CN114248255A - Five-degree-of-freedom parallel mechanism for adjusting pose of paving belt - Google Patents
Five-degree-of-freedom parallel mechanism for adjusting pose of paving belt Download PDFInfo
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- CN114248255A CN114248255A CN202111613044.8A CN202111613044A CN114248255A CN 114248255 A CN114248255 A CN 114248255A CN 202111613044 A CN202111613044 A CN 202111613044A CN 114248255 A CN114248255 A CN 114248255A
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- 239000002131 composite material Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011157 advanced composite material Substances 0.000 description 1
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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—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The application discloses a five-degree-of-freedom parallel mechanism for adjusting the pose of a tape laying belt, and relates to the technical field of aerospace. The high-flexibility composite material has high flexibility, can meet the tape laying requirement of a complex curved surface, and has high rigidity and high safety. The parallel mechanism comprises a double-layer fixed platform, a movable platform, a first branched chain, two second branched chains and two third branched chains, wherein the first branched chain, the two second branched chains and the two third branched chains are arranged between the double-layer fixed platform and the movable platform; the first branch chain is positioned in the center of the double-layer fixed platform, and the two second branch chains and the third branch chain are symmetrically arranged relative to the first branch chain; the double-layer fixed platform comprises an upper fixed platform and a lower fixed platform; the lower end of the first branched chain is in universal connection with the double-layer fixed platform, and the upper end of the first branched chain is hinged with the movable platform; two ends of the second branched chain are respectively hinged with the double-layer fixed platform and the movable platform; the third branched chain is a PUS branched chain, the first end of the third branched chain is hinged with the lower fixed platform, the second end of the third branched chain is hinged with the upper fixed platform, and the third end of the third branched chain is in universal connection with the movable platform. The application is used for improving the performance of an automatic belt laying machine tool.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to a five-degree-of-freedom parallel mechanism for adjusting the pose of a tape laying belt.
Background
The design and manufacturing level of a heat protection system of a reusable hypersonic aircraft is improved, and the design and manufacturing level is the most important for improving the development level of the aerospace aircraft industry in China. The main link of the airplane heat insulation is to lay a high-temperature-resistant composite material prepreg tape on the surface of an airplane. The domestic advanced composite material forming process still takes manual tape laying as a main part and takes automatic tape laying machine tool tape laying as an auxiliary part. The manual tape laying has the problems of low speed, low material utilization rate, more waste products and the like. The automatic tape laying machine tool is mainly used for large-size and large-curvature workpieces, the research on the complex curved surface workpieces is only limited to conical parts, hyperboloid workpieces and the like, and the research on the automatic tape laying machine tool for the variable-curvature complex workpieces is less. Meanwhile, because the weight of the tape laying head is large, the automatic tape laying machine which needs to carry the tape laying head has certain rigidity, so that an automatic tape laying pose adjusting mechanism for complex workpieces is urgently needed at present to solve the problems of the manual tape laying machine tool and the automatic tape laying machine tool.
Disclosure of Invention
The embodiment of the application provides a five-degree-of-freedom parallel mechanism for adjusting the position and posture of a belt paving machine, which has high flexibility, can meet the belt paving requirement of a complex curved surface, and has higher rigidity and higher safety.
In order to achieve the above object, an embodiment of the present application provides a five-degree-of-freedom parallel mechanism for adjusting a belt paving pose, including a double-layer fixed platform, a movable platform, and a first branched chain, two second branched chains, and two third branched chains arranged between the double-layer fixed platform and the movable platform; the first branch chain is positioned at the center of the double-layer fixed platform, the two second branch chains and the two third branch chains are symmetrically arranged relative to the first branch chain, and a connecting line between the two second branch chains and a connecting line between the two third branch chains are perpendicular to each other; the double-layer fixed platform comprises an upper fixed platform and a lower fixed platform which are connected with each other; the lower end of the first branched chain is in universal connection with the double-layer fixed platform, and the upper end of the first branched chain is hinged with the movable platform; two ends of the second branched chain are respectively hinged with the double-layer fixed platform and the movable platform; the third branched chain is a PUS branched chain, and the first end of the third branched chain is hinged with the lower fixed platform; the second end of the third branched chain is hinged with the upper fixed platform; and the third end of the third branched chain is in universal connection with the movable platform.
