阅读说明：本技术 一种可折叠的并联机构及其应用 (Foldable parallel mechanism and application thereof ) 是由 赫利涛 房海蓉 霍凯 陈宇飞 于 2021-08-03 设计创作，主要内容包括：本申请属于航空航天技术领域,特别是涉及一种可折叠的并联机构及其应用。现有的加工装备不仅周期长、生产效率低,而且精度差,不能保证加工的技术要求。本申请提供了一种可折叠的并联机构,包括基座,基座与剪叉式伸展支链一端连接,剪叉式伸展支链另一端与动平台连接,剪叉式伸展支链与驱动电机组件连接；剪叉式伸展支链包括支链驱动组件,支链驱动组件与主连接杆一端连接,主连接杆与主支撑杆一端连接,主支撑杆另一端与所述基座连接,支链驱动组件与基座连接,主连接杆另一端与剪叉分支结构一端连接,剪叉分支结构一端与主支撑杆连接,剪叉分支结构另一端与所述动平台连接。可以满足不同的伸展刚度需求。(The application belongs to the technical field of aerospace, and particularly relates to a foldable parallel mechanism and application thereof. The existing processing equipment has the advantages of long period, low production efficiency and poor precision, and cannot meet the technical requirements of processing. The application provides a foldable parallel mechanism which comprises a base, wherein the base is connected with one end of a scissor type extending branch chain, the other end of the scissor type extending branch chain is connected with a movable platform, and the scissor type extending branch chain is connected with a driving motor assembly; the scissor type extension branch chain comprises a branch chain driving assembly, the branch chain driving assembly is connected with one end of a main connecting rod, the main connecting rod is connected with one end of a main supporting rod, the other end of the main supporting rod is connected with the base, the branch chain driving assembly is connected with the base, the other end of the main connecting rod is connected with one end of a scissor branch structure, one end of the scissor branch structure is connected with the main supporting rod, and the other end of the scissor branch structure is connected with the movable platform. Different stretching rigidity requirements can be met.)

1. A foldable parallel mechanism, comprising: the device comprises a base, wherein the base is connected with one end of a scissor type extension branched chain, the other end of the scissor type extension branched chain is connected with a movable platform, and the scissor type extension branched chain is connected with a driving motor assembly;

the scissor type extension branch chain comprises a branch chain driving assembly, the branch chain driving assembly is connected with one end of a main connecting rod, the main connecting rod is connected with one end of a main supporting rod, the other end of the main supporting rod is connected with the base, the branch chain driving assembly is connected with the base, the other end of the main connecting rod is connected with one end of a scissor branch structure, one end of the scissor branch structure is connected with the main supporting rod, and the other end of the scissor branch structure is connected with the movable platform.

2. The collapsible, parallel mechanism of claim 1, wherein: one end of the main connecting rod is connected with the branched chain driving assembly through a first pin shaft, and the main connecting rod is connected with the main supporting rod through a second pin shaft.

3. The collapsible, parallel mechanism of claim 1, wherein: the branched chain driving assembly comprises a ball screw base, a ball screw is arranged on the ball screw base, a screw sliding block is arranged on the ball screw, the ball screw penetrates through the ball screw sliding block, a small bevel gear is arranged at one end of the ball screw, and the small bevel gear is matched with the driving motor assembly.

4. The collapsible, parallel mechanism of claim 3, wherein: the ball screw base is provided with a first rolling bearing and a second rolling bearing, one end of the ball screw is movably connected with one end of the ball screw base through the first rolling bearing, and the other end of the ball screw is movably connected with the other end of the ball screw base through the second rolling bearing; and one end of the main connecting rod is connected with the ball screw sliding block.

5. The collapsible, parallel mechanism of claim 3, wherein: the scissors branch structure comprises a first middle connecting rod, a second middle connecting rod, a third middle connecting rod and a tail end connecting rod, one end of the first middle connecting rod is connected with the main connecting rod, the other end of the first middle connecting rod is connected with the tail end connecting rod, one end of the second middle connecting rod is connected with the tail end connecting rod, the other end of the second middle connecting rod is connected with one end of the third middle connecting rod, and the other end of the third middle connecting rod is connected with the main supporting rod.

