Spherical surface moving parallel robot without driving in locking mode

Abstract

The locking-mode driving-free spherical surface moving parallel robot comprises a fixed platform and a movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform and the movable platform; the first kinematic chain comprises a first revolute pair R11, a second connecting rod, a second revolute pair R12, a third connecting rod, a third revolute pair R13, a fourth connecting rod assembly, a fourth revolute pair R14, a fifth connecting rod and a fifth revolute pair R15 which are connected in sequence, the fifth revolute pair R15 and the first revolute pair R11 are both connected with the fixed platform, and the fourth connecting rod assembly is further connected with a fifth ball pair S14; the fifth ball pair S14 is further connected with the movable platform. The robot does not need to be driven when being in a locked state, and under a set configuration, control driving and auxiliary driving are carried out, and the movable platform can be switched between a locking motion mode and a moving motion mode.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a spherical moving parallel robot in a locking mode without requiring driving. Background Art

[0002] Robots with multiple modes have strong adaptability to the environment and work requirements, and can achieve different motion modes through fewer drive pairs and fewer kinematic chains, which makes them multi-purpose. The existing spherical motion parallel robots have a relatively simple configuration, and spherical motion parallel robots with multiple motion modes are relatively rare.

[0003] When a parallel robot with spherical motion moves to certain specific configurations, it needs to maintain the configuration for a long time. In special cases, it needs to bear a large load in this configuration. Traditional parallel robots with spherical motion require a locking drive to lock the spherical motion robot so that it can maintain its configuration and withstand external forces. Summary of the invention

[0004] The purpose of the present invention is to provide a spherical mobile parallel robot that does not require driving in a locking mode. When in a locked state, no driving is required. Under a set configuration, the driving and auxiliary driving are controlled, and the moving platform can be switched between locking and moving modes.

[0005] The technical solution adopted by the present invention is that a spherical mobile parallel robot in a locking mode without driving comprises a fixed platform and a moving platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform and the moving platform; The first motion chain includes a first rotation pair R11, a second connecting rod, a second rotation pair R12, a third connecting rod, a third rotation pair R13, a fourth connecting rod assembly, a fourth rotation pair R14, a fifth connecting rod and a fifth rotation pair R15 which are connected in sequence. The fifth rotation pair R15 and the first rotation pair R11 are both connected to the fixed platform. The fourth connecting rod assembly is also connected to the fifth ball pair S14, and the fifth ball pair S14 is also connected to the moving platform.

[0006] The present invention is also characterized in that: The fourth connecting rod assembly includes a first connecting rod and a second connecting rod. The first end of the first connecting rod is connected to the third rotation pair R13, the second end of the first connecting rod is connected to the fourth rotation pair R14, the first end of the second connecting rod is connected to the rod body of the first connecting rod, and the second end of the second connecting rod is connected to the fifth ball pair S14.

[0007] The second kinematic chain includes a first ball pair S21, a sixth connecting rod and a second ball pair S22 which are connected in sequence; the second ball pair S22 is also connected to the moving platform, and the first ball pair S21 is also connected to the fixed platform.

[0008] The third kinematic chain includes a third ball pair S31, a seventh connecting rod and a fourth ball pair S32 which are connected in sequence; the fourth ball pair S32 is also connected to the moving platform, and the third ball pair S31 is also connected to the fixed platform.

[0009] The fourth kinematic chain includes a first moving pair P41, an eighth connecting rod, a second moving pair P42, a ninth connecting rod and a third moving pair P43 which are connected in sequence; the third moving pair P43 is also connected to the moving platform, and the first moving pair P41 is also connected to the fixed platform.

[0010] The first rotation pair R11 is connected to the rotation drive motor, and the fifth rotation pair R15 is connected to the auxiliary drive motor.

[0011] The first moving pair P41 is connected to the moving driving motor, and the second moving pair P42 is connected to the auxiliary moving driving motor.

[0012] The beneficial effects of the present invention are: (1) The moving platform of the robot of the present invention can be switched between two motion modes: locked and moving. When the spherical moving parallel robot is in the locked state, it does not need to be driven.

[0013] (2) When the robot of the present invention is in the locking mode, the moving platform has high rigidity and load-bearing capacity and does not need to be driven. The moving platform can maintain a stable posture while bearing external forces.