Further, the first branched chain is an RPS branched chain, and comprises a first fixed cylinder and a first telescopic rod; the first fixed cylinder is provided with a first supporting lug, and the lower fixed platform is provided with a first hinge seat hinged with the first supporting lug; the first ball head is arranged on the first telescopic rod, and the first ball seat matched with the first ball head is arranged on the movable platform.
Further, the second branched chain is an SPS branched chain, and the second branched chain comprises a second fixed cylinder and a second telescopic rod; a second ball head is arranged on the second fixing cylinder, and a second ball seat matched with the second ball head is arranged on the lower fixing platform; and a third ball head is arranged on the second telescopic rod, and a third ball seat matched with the third ball head is arranged on the lower fixing platform.
Further, the third branched chain comprises a branched chain connecting rod, a branched chain lead screw and a branched chain lead screw sliding block; a fourth ball head is arranged at the upper end of the branched chain connecting rod, and a fourth ball seat matched with the fourth ball head is arranged on the movable platform; the lower end of the branched chain connecting rod is hinged with the branched chain lead screw sliding block; the upper end of the branched chain lead screw is hinged with the upper fixed platform, and the lower end of the branched chain lead screw is connected with the lower fixed platform through a Hooke hinge; the branched chain lead screw sliding block is connected with the branched chain lead screw in a sliding manner.
Furthermore, the lower fixed platform and the movable platform are both square plates, and the two second branched chains and the two third branched chains are respectively arranged at the vertexes corresponding to the square plates.
Furthermore, the upper fixing platform is a circular plate with a through hole in the center; the upper end of the first branched chain penetrates through the through hole and then is connected with the movable platform; the branched chain lead screw is arranged close to the edge of the circular plate.
Furthermore, the side length of the lower fixed platform is larger than the side length of the movable platform and the diameter of the upper fixed platform.
Furthermore, the through hole on the upper fixing platform is square.
Furthermore, the upper fixing platform and the lower fixing platform are connected through two support rods, and the two support rods are symmetrically arranged relative to the axis of the upper fixing platform.
Compared with the prior art, the application has the following beneficial effects:
1. the pose adjusting parallel mechanism adopts a 2UPS +2SPS + RPS parallel mechanism, can realize x, y and z three-dimensional rotation and x and z two-dimensional movement, has higher flexibility, and can meet the tape laying requirement of a complex curved surface.
2. The pose adjusting parallel mechanism adopts the parallel closed-chain control mechanism, and is higher in precision compared with a serial open-chain mechanism.
3. The pose adjusting parallel mechanism is provided with the middle constraint branched chain, and the rigidity of the parallel mechanism is improved.
4. The branched chains in the pose adjusting parallel mechanism are symmetrically distributed, so that the working space is symmetrical, and the calculation and the control are simpler.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a five-degree-of-freedom parallel mechanism for adjusting the pose of a tape laying belt according to an embodiment of the present disclosure;
FIG. 2 is a schematic perspective view of a double-layer fixed platform in a five-degree-of-freedom parallel mechanism for adjusting the pose of a tape laying belt according to the embodiment of the present application;
FIG. 3 is a schematic perspective view of a movable platform in a five-degree-of-freedom parallel mechanism for adjusting the pose of a belt paving belt according to the embodiment of the present application;
FIG. 4 is a schematic perspective view of a first branched chain in a five-degree-of-freedom parallel mechanism for adjusting a belt laying pose according to the embodiment of the present application;
FIG. 5 is a schematic perspective view of a second branched chain in a five-degree-of-freedom parallel mechanism for adjusting the pose of a tape laying belt according to the embodiment of the present application;
fig. 6 is a schematic perspective view of a third branched chain in the five-degree-of-freedom parallel mechanism for adjusting the belt laying pose in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to 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 those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the specific meaning of the above terms in the present application can be understood as appropriate by one of ordinary skill in the art.