6. The collapsible, parallel mechanism of claim 3, wherein: the driving motor assembly comprises a driving motor, the first coupler, the second coupler and the central large bevel gear are sequentially and coaxially connected, the driving motor is arranged on the base, and the central large bevel gear is matched with the small bevel gear.

7. The collapsible paralleling mechanism of any of claims 1-6, further comprising: the number of the scissor type extension branched chains is 5, the number of the branched chain driving assemblies is 5, the number of the scissor type extension branched chains is 5, the 5 branched chain driving assemblies are symmetrical pentagons, and the 5 branched chain driving assemblies are in axial symmetry regular pentagon uniform distribution.

8. The collapsible, parallel mechanism of claim 7, wherein: the foldable parallel mechanism is in a symmetrical pentagon shape, and the driving motor assembly and the branched chain driving assembly are in meshing transmission through gears.

9. The collapsible, parallel mechanism of claim 7, wherein: the main support rod continuously changes the structure inclination angle along with the main connecting rod, and provides a support effect.

10. The application of a foldable parallel mechanism is characterized in that: the use of the foldable parallel mechanism of any one of claims 1 to 9 for a wide range of cantilever extension and folding and to provide an extension base for other structures.

Technical Field

The application belongs to the technical field of aerospace, and particularly relates to a foldable parallel mechanism and application thereof.

Background

In the field of aerospace, the storage tank has a very large structural size, and the whole storage tank is horizontally arranged, so that the processing equipment is required to have an oversized stretching space. When large-scale storage box work piece level was placed, work piece spherical cap face size super large, and the direction of processing is along work piece axis direction, so need the processing equipment to have big extension distance along work piece axis direction, can satisfy the rigidity requirement simultaneously, avoid extending the overlength and lead to the structure to take place to warp. The traditional five-axis linkage numerical control machine tool can process parts with complex curved surfaces, but cannot reach the processing range due to the huge size of the workpiece in the storage box. The industrial mechanical arm and the traditional five-axis linkage numerical control machine tool both belong to a series mechanism, have the advantage of good flexibility, but are difficult to achieve the ideal effects of high rigidity and large extension. The virtual shaft parallel mechanism has the characteristics of high structural rigidity, high response speed, strong multifunction flexibility and the like, but the working space is limited, and the processing requirement cannot be met.

The existing processing equipment cannot finish the processing of the spherical crown surface of the large-scale storage tank, the processing of the spherical crown surface of the large-scale storage tank is mainly carried out in a manual trimming mode at present, the period is long, the production efficiency is low, the precision is poor, and the technical requirements of the processing cannot be met.

Disclosure of Invention

1. Technical problem to be solved

Based on the problems that the existing processing equipment cannot complete the processing of the spherical crown surface of the large storage tank due to the fact that working space is limited and high rigidity and large extension are difficult to achieve, the processing of the spherical crown surface of the large storage tank is mainly carried out in a manual trimming mode at present, the period is long, the production efficiency is low, the precision is poor, and the technical requirements of processing cannot be met, the folding parallel mechanism and the application thereof are provided.

2. Technical scheme

In order to achieve the above purpose, the present application provides a foldable parallel mechanism, which includes a base, the base is connected to one end of a scissor type extending branch, the other end of the scissor type extending branch is connected to a movable platform, and the scissor type extending branch is connected to a driving motor assembly; the scissor type extension branch chain comprises a branch chain driving assembly, the branch chain driving assembly is connected with one end of a main connecting rod, the main connecting rod is connected with one end of a main supporting rod, the other end of the main supporting rod is connected with the base, the branch chain driving assembly is connected with the base, the other end of the main connecting rod is connected with one end of a scissor branch structure, one end of the scissor branch structure is connected with the main supporting rod, and the other end of the scissor branch structure is connected with the movable platform.