[0014] (3) In the mobile mode, the robot of the present invention can be used as a spherical mobile operating table, equipped with an end effector, and perform various operating activities in the spherical workspace. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The locking mode of the spherical moving parallel robot of the present invention does not require driving; Figure 2 It is the motion mode transformation configuration I of the spherical moving parallel robot in the locking mode without driving of the present invention; Figure 3 It is the motion mode transformation configuration II of the spherical moving parallel robot in the locking mode without driving of the present invention; Figure 4 This is the spherical movement mode of the spherical movement parallel robot of the present invention which does not require driving in the locking mode.

[0016] 1. fixed platform, 2. second connecting rod, 3. third connecting rod, 4. fourth connecting rod assembly, 5. fifth connecting rod, 6. sixth connecting rod, 7. seventh connecting rod, 8. eighth connecting rod, 9. ninth connecting rod, 10. moving platform; 4-1. First connecting rod, 4-2. Second connecting rod. DETAILED DESCRIPTION

[0017] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] The present invention provides a spherical mobile parallel robot in a locking mode without requiring a drive, such as Figure 1 As shown, It includes a fixed platform 1 and a moving platform 10, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform 1 and the moving platform 10; The first motion chain includes a first rotation pair R11, a second connecting rod 2, a second rotation pair R12, a third connecting rod 3, a third rotation pair R13, a fourth connecting rod assembly 4, a fourth rotation pair R14, a fifth connecting rod 5 and a fifth rotation pair R15 which are connected in sequence. The fifth rotation pair R15 and the first rotation pair R11 are both connected to the fixed platform 1. The fourth connecting rod assembly 4 is also connected to the fifth ball pair S14, and the fifth ball pair S14 is also connected to the moving platform 10.

[0019] The fourth connecting rod assembly 4 includes a first connecting rod 4-1 and a second connecting rod 4-2. The first connecting rod 4-1 is an arc-shaped connecting rod. The first end of the first connecting rod 4-1 is connected to the third rotation pair R13, and the second end of the first connecting rod 4-1 is connected to the fourth rotation pair R14. The second connecting rod 4-2 is a broken line connecting rod. The first end of the second connecting rod 4-2 is connected to the rod body of the first connecting rod 4-1, and the second end of the second connecting rod 4-2 points to the rotation center O. The second end of the second connecting rod 4-2 is stretched along the Z-axis direction, and the second end of the second connecting rod 4-2 is connected to the fifth ball pair S14.

[0020] The second kinematic chain includes a first ball pair S21 , a sixth connecting rod 6 and a second ball pair S22 which are connected in sequence; the second ball pair S22 is also connected to the moving platform 10 , and the first ball pair S21 is also connected to the fixed platform 1 .

[0021] The third kinematic chain includes a third ball pair S31 , a seventh connecting rod 7 and a fourth ball pair S32 which are connected in sequence; the fourth ball pair S32 is also connected to the moving platform 10 , and the third ball pair S31 is also connected to the fixed platform 1 .

[0022] The fourth kinematic chain includes a first moving pair P41, an eighth connecting rod 8, a second moving pair P42, a ninth connecting rod 9 and a third moving pair P43 which are connected in sequence; the third moving pair P43 is also connected to the moving platform 10, and the first moving pair P41 is also connected to the fixed platform 1.

[0023] The second connecting rod 2, the third connecting rod 3 and the fifth connecting rod 5 are all arc-shaped connecting rods; The first rotation pair R11 is connected to the rotation drive motor, and the fifth rotation pair R15 is connected to the auxiliary drive motor.

[0024] The first moving pair P41 is connected to the moving driving motor, and the second moving pair P42 is connected to the auxiliary moving driving motor.

[0025] like Figure 1 As shown, in the first kinematic chain, the first rotational pair R11 is rotationally connected to the fixed platform 1, and the second connecting rod 2 is rotationally connected to the fixed platform 1 through the first rotational pair R11. The third connecting rod 3 is rotationally connected to the second connecting rod 2 through the second rotational pair R12, and the first connecting rod 4-1 is rotationally connected to the third connecting rod 3 through the third rotational pair R13. The fifth connecting rod 5 is rotationally connected to the first connecting rod 4-1 through the fourth rotational pair R14. The second connecting rod 4-2 is ball-jointed to the moving platform 10 through the fifth ball pair S14. The fifth connecting rod 5 is rotationally connected to the fixed platform 1 through the fifth rotational pair R15.

[0026] like Figure 1 As shown, in the second kinematic chain, the first ball pair S21 is connected to the fixed platform 1 by a ball joint, and the sixth connecting rod 6 is connected to the fixed platform 1 by a ball joint through the first ball pair S21. The sixth connecting rod 6 is connected to the moving platform 10 by a ball joint through the second ball pair S22.