The terms "first", "second" and "first" 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 defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
Referring to fig. 1, an embodiment of the present application provides a five-degree-of-freedom parallel mechanism for adjusting a belt laying pose, including a double-layer fixed platform 1, a movable platform 2, and a first branched chain 3, two second branched chains 4, and two third branched chains 5 arranged between the double-layer fixed platform 1 and the movable platform 2. The first branched chain 3 is located at the center of the double-layer fixed platform 1, the two second branched chains 4 and the two third branched chains 5 are symmetrically arranged relative to the first branched chain 3, and a connecting line between the two second branched chains 4 is perpendicular to a connecting line between the two third branched chains 5. The lower end of the first branch chain 3 is in universal connection with the double-layer fixed platform, and the upper end of the first branch chain 3 is hinged with the movable platform 2; two ends of the second branched chain 4 are respectively hinged with the double-layer fixed platform and the movable platform 2; the third branched chain 5 is a PUS branched chain, and the first end of the third branched chain 5 is hinged with the lower fixed platform 12; the second end of the third branched chain 5 is hinged with the upper fixed platform 11; the first end of the third branched chain 5 is connected with the movable platform 2 in a universal way.
Referring to fig. 2, the double-layered fixed platform 1 includes an upper fixed platform 11 and a lower fixed platform 12. The lower fixing platform 12 is a square plate, and the upper fixing platform 11 is a circular plate with a through hole 111 at the center. Specifically, the through hole 111 may be square. The upper fixing platform 11 and the lower fixing platform 12 are arranged in parallel and are fixedly connected through two support rods 13. The two support rods 13 are arranged symmetrically with respect to the axis of the upper fixed platform 11.
Referring to fig. 3, the movable platform 2 is a square plate, the side length of the movable platform 2 and the diameter of the upper fixed platform 11 are both smaller than the side length of the lower fixed platform 12, and the side length of the movable platform 2 is larger than the diameter of the upper fixed platform 11.
Referring to fig. 4, the first branch chain 3 is an RPS branch chain, and includes a first fixed cylinder 31 and a first telescopic rod 32. The first fixed cylinder 31 is provided with a first lug 33. Referring to fig. 2, a first hinge seat 121 hinged to the first lug 33 is provided at the center of the lower fixed platform 12. The center lines of the hinge holes of the first lugs 33 and the first hinge seats 121 are parallel to the Y-axis. Referring to fig. 4, the first telescopic rod 32 is provided with a first ball head 34. Referring to fig. 3, the movable platform 2 is provided with a first ball seat 21 at the center thereof, which is adapted to a first ball head 34. Referring to fig. 1, the upper end of the first branch chain 3 passes through the through hole 111 and then is connected to the movable platform 2. The first fixed cylinder 31 and the first telescopic rod 32 form a first branch chain moving pair as a driving joint.
Referring to fig. 5, both the two second branches 4 are SPS branches, and each of the SPS branches includes a second fixed cylinder 41 and a second telescopic rod 42. The second fixed cylinder 41 is provided with a second ball head 43. Referring to fig. 2, the lower fixing platform 12 is provided with a second ball seat 122 adapted to the second ball head 43. Referring to fig. 5, the second telescopic rod 42 is provided with a third ball head 44. Referring to fig. 3, the movable platform 2 is provided with a third ball seat 22 adapted to the third ball head 44. Referring to fig. 1 to 3, two second ball seats 122 are disposed at two opposite vertices of the lower fixed platform 12, two third ball seats 22 are disposed at two opposite vertices of the movable platform 2, the two vertices of the lower fixed platform 12 are both parallel to the Y coordinate, and the positions of the two third ball seats 22 correspond to the positions of the two second ball seats 122 one to one. The second fixed cylinder 41 and the second telescopic rod 42 form a second branched chain moving pair as a driving joint.
Referring to fig. 6, each of the two third branches 5 includes a branch link 51, a branch lead screw 52, and a branch lead screw slider 53. The upper end of the branched link 51 is provided with a fourth ball 54. Referring to fig. 3, the movable platform 2 is provided with a fourth ball seat 23 adapted to the fourth ball head 54. The lower end of the branched chain connecting rod 51 is connected with the branched chain lead screw sliding block 53 through a Hooke hinge 56, one axis of the Hooke hinge 56 is parallel to the X axis, and the other axis of the Hooke hinge 56 is vertical to the sliding direction of the branched chain lead screw sliding block 53.
Referring to fig. 6, both ends of the branched lead screw 52 are provided with connecting lug plates 55. Referring to fig. 2, the upper fixed platform 11 is provided with a fourth hinge base 112 hinged to the connecting ear plate 55 at the lower end of the branched lead screw 52. The lower fixed platform 12 is provided with a fifth hinge seat 123 hinged with the connecting ear plate 55 at the lower end of the branched lead screw 52. Because the height of the double-layer fixed platform 1 is fixed, the branched-chain screw 52 is fixedly connected with the double-layer fixed platform 1. The center lines of the hinge holes connecting the ear plate 55, the fourth hinge seat 112 and the fifth hinge seat 123 are all parallel to the Y-axis.