Another embodiment provided by the present application is: one end of the main connecting rod is connected with the branched chain driving assembly through a first pin shaft, and the main connecting rod is connected with the main supporting rod through a second pin shaft.

Another embodiment provided by the present application is: the branched chain driving assembly comprises a ball screw base, a ball screw is arranged on the ball screw base, a screw sliding block is arranged on the ball screw, the ball screw penetrates through the ball screw sliding block, a small bevel gear is arranged at one end of the ball screw, and the small bevel gear is matched with the driving motor assembly.

Another embodiment provided by the present application is: the ball screw base is provided with a first rolling bearing and a second rolling bearing, one end of the ball screw is movably connected with one end of the ball screw base through the first rolling bearing, and the other end of the ball screw is movably connected with the other end of the ball screw base through the second rolling bearing; and one end of the main connecting rod is connected with the ball screw sliding block. The ball screw base is provided with a sliding track matched with the first movable auxiliary screw rod sliding block, and the ball screw sliding guide rod is arranged on the sliding track.

Another embodiment provided by the present application is: the scissors branch structure comprises a first middle connecting rod, a second middle connecting rod, a third middle connecting rod and a tail end connecting rod, one end of the first middle connecting rod is connected with the main connecting rod, the other end of the first middle connecting rod is connected with the tail end connecting rod, one end of the second middle connecting rod is connected with the tail end connecting rod, the other end of the second middle connecting rod is connected with one end of the third middle connecting rod, and the other end of the third middle connecting rod is connected with the main supporting rod.

The connecting rods of 4 different sizes are all connected through revolute pairs, the axes are parallel to each other, one end of the scissor branch structure is installed on the main connecting rod and the main supporting rod, and the other end of the scissor branch structure is installed on the movable platform to be extended and compressed.

Another embodiment provided by the present application is: the driving motor assembly comprises a driving motor, the first coupler, the second coupler and the central large bevel gear are sequentially and coaxially connected, the driving motor is arranged on the base, and the central large bevel gear is matched with the small bevel gear.

The central large bevel gear shaft is matched with a driving motor shaft and connected through a coupler, and the driving motor is fixed on the base mounting platform and is in transmission with the central large bevel gear.

Another embodiment provided by the present application is: the number of the scissor type extension branched chains is 5, the number of the branched chain driving assemblies is 5, the number of the scissor type extension branched chains is 5, the 5 branched chain driving assemblies are symmetrical pentagons, and the 5 branched chain driving assemblies are in axial symmetry regular pentagon uniform distribution. The scissor type extending branched chain branched sliding pair P (a first sliding pair sliding block and a ball screw sliding guide rod are matched to form the sliding pair P) is active, and the axes of the first rotating pair R and the second rotating pair R are parallel to each other.

Another embodiment provided by the present application is: the foldable parallel mechanism is in a symmetrical pentagon shape, and the driving motor assembly and the branched chain driving assembly are in meshing transmission through gears.

Another embodiment provided by the present application is: the main support rod continuously changes the structure inclination angle along with the main connecting rod, and provides a support effect.

The application also provides an application of the foldable parallel mechanism, and the foldable parallel mechanism is applied to an extension foundation of a large-scale storage tank spherical crown surface processing mechanism.

3. Advantageous effects

Compared with the prior art, the application provides a folding parallel mechanism and beneficial effect who uses thereof lies in:

the application provides a folding parallel mechanism, belongs to the field of parallel folding mechanisms, and particularly relates to a novel single-drive 5-PRR-RR-2(RRR) parallel mechanism which has a large folding characteristic and can be extended in a large range for a large-scale storage tank complex spherical crown surface processing mechanism in the field of aerospace.

The application provides a folding parallel mechanism, to the configuration equipment of large-scale storage tank spherical crown face processing agency working space, make it have the characteristics of large stroke, big extension, high rigidity, further solve the working space difficult problem of large-scale storage tank both ends complicated spherical crown face processing agency, satisfy the actual demand of large-scale storage tank surface machining, provide better solution for the working space of large-scale storage tank both ends complicated spherical crown face processing agency in the aerospace field.