[0027] like Figure 1 As shown, in the third kinematic chain, the third ball pair S31 is connected to the fixed platform 1 by a ball joint, and the seventh connecting rod 7 is connected to the fixed platform 1 by a ball joint through the third ball pair S31. The seventh connecting rod 7 is connected to the moving platform 10 by a ball joint through the fourth ball pair S32.

[0028] like Figure 1 As shown, in the fourth kinematic chain, the eighth connecting rod 8 is movably connected to the fixed platform 1 through the first movable joint P41, the ninth connecting rod 9 is movably connected to the eighth connecting rod 8 through the second movable joint P42, and the ninth connecting rod 9 is movably connected to the movable platform 10 through the third movable joint P43.

[0029] Figure 1 In the shown mechanism configuration, the axis of the first rotation pair R11 is colinear with the axis of the third rotation pair R13 and the axis of the fifth rotation pair R15, and is along the Z-axis direction.

[0030] Figure 1 In the shown mechanism configuration, the axis of the second rotational pair R12 intersects at point O with the axis of the first rotational pair R11, the axis of the third rotational pair R13, the fourth rotational pair R14 and the axis of the fifth rotational pair R15.

[0031] Figure 1 In the shown mechanism configuration, the axis of the first rotational pair R11, the axis of the third rotational pair R13, the axis of the fourth rotational pair R14, and the axis of the fifth rotational pair R15 are coplanar, and are not coplanar with the axis of the second rotational pair R12.

[0032] Figure 1 In the shown mechanism configuration, the line connecting the centers of the first ball pair S21 and the second ball pair S22 is parallel to the Z axis.

[0033] Figure 1In the shown mechanism configuration, the line connecting the centers of the third ball pair S31 and the fourth ball pair S32 is parallel to the Z axis.

[0034] Figure 1 In the shown mechanism configuration, the center of the fifth ball pair S14 is on the Z axis.

[0035] Figure 1 In the shown configuration, the lines connecting the centers of the first ball pair S21, the second ball pair S22, the third ball pair S31 and the fourth ball pair S32 form a rectangle, which is located in the YOZ plane.

[0036] The distance from the center of the first ball pair S21 to the center of the second ball pair S22 is the same as the distance from the center of the third ball pair S31 to the center of the fourth ball pair S32.

[0037] The distance from the center of the first ball pair S21 to the center of the third ball pair S31 is the same as the distance from the second ball pair S22 to the center of the fourth ball pair S32.

[0038] The centers of the first ball pair S21 and the third ball pair S31 are on the Y axis.

[0039] Figure 1 In the shown configuration, the first moving pair P41 moves in a direction parallel to the X axis, the second moving pair P42 moves in a direction parallel to the Y axis, and the third moving pair P43 moves in a direction parallel to the Z axis.

[0040] Figure 1 In the shown mechanism configuration, the first rotation pair R11 is connected to the rotation drive motor, the fifth rotation pair R15 is connected to the auxiliary rotation drive motor, the first movement pair P41 is connected to the movement drive motor, and the second movement pair P42 is connected to the auxiliary movement drive motor.

[0041] Figure 1 The mechanism configuration shown does not require locking the first movable pair P41 connected to the movable drive motor, does not require locking the second movable pair P42 connected to the auxiliary movable drive motor, does not require locking the rotation drive motor of the first rotating pair R11, and does not require locking the rotation auxiliary drive motor of the fifth rotating pair R15. The movable platform 10 is in a locked state.

[0042] Figure 1 In the shown configuration, the first moving pair P41 is locked to connect to the moving drive motor, the second moving pair P42 is locked to connect to the auxiliary moving drive motor, the fifth rotating pair R15 is locked to connect to the rotating drive motor, and the rotating drive motor of the first rotating pair R11 is controlled, so that the mechanism can be transformed into Figure 2 The configuration of the mechanism shown.

[0043] Figure 2In the shown configuration, the axis of the first rotation pair R11, the axis of the second rotation pair R12, and the axis of the third rotation pair R13 intersect at point O, and the axis of the first rotation pair R11 is collinear with the axis of the third rotation pair R13 and the axis of the fifth rotation pair R15. The axes of the first rotation pair R11, the second rotation pair R12, the third rotation pair R13, the fourth rotation pair R14, and the fifth rotation pair R15 are coplanar, and the axis of the second rotation pair R12 is not collinear with the axis of the fourth rotation pair R14.