And the branched chain screw slide block 53 is connected with the branched chain screw 52 in a sliding manner to form a third branched chain moving pair for driving. Two fourth articulated seats 112 are disposed near the edge of the circular plate, two fourth ball seats 23 are disposed at the other two vertices of the movable platform 2, and the two fourth articulated seats 112 correspond to the two fourth ball seats 23 one by one.
The above is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A five-freedom parallel mechanism for adjusting the pose of a belt paving, which is characterized in that,
the device comprises a double-layer fixed platform, a movable platform, a first branched chain, two second branched chains and two third branched chains, wherein the first branched chain, the two second branched chains and the two third branched chains are arranged between the double-layer fixed platform and the movable platform; the first branch chain is positioned at the center of the double-layer fixed platform, the two second branch chains and the two third branch chains are symmetrically arranged relative to the first branch chain, and a connecting line between the two second branch chains and a connecting line between the two third branch chains are perpendicular to each other;
the double-layer fixed platform comprises an upper fixed platform and a lower fixed platform which are connected with each other;
the lower end of the first branched chain is in universal connection with the double-layer fixed platform, and the upper end of the first branched chain is hinged with the movable platform;
two ends of the second branched chain are respectively hinged with the double-layer fixed platform and the movable platform;
the third branched chain is a PUS branched chain, and the first end of the third branched chain is hinged with the lower fixed platform; the second end of the third branched chain is hinged with the upper fixed platform; and the third end of the third branched chain is in universal connection with the movable platform.
2. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 1, wherein the first branch chain is an RPS branch chain, and the first branch chain comprises a first fixed cylinder and a first telescopic rod; the first fixed cylinder is provided with a first supporting lug, and the lower fixed platform is provided with a first hinge seat hinged with the first supporting lug; the first ball head is arranged on the first telescopic rod, and the first ball seat matched with the first ball head is arranged on the movable platform.
3. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 1, wherein the second branched chain is an SPS branched chain, and the second branched chain comprises a second fixed cylinder and a second telescopic rod; a second ball head is arranged on the second fixing cylinder, and a second ball seat matched with the second ball head is arranged on the lower fixing platform; and a third ball head is arranged on the second telescopic rod, and a third ball seat matched with the third ball head is arranged on the lower fixing platform.
4. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 1, wherein the third branched chain comprises a branched chain connecting rod, a branched chain lead screw and a branched chain lead screw slider; a fourth ball head is arranged at the upper end of the branched chain connecting rod, and a fourth ball seat matched with the fourth ball head is arranged on the movable platform; the lower end of the branched chain connecting rod is hinged with the branched chain lead screw sliding block; the upper end of the branched chain lead screw is hinged with the upper fixed platform, and the lower end of the branched chain lead screw is connected with the lower fixed platform through a Hooke hinge; the branched chain lead screw sliding block is connected with the branched chain lead screw in a sliding manner.
5. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 1, wherein the lower fixed platform and the movable platform are both square plates, and the two second branched chains and the two third branched chains are respectively provided at vertexes corresponding to the square plates.
6. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 5, wherein the upper fixing platform is a circular plate with a through hole in the center; the upper end of the first branched chain penetrates through the through hole and then is connected with the movable platform; the branched chain lead screw is arranged close to the edge of the circular plate.
7. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 1, wherein the side length of the lower fixed platform is larger than the side length of the movable platform and the diameter of the upper fixed platform.
8. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 1, wherein the through hole on the upper fixing platform is square.
9. The five-degree-of-freedom parallel mechanism for belt laying pose adjustment according to claim 1, wherein the upper fixing platform and the lower fixing platform are connected by two support rods, and the two support rods are symmetrically arranged with respect to an axis of the upper fixing platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111613044.8A CN114248255B (en) | 2021-12-27 | 2021-12-27 | Five-degree-of-freedom parallel mechanism for adjusting belt laying pose |
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| CN202111613044.8A CN114248255B (en) | 2021-12-27 | 2021-12-27 | Five-degree-of-freedom parallel mechanism for adjusting belt laying pose |
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| CN114248255A true CN114248255A (en) | 2022-03-29 |
| CN114248255B CN114248255B (en) | 2023-11-17 |
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