The application provides a folding parallel mechanism has big rigidity characteristic, and the bracing piece in each scissor type extension branch can continuously change the structure inclination along with the connecting rod, provides the supporting role, and wholly has five branch chains, can satisfy different extension rigidity demands.

The application provides a folding parallel mechanism, can extend and compression performance is good, and the mechanism Z is provided by each scissor type extension branch chain to the motion, has great Z to the stroke, can realize big extension space, reduces the space simultaneously and occupies, and scissor type extension branch chain has big compression ratio.

The folding parallel mechanism that this application provided can provide the extension basis for other mechanisms, and single drive 5PRRRR2(RRR) parallel mechanism has big folding and unfolding ability, can satisfy the demand in the extension space of other processing agency.

The application provides a folding parallel mechanism, have extend the space big, folding characteristic is good, rigidity is high, can provide advantages such as extension basis for other mechanisms, can realize the one-dimensional removal of unilateral, applicable cantilever extension folding on a large scale to provide the extension basis for other structures.

According to the foldable parallel mechanism, the single-drive 5PRRRR2(RRR) parallel mechanism drives the central large bevel gear to rotate by the drive motor to drive the screw rod slide block, and further drives the scissor type extending branch chain to move, so that the Z direction has a large stroke, and the requirement of extending in a large range can be met; simultaneously, the main branch vaulting pole in each scissor type extension branch can be along with main connecting rod constantly changes the structure inclination, provides the supporting role, and wholly has five branch chains for the mechanism has high rigidity characteristic, can satisfy different extension rigidity demands. The single-drive 5PRRRR2(RRR) parallel mechanism can realize extension and folding in a single direction, has large folding characteristics and can provide a reliable extension and compression basis for other structures.

Drawings

FIG. 1 is a schematic structural view of the collapsible parallel mechanism of the present application;

FIG. 2 is a schematic diagram of the structure of a scissor-type extended branch of the present application;

FIG. 3 is a schematic structural view of a branched drive assembly of the present application;

FIG. 4 is a schematic structural view of a scissors branched structure of the present application;

FIG. 5 is a schematic diagram of the structure of the scissor type extension chain drive of the present application;

FIG. 6 is a schematic structural view of the drive motor assembly of the present application;

in the figure: 1-base, 2-moving platform, 3-scissor type extending branch chain, 4-base mounting platform, 5-driving motor component, 31-branch chain driving component, 32-main connecting rod, 33-first pin shaft, 34-scissor branch structure, 35-main supporting rod, 36-second pin shaft, 311-ball screw base, 312-ball screw, 313-screw slider, 314-small bevel gear, 315-base guide rail, 316-first rolling bearing, 341-first middle connecting rod, 342-third pin shaft, 343-end connecting rod, 344-second middle connecting rod, 345-fourth pin shaft, 346-third middle connecting rod, 347-fifth pin shaft, 51-driving motor, 52-first coupler, 53-center large bevel gear, 54-second coupling.

Detailed Description

Hereinafter, specific embodiments of the present application will be described in detail with reference to the accompanying drawings, and it will be apparent to those skilled in the art from this detailed description that the present application can be practiced. Features from different embodiments may be combined to yield new embodiments, or certain features may be substituted for certain embodiments to yield yet further preferred embodiments, without departing from the principles of the present application.

Referring to fig. 1 to 6, the application provides a foldable parallel mechanism, which includes a base 1, wherein the base 1 is connected with one end of a scissor type extending branch chain 3, the other end of the scissor type extending branch chain 3 is connected with a movable platform 2, and the scissor type extending branch chain 3 is connected with a driving motor assembly 5; scissor type extension branch 3 includes branch drive assembly 31, branch drive assembly 31 is connected with main connecting rod 32 one end, main connecting rod 32 is connected with main bracing piece 35 one end, the main bracing piece 35 other end with base 1 is connected, branch drive assembly 31 with base 1 is connected, the main connecting rod 32 other end is connected with scissor branch structure 34 one end, scissor branch structure 34 one end with main bracing piece 35 is connected, scissor branch structure 34 other end with movable platform 2 is connected.