[0044] By controlling the first moving pair P41 to connect to the moving drive motor, controlling the second moving pair P42 to connect to the auxiliary moving drive motor, controlling the rotation drive motor of the first rotating pair R11, and controlling the rotation auxiliary drive motor of the fifth rotating pair R15, the mechanism can be transformed into Figure 3 The configuration of the mechanism shown. Figure 3 The mechanism configuration shown in the figure can be transformed into: controlling the first moving pair P41 to connect to the moving drive motor, controlling the second moving pair P42 to connect to the auxiliary moving drive motor, controlling the rotation drive motor of the first rotating pair R11, and controlling the auxiliary rotation drive motor of the fifth rotating pair R15. Figure 4 The configuration of the mechanism shown.

[0045] Figure 4 In the shown mechanism configuration, the axis of the first rotation pair R11, the axis of the second rotation pair R12, and the axis of the third rotation pair R13 are not coplanar and intersect at point O.

[0046] Figure 4 In the shown mechanism configuration, the lines connecting the centers of the first ball pair S21, the second ball pair S22, the third ball pair S31, and the fourth ball pair S32 form a parallelogram.

[0047] The distance from the center of the first ball pair S21 to the center of the second ball pair S22 is the same as the distance from the center of the third ball pair S31 to the center of the fourth ball pair S32.

[0048] The distance from the center of the first ball pair S21 to the center of the third ball pair S31 is the same as the distance from the second ball pair S22 to the center of the fourth ball pair S32.

[0049] The centers of the first ball pair S21 and the third ball pair S31 are on the Y axis.

[0050] Figure 4 In the shown mechanism configuration, the moving platform 10 can realize two-dimensional spherical movement with point O as the center. By controlling the driving rotation motor connected to the first rotation pair R11 and the moving driving motor connected to the first moving pair P41, the two-dimensional spherical movement with point O as the center can be controlled.

[0051] Example 1 Locking mode does not require actuation of a spherical moving parallel robot, such as Figure 1As shown, it includes a fixed platform 1 and a moving platform 10, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform 1 and the moving platform 10; The first motion chain includes a first rotation pair R11, a second connecting rod 2, a second rotation pair R12, a third connecting rod 3, a third rotation pair R13, a fourth connecting rod assembly 4, a fourth rotation pair R14, a fifth connecting rod 5 and a fifth rotation pair R15 which are connected in sequence. The fifth rotation pair R15 and the first rotation pair R11 are both connected to the fixed platform 1. The fourth connecting rod assembly 4 is also connected to the fifth ball pair S14, and the fifth ball pair S14 is also connected to the moving platform 10.

[0052] Example 2 Locking mode does not require actuation of a spherical moving parallel robot, such as Figure 1 As shown, it includes a fixed platform 1 and a moving platform 10, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform 1 and the moving platform 10; The first motion chain includes a first rotation pair R11, a second connecting rod 2, a second rotation pair R12, a third connecting rod 3, a third rotation pair R13, a fourth connecting rod assembly 4, a fourth rotation pair R14, a fifth connecting rod 5 and a fifth rotation pair R15 which are connected in sequence. The fifth rotation pair R15 and the first rotation pair R11 are both connected to the fixed platform 1. The fourth connecting rod assembly 4 is also connected to the fifth ball pair S14, and the fifth ball pair S14 is also connected to the moving platform 10.

[0053] The fourth connecting rod assembly 4 includes a first connecting rod 4-1 and a second connecting rod 4-2. The first connecting rod 4-1 is an arc-shaped connecting rod. The first end of the first connecting rod 4-1 is connected to the third rotation pair R13, and the second end of the first connecting rod 4-1 is connected to the fourth rotation pair R14. The second connecting rod 4-2 is a broken line connecting rod. The first end of the second connecting rod 4-2 is connected to the rod body of the first connecting rod 4-1, and the second end of the second connecting rod 4-2 points to the rotation center O. The second end of the second connecting rod 4-2 is stretched along the Z-axis direction, and the second end of the second connecting rod 4-2 is connected to the fifth ball pair S14.

[0054] Example 3 Locking mode does not require actuation of a spherical moving parallel robot, such as Figure 1 As shown, it includes a fixed platform 1 and a moving platform 10, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform 1 and the moving platform 10; The first motion chain includes a first rotation pair R11, a second connecting rod 2, a second rotation pair R12, a third connecting rod 3, a third rotation pair R13, a fourth connecting rod assembly 4, a fourth rotation pair R14, a fifth connecting rod 5 and a fifth rotation pair R15 which are connected in sequence. The fifth rotation pair R15 and the first rotation pair R11 are both connected to the fixed platform 1. The fourth connecting rod assembly 4 is also connected to the fifth ball pair S14, and the fifth ball pair S14 is also connected to the moving platform 10.

