CN-117921628-B - A series-parallel robot that is used for composite material structure piece to weave process dabber centre gripping

Abstract

The invention relates to a robot, and aims to provide a parallel-serial robot mechanism for clamping a mandrel in the weaving process of a composite structural member, which has large working space, high rigidity, high bearing capacity, large working space and flexible movement, and can solve the problem of clamping the mandrel in the weaving process of the conventional composite structural member. The technical scheme is that the parallel-serial robot mechanism for clamping the mandrel in the weaving process of the composite structural member is characterized by comprising a base, a transverse moving platform positioned on the base through a transverse moving pair, a longitudinal moving platform positioned on the transverse moving platform through a longitudinal moving pair, two first branches positioned between the longitudinal moving platform and a tail end platform and two second branches positioned between the transverse moving platform and the tail end platform.

Inventors

• YE WEI
• LI NENG
• LI QINCHUAN
• YAN BO

Assignees

• 浙江理工大学

Dates

Publication Date

20260508

Application Date

20240109

Claims (6)

1. 1. The parallel-serial robot mechanism for clamping the mandrel in the braiding process of the composite structural member is characterized by comprising a horizontal moving platform (3) which can be horizontally movably positioned on a base (1), a longitudinal moving platform (6) which can be vertically movably positioned on the horizontal moving platform, two first branches positioned between the longitudinal moving platform and the tail end platform and two second branches positioned between the horizontal moving platform and the tail end platform; the first branch sequentially comprises a first rotating pair (9), a first moving pair (12) and a first spherical pair (13) which are connected between the longitudinal moving platform and the tail end platform; The second branch sequentially comprises a second spherical pair (14), a second moving pair (17) and a third spherical pair (18) which are connected between the transverse moving platform and the tail end platform.
2. 2. The parallel-serial robot mechanism for clamping the mandrel in the weaving process of the composite structural member according to claim 1, wherein the transverse moving platform is positioned on the base through a transverse moving pair (4), and the transverse moving pair comprises two transverse guide rails (2) which are horizontally arranged on the base and are parallel to each other, and a transverse moving platform with two guide rail grooves formed in the bottom surface, and the two transverse guide rails are in one-to-one sliding fit with the two guide rail grooves.
3. 3. The parallel-serial robot mechanism for clamping the mandrel in the weaving process of the composite structural member according to claim 2, wherein the longitudinal moving platform is positioned on the transverse moving platform through a longitudinal moving pair (7), and the longitudinal moving pair comprises two longitudinal guide rails (5) vertically arranged at the side wall of the transverse moving platform and parallel to each other and a longitudinal moving platform with two guide rail grooves formed in the side face, and the two longitudinal guide rails are in one-to-one sliding fit with the two guide rail grooves.
4. 4. The parallel-serial robot mechanism for clamping a mandrel in the weaving process of a composite structural member according to claim 3, wherein the moving axes of the first moving pairs in the first branches are perpendicular to the rotating axes of the first rotating pairs, and the rotating axes of the first rotating pairs of the two first branches are parallel to the moving axes of the longitudinal moving pairs.
5. 5. The parallel-serial robot mechanism for clamping the mandrel in the weaving process of the composite structural member, which is disclosed in claim 4, is characterized in that the first sliding pair is formed by matching a first sliding pair sleeve with a first sliding pair rod, and the second sliding pair is formed by matching a second sliding pair sleeve with a second sliding pair rod.
6. 6. The parallel-serial robot mechanism for clamping the mandrel in the weaving process of the composite structural member according to claim 5, wherein the driving pairs are respectively two first moving pairs, two second moving pairs, a transverse moving pair and a longitudinal moving pair, and the driving mechanism is a servo motor for driving the ball screw.

Description

A series-parallel robot that is used for composite material structure piece to weave process dabber centre gripping Technical Field The invention relates to a robot, in particular to a parallel-serial robot mechanism for clamping a mandrel in the weaving process of a composite structural member. Background In the braiding operation of the composite structural member, three degrees of freedom of movement and two degrees of freedom of rotation are needed for the mandrel clamping mechanical arm to meet the working requirements. At present, a mandrel is clamped by a serial mechanical arm, and the scheme has the defects of low rigidity, low movement precision and weak bearing capacity. If the parallel mechanism scheme is adopted, the working space is small, and the movement is not flexible enough. The series-parallel mechanism is an emerging mechanism, is formed by combining a series mechanism and a parallel mechanism, and has the advantages of high rigidity, high bearing capacity, high movement precision, large working space, flexible operation and the like. At present, no special five-degree-of-freedom hybrid robot is used for clamping a mandrel, and in order to solve the defects of the existing serial mechanical arm mandrel clamping scheme, the development of the mandrel clamping robot in the weaving process of the composite structural member is promoted, and a hybrid robot mechanism which is high in rigidity, high in bearing capacity, large in working space and flexible in movement and used for clamping the mandrel in the weaving process of the composite structural member is necessary. Disclosure of Invention The invention aims to overcome the defects of the background technology, and provides a parallel-serial robot mechanism for clamping a mandrel in the weaving process of a composite structural member, which has large working space, high rigidity, high bearing capacity, large working space and flexible movement and can solve the problem of clamping the mandrel in the weaving process of the conventional composite structural member. The technical scheme of the invention is as follows: The parallel-serial robot mechanism for clamping the mandrel in the braiding process of the composite structural member is characterized by comprising a base, a transverse moving platform positioned on the base through a transverse moving pair, a longitudinal moving platform positioned on the transverse moving platform through a longitudinal moving pair, two first branches positioned between the longitudinal moving platform and an end platform and two second branches positioned between the transverse moving platform and the end platform; Two parallel transverse guide rails are horizontally arranged on the base, two guide rail grooves are formed in the bottom surface of the transverse moving platform, and the two transverse guide rails are matched with the transverse moving platform in a one-to-one sliding mode through the two guide rail grooves to form a transverse moving pair; two longitudinal guide rails which are parallel to each other are vertically arranged at the side wall of the transverse moving platform, two guide rail grooves are formed in the side face of the longitudinal moving platform, and the two longitudinal guide rails are in one-to-one sliding fit with the two guide rail grooves so as to form a longitudinal moving pair with the longitudinal moving platform; the first branch sequentially comprises a first revolute pair, a first movable pair formed by matching a first movable pair sliding sleeve with a first movable pair rod and a first spherical pair, wherein the first revolute pair is connected with a longitudinal movable platform, and the first spherical pair is connected with a tail end platform; The moving axes of the first moving pairs in the first branches are perpendicular to the rotating axes of the first rotating pairs, and the rotating axes of the first rotating pairs of the two first branches are parallel to the moving axes of the longitudinal moving pairs; the second branch sequentially comprises a second spherical pair, a second moving pair and a third spherical pair, wherein the second moving pair is formed by matching a second moving pair sliding sleeve and a second moving pair rod; The driving pairs are respectively two first moving pairs, two second moving pairs, a transverse moving pair and a longitudinal moving pair, and the driving mechanism drives the ball screw by a servo motor. The parallel-serial mechanism end platform has the advantages of being capable of realizing movement of three degrees of freedom and rotation of two degrees of freedom, high in rigidity and bearing capacity, high in movement precision, flexible in movement, large in working space, simple in structure and the like, and can be used in the fields of mandrel clamping and the like in the weaving process of composite structural members. Drawings Fig. 1 is a schematic perspective view of an embodiment of the present inve