Specifically, the single-drive 5PRRRR2(RRR) parallel mechanism with large folding characteristics in the present application, as shown in fig. 1, includes a base 1, a movable platform 2, a scissor-type extending branch chain 3, a base mounting platform 4 and a driving motor assembly 5, wherein five scissor-type extending branch chains 3 with the same structure have one end connected to the base 1 and the other end connected to the movable platform 2, and the driving motor assembly 5 is mounted at the center of the base mounting platform 4 and is driven by the scissor-type extending branch chain 3. The single-drive 5PRRRR2(RRR) parallel mechanism part has one-dimensional movement capability in one direction, and can meet the working space requirement of a large-scale storage box spherical crown surface processing mechanism.

Further, one end of the main connecting rod 32 is connected to the branched driving assembly 31 through a first pin 33, and the main connecting rod 32 is connected to the main supporting rod 35 through a second pin 36.

Further, the branched chain driving assembly 31 includes a ball screw base 311, a ball screw 312 is disposed on the ball screw base 311, a screw slider 313 is disposed on the ball screw 312, the ball screw 312 passes through the ball screw slider 313, a bevel pinion 314 is disposed at one end of the ball screw 312, and the bevel pinion 314 is matched with the driving motor assembly 5.

Specifically, five branched chain driving assemblies 31 with the same structure are provided, the small bevel gear 314 is located at one end of the ball screw 312, the ball screw 312 is matched with the screw slider 313, the screw slider 313 is matched with the base guide rail 315, the rolling bearings 316 are respectively installed at two ends of the base guide rail 315, the rolling bearings 316 and the screw slider 313 are arranged in parallel, a round hole matched with the ball screw 312 is formed in the base guide rail 315, the ball screw 312 can rotate around the axis of the round hole in the base guide rail 315, one end of the branched chain driving assembly 31 is matched with the driving motor assembly 5 through the small bevel gear 314, the base guide rail 315 is connected with the base installation platform 4, the small bevel gears 314 of the five branched chain driving assemblies 31 are uniformly matched with the central large bevel gear 53 of the driving motor assembly 5, five branched chain driving components 31 are uniformly distributed in an axisymmetric regular pentagon.

Further, a first rolling bearing 316 and a second rolling bearing are arranged on the ball screw base 311, one end of the ball screw 312 is movably connected with one end of the ball screw base 311 through the first rolling bearing 316, and the other end of the ball screw 312 is movably connected with the other end of the ball screw base 311 through the second rolling bearing; one end of the main connecting rod 32 is connected to the ball screw slider 313.

Further, the scissors branching structure 34 includes a first intermediate link 341, a second intermediate link 344, a third intermediate link 346, and a terminal link 343, wherein the first intermediate link 341 is connected to the main connecting rod 32 at one end, the first intermediate link 341 is connected to the terminal link 343 at the other end, the second intermediate link 344 is connected to the terminal link 343 at one end, the second intermediate link 344 is connected to the third intermediate link 346 at the other end, and the third intermediate link 346 is connected to the main supporting rod 35 at the other end.

Five scissor-fork type extension branched chains 3 with the same structure are shown in fig. 2, a main connecting rod 32 is installed on a branched chain driving assembly 31, a first pin shaft 33 and a second pin shaft 36 are respectively installed in the middle and two ends of the main connecting rod 32, the second pin shaft 36 is connected with the main connecting rod 32 and a main supporting rod 35, the first pin shaft 33 is connected with the branched chain driving assembly 31 and the main connecting rod 32, one end of a scissor-fork branch structure 34 is connected with a movable platform 2, the other end of the scissor-fork type extension branched chain is respectively connected with the main connecting rod 32 and the main supporting rod 35, and the layout of the whole scissor-fork type extension branched chain 3 is in a symmetrical pentagon shape.