[0055] The fourth connecting rod assembly 4 includes a first connecting rod 4-1 and a second connecting rod 4-2. The first connecting rod 4-1 is an arc-shaped connecting rod. The first end of the first connecting rod 4-1 is connected to the third rotation pair R13, and the second end of the first connecting rod 4-1 is connected to the fourth rotation pair R14. The second connecting rod 4-2 is a broken line connecting rod. The first end of the second connecting rod 4-2 is connected to the rod body of the first connecting rod 4-1, and the second end of the second connecting rod 4-2 points to the rotation center. The second end of the second connecting rod 4-2 is stretched along the Z-axis direction, and the second end of the second connecting rod 4-2 is connected to the fifth ball pair S14.

[0056] The second kinematic chain includes a first ball pair S21 , a sixth connecting rod 6 and a second ball pair S22 which are connected in sequence; the second ball pair S22 is also connected to the moving platform 10 , and the first ball pair S21 is also connected to the fixed platform 1 .

[0057] The spherical mobile parallel robot does not require driving in the locking mode of the present invention, and the moving platform can be switched between the locking and moving modes. When the spherical mobile parallel robot is in the locked state, it does not need to be driven. In the locking mode of the robot of the present invention, the moving platform has high rigidity and load-bearing capacity, and does not need to be driven. The moving platform can maintain a stable posture under the external force. In the moving mode, the robot of the present invention can be used as a spherical mobile operating table, with the end effector installed, to perform various operating activities in the spherical workspace.

Claims

1. A spherical mobile parallel robot without the need for actuation in locking mode, characterized in that: It comprises a fixed platform (1) and a movable platform (10), wherein a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the fixed platform (1) and the movable platform (10); The first kinematic chain comprises a first rotational pair R11, a second connecting rod (2), a second rotational pair R12, a third connecting rod (3), a third rotational pair R13, a fourth connecting rod assembly (4), a fourth rotational pair R14, a fifth connecting rod (5) and a fifth rotational pair R15 which are connected in sequence. The fifth rotational pair R15 and the first rotational pair R11 are both connected to the fixed platform (1). The fourth connecting rod assembly (4) is also connected to a fifth ball pair S14. The fifth ball pair S14 is also connected to the moving platform (10).

2. The spherical moving parallel robot with locking mode requiring no drive according to claim 1, characterized in that: The fourth connecting rod assembly (4) comprises a first connecting rod (4-1) and a second connecting rod (4-2), wherein the first end of the first connecting rod (4-1) is connected to the third rotational pair R13, the second end of the first connecting rod (4-1) is connected to the fourth rotational pair R14, the first end of the second connecting rod (4-2) is connected to the rod body of the first connecting rod (4-1), and the second end of the second connecting rod (4-2) is connected to the fifth ball pair S14.

3. The spherical moving parallel robot with locking mode requiring no drive according to claim 1, characterized in that: The second kinematic chain comprises a first ball pair S21, a sixth connecting rod (6) and a second ball pair S22 which are connected in sequence; the second ball pair S22 is also connected to the moving platform (10), and the first ball pair S21 is also connected to the fixed platform (1).

4. The spherical moving parallel robot with locking mode requiring no drive according to claim 1, characterized in that: The third kinematic chain comprises a third ball pair S31, a seventh connecting rod (7) and a fourth ball pair S32 which are connected in sequence; the fourth ball pair S32 is also connected to the moving platform (10), and the third ball pair S31 is also connected to the fixed platform (1).

5. The spherical moving parallel robot with locking mode requiring no drive according to claim 1, characterized in that: The fourth kinematic chain comprises a first movable pair P41, an eighth connecting rod (8), a second movable pair P42, a ninth connecting rod (9) and a third movable pair P43 which are connected in sequence; the third movable pair P43 is also connected to the moving platform (10), and the first movable pair P41 is also connected to the fixed platform (1).

6. The spherical moving parallel robot with locking mode requiring no drive according to claim 1, characterized in that: The first rotation pair R11 is connected to the rotation drive motor, and the fifth rotation pair R15 is connected to the auxiliary drive motor.

7. The spherical moving parallel robot with locking mode requiring no drive according to claim 4, characterized in that: The first moving pair P41 is connected to the moving drive motor, and the second moving pair P42 is connected to the auxiliary moving drive motor.

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