the lower end of the driving branched chain connecting rod is hinged with the driving branched chain sliding block 33 through a driving branched chain rotating shaft 37 to form a revolute pair. The driving branched slider 33 is slidably connected to the guide rail 23. The motor 34 is connected to the side of the drive branched slider mount 32 by a motor mount 38. The gear 35 is connected to the output shaft of the motor 34 by a gear mounting flange 39. The gear 35 is engaged with the toothed disc 22, and a driving branched support assembly is connected to the lower end of the gear 35.
The drive branch support assembly includes a first bullseye wheel 310 and a first bullseye wheel rotating flange 311. The first bullseye 310 is coupled to the gear 35 via a first bullseye transfer flange 311, and the first bullseye 310 is in contact with the base 21 and moves thereon for support during movement.
The bottom surface of the movable platform 1 and the bottom surface of the base 21 are parallel and are in an initial position state, in this state, the intervals between every two positions of the three driving branched chains 3 are 90 degrees, the driving branched chain sliding blocks 33 do circular motion on the guide rail 23, and the three driving branched chain sliding blocks and the first movable platform rotating shaft 36 and the driving branched chain rotating shaft 37 which are arranged by the driving branched chain sliding blocks are combined together to form three rotating pairs from bottom to top in a single branched chain. Wherein, the motor 34 realizes the movement of the sliding block along the guide track 23 by driving the rotating pair at the lowest end of the branched chain 3.
Referring to fig. 6 and 7, the redundant branch 4 includes a redundant branch link 41, a redundant branch slider mount 42, a redundant branch slider 43, and a redundant branch support assembly. The redundant branched slider 43 is fixedly attached to the bottom of the redundant branched slider mount 42. The upper end of the redundant branched chain connecting rod 41 is hinged with the movable platform 1 through a second movable platform rotating shaft 44, and the lower end is hinged with the redundant branched chain sliding block 43 through a redundant branched chain rotating shaft 45. The redundant branched slide 43 is slidably connected to the guide rail 23. The drive branch support assembly is connected to the side of the redundant branch slide mount 42 by a support assembly mount 46.
The redundant branch 4 support assembly includes a second bullseye wheel 47, a second bullseye wheel transfer flange 48, and an adapter flange 49. The second bullseye wheel 47 and the adapter flange 49 are connected to both ends of the second bullseye wheel rotation flange 48, respectively. The adapter flange 49 is connected to the support assembly mount 46 and the second bullseye wheel 47 is in contact with the base 21.
The redundant branch 4 has the same structure as part of the components of the driving branch 3, and specifically, the redundant branch link 41 has the same structure as the driving branch link 31. The redundant branched slider mount 42 is identical in structure to the drive branched slider mount 32. The redundant branch sliders 43 are identical in structure to the driving branch sliders 33. The support assembly mount 46 is identical in construction to the motor mount 38. The second movable platform hinge 44 is identical in structure to the first movable platform hinge 36. The redundant branch rotary shaft 45 has the same structure as the driving branch rotary shaft 37. The second bullseye wheel 47 is identical in construction to the first bullseye wheel 310. The second bullseye wheel transfer flange 48 is identical in construction to the first bullseye wheel transfer flange 311.
In the initial position, the redundant branch 4 and the three drive branches 3 are spaced apart from one another by 90 °, which are moved in a circular manner by the slide on the guide rail 23, but which are not equipped with a drive. In the motion process of the three driving branched chains 3, the three driving branched chains can obtain unique positions according to the inverse kinematics principle, so that driven motion is realized.
Referring to fig. 1 to 3, the movable platform 1 includes a square frame 11 and a connection plate 12 provided at the bottom of the square frame 11. The redundant branched chains 4 and the three driving branched chains 3 are respectively connected to the corresponding side walls of the square frame 11, the connecting plates 12 are provided with mounting holes 13, and the mounting holes 13 can be provided with different tools with gesture adjustment requirements so as to realize different functions.
The embodiment of the application has compact structure, high rigidity and high movement flexibility, is suitable for tasks requiring tool posture adjustment such as a rolling process in the composite material laying process, can replace heavy manual labor, can improve the working efficiency and quality, and has more obvious advantages especially in the manufacture of large aerospace components.
The present application is not limited to the above embodiments, and any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202411705457.2A CN119589635B (en) | 2024-11-26 | 2024-11-26 | A decoupled pure rotational parallel mechanism with redundant branches |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411705457.2A CN119589635B (en) | 2024-11-26 | 2024-11-26 | A decoupled pure rotational parallel mechanism with redundant branches |
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| CN119589635A CN119589635A (en) | 2025-03-11 |
| CN119589635B true CN119589635B (en) | 2026-03-03 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN107414793A (en) * | 2017-08-01 | 2017-12-01 | 韩方元 | The construction method and its series-parallel connection walking robot of a kind of series-parallel connection walking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1730235A (en) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | Six degrees of freedom redundant parallel mechanism |
| CN104269097B (en) * | 2014-08-13 | 2017-08-11 | 天津工程机械研究院 | A kind of redundant drive six-freedom motion simulation table |
| CN207747038U (en) * | 2017-10-23 | 2018-08-21 | 北京交通大学 | A kind of plane grasping mechanism |
| IT202200023544A1 (en) * | 2022-11-15 | 2024-05-15 | Vi Grade Gmbh | APPARATUS AND RELATED PROCEDURE FOR SIMULATING THE DRIVING OF A LAND VEHICLE |
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- 2024-11-26 CN CN202411705457.2A patent/CN119589635B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN107414793A (en) * | 2017-08-01 | 2017-12-01 | 韩方元 | The construction method and its series-parallel connection walking robot of a kind of series-parallel connection walking robot |
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| CN119589635A (en) | 2025-03-11 |
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