The main connecting rod 32, the main support rod 35, the first intermediate link 341, the end link 343, the second intermediate link 344, and the third intermediate link 346 are all fitted through revolute pairs with axes parallel to each other; the first pin shaft 33 connects the lead screw slider 313 and the main connecting rod 32, the main connecting rod 32 is respectively connected to the main supporting rod 35, the first intermediate connecting rod 341 and the second intermediate connecting rod 344 through the second pin shaft 36 and the fourth pin shaft 345, the first intermediate connecting rod 341 is connected to the end connecting rod 343 through the third pin shaft 342, the main supporting rod 35 is connected to the third intermediate connecting rod 346 through the fifth pin shaft 347, one end of the scissors branch structure 34 is mounted on the main connecting rod 32 and the main supporting rod 35, and the other end is mounted on the movable platform 2 for extension and compression.

Five scissor-fork type extending branched chain transmission structures with the same structure are adopted, the base 1, the branched chain driving component 31 and the driving motor component 5 are all fixed on the base mounting platform 4, and the branched chain driving component 31 and the driving motor component 5 are in meshing transmission through gears.

Further, the driving motor assembly 5 includes a driving motor 51, the first coupler 52, the second coupler 54 and the central large bevel gear 53 are sequentially and coaxially connected, the driving motor 51 is disposed on the base 1, and the central large bevel gear 53 is matched with the small bevel gear 314.

The central large bevel gear 53 is meshed with the small bevel gear 314 for transmission; the driving motor 51 is fixed on the base mounting platform 4 and is in transmission with the central large bevel gear 53, so as to drive the small bevel gear 31) to rotate; the axis of the central large bevel gear 53 is perpendicular to the axis of the small bevel gear 314 in space. The driving motor assembly 5 is installed at the center of the base mounting platform, and is in transmission with the bevel pinion 314 to drive the ball screw 312 to rotate and drive the screw slider 313 to move.

Five scissor-fork type extending branched chains 3 with the same structure are in transmission structure, as shown in fig. 5, a branched chain driving assembly 31 is connected with a scissor-fork branch structure 34 through a main connecting rod 32, a main supporting rod 35 is connected with the scissor-fork branch structure 34 and a base 1, the branched chain driving assembly 31 and a driving motor assembly 5 are all fixed on a base mounting platform 4, and the branched chain driving assembly 31 and the driving motor assembly 5 are in meshing transmission through gears.

A single-drive 5PRRRR2(RRR) parallel mechanism with large folding property, on one hand, a drive motor 51 in the single-drive 5PRRRR2(RRR) parallel mechanism can drive a central large bevel gear 53 to rotate, and can simultaneously drive a small bevel gear 314 to rotate and drive a ball screw 312 to rotate, so that a screw slide block 313 matched with the ball screw 312 can translate along the axis of the ball screw 312 and drive a scissor-type extension branched chain 3 to extend and contract in a reciprocating way, so that a movable platform 2 can move in a reciprocating way along a large stroke in the vertical direction, and has single degree of freedom of spatial one-dimensional movement; on the other hand, two ends of five main support rods 35 with the same structure are connected with the main connecting rod 32 and the base 1 through revolute pairs, so that the main support rods 35 can continuously change the structural inclination angle along with the main connecting rod 32, and provide a supporting function to meet different stretching rigidity requirements. The integral single-drive 5PRRRR2(RRR) parallel mechanism can provide an extension basis for other mechanisms, has large folding and unfolding capacity and can meet the requirement of extension space of other processing mechanisms.

Although the present application has been described above with reference to specific embodiments, those skilled in the art will recognize that many changes may be made in the configuration and details of the present application within the principles and scope of the present application. The scope of protection of the application is determined by the appended claims, and all changes that come within the meaning and range of equivalency of the technical features are intended to be embraced therein.