Planar motion parallel robot with locking mode

Abstract

The application discloses a planar motion parallel robot with a locking mode, comprising a fixed platform and a movable platform, wherein the first motion branch, the second motion branch and the third motion branch are arranged between the fixed platform and the movable platform; the first motion branch comprises a first branch assembly, a third connecting rod assembly, a second branch assembly, an eighth connecting rod assembly, a third branch assembly, a twelfth connecting rod assembly and a seventeenth rotating pair R117 which are sequentially connected; the first branch assembly is further connected with the fixed platform; and the seventeenth rotating pair R117 is further connected with the movable platform. The motion mode of the movable platform of the robot can be changed into the locking mode, and the robot has strong bearing capacity and static stiffness in the locking mode, so that the static bearing capacity and the stiffness of the movable platform are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a planar motion parallel robot with a locking mode. Background Technology

[0002] Parallel robots with planar motion have wide applications in alignment, sorting, and motion simulation equipment. Parallel robots are characterized by high rigidity and good dynamic performance. Multi-mode parallel robots can change their motion modes according to the specific needs of industrial production, thus expanding the robot's application range.

[0003] In a planar motion robot with a locked drive, the end effector remains stationary, maintaining a specific position and orientation to resist external forces. Existing parallel planar motion robots all require a locked drive to lock the end effector. In the locked state, the external forces the end effector can withstand are primarily provided by the robot's actuators, which to some extent limits the robot's ability to maintain a specific position and orientation and resist external forces. Summary of the Invention

[0004] The purpose of this invention is to provide a planar parallel robot with a locking mode. By changing the robot's motion mode, it can lock the end effector without using a locking driver. This allows the planar robot to maintain its position and posture stability when it moves to a specific position and posture and is subjected to large external forces, thus laying the foundation for subsequent work processes.

[0005] The technical solution adopted in this invention is a planar motion parallel robot with a locking mode, including a fixed platform and a moving platform, wherein a first motion branch, a second motion branch and a third motion branch are provided between the fixed platform and the moving platform.

[0006] The first kinematic link includes a first link assembly, a third link assembly, a second link assembly, an eighth link assembly, a third link assembly, a twelfth link assembly, and a seventeenth revolute joint R117 connected in sequence; the first link assembly is also connected to the fixed platform, and the seventeenth revolute joint R117 is also connected to the moving platform.

[0007] The invention is further characterized in that:

[0008] The third link assembly includes a first crossbar and a second crossbar, and a first crossbar connecting rod is provided between the first crossbar and the second crossbar;

[0009] The eighth link assembly includes a third crossbar and a fourth crossbar, and a second crossbar connecting rod is provided between the third crossbar and the fourth crossbar;

[0010] The twelfth linkage assembly includes a fifth horizontal bar and a vertical bar. One end of the vertical bar is connected to the fifth horizontal bar, and the other end of the vertical bar is connected to the moving platform through the seventeenth revolute joint R117.

[0011] The first branch assembly includes a first rotating joint R11, a second connecting rod, and a second rotating joint R12 connected in sequence; it also includes a third rotating joint R13, a fourth connecting rod, and a fourth rotating joint R14 connected in sequence, with the fourth rotating joint R14 and the first rotating joint R11 both connected to the fixed platform; the first end of the first crossbar is connected to the second rotating joint R12, and the second end of the first crossbar is connected to the third rotating joint R13.

[0012] The second branch assembly includes a seventh rotary joint R17, a ninth link, and an eighth rotary joint R18 sequentially connected between the first end of the third crossbar and the first end of the second crossbar. The eighth rotary joint R18 is connected to the first end of the second crossbar, and the seventh rotary joint R17 is connected to the first end of the third crossbar. It also includes a sixth rotary joint R16, a seventh link, a fifth rotary joint R15, a sixth link, a tenth rotary joint R110, a fifth link, and a ninth rotary joint R19 sequentially connected between the second end of the third crossbar and the second end of the second crossbar. The ninth rotary joint R19 is connected to the second end of the second crossbar, and the sixth rotary joint R16 is connected to the second end of the third crossbar.

[0013] The third branch assembly includes a fourteenth revolute joint R114, a thirteenth link, a fifteenth revolute joint R115, a fourteenth link, and a sixteenth revolute joint R116, which are sequentially connected between the first end of the fifth crossbar and the first end of the fourth crossbar. The sixteenth revolute joint R116 is connected to the first end of the fourth crossbar, and the fourteenth revolute joint R114 is connected to the first end of the fifth crossbar. It also includes a thirteenth revolute joint R113, an eleventh link, a twelfth revolute joint R112, a tenth link, and an eleventh revolute joint R111, which are sequentially connected between the second end of the fifth crossbar and the second end of the fourth crossbar. The eleventh revolute joint R111 is connected to the second end of the fourth crossbar, and the thirteenth revolute joint R113 is connected to the second end of the fifth crossbar.

[0014] The second kinematic chain includes a 21st revolute joint R21, a 17th link, a 22nd revolute joint R22, a 16th link, and a 23rd revolute joint R23 connected in sequence. The 23rd revolute joint R23 is also connected to the moving platform, and the 21st revolute joint R21 is also connected to the fixed platform.

[0015] The third kinematic chain includes a thirty-first revolute joint R31, a first link, a thirty-second revolute joint R32, an eighteenth link, and a thirty-third revolute joint R33 connected in sequence. The thirty-third revolute joint R33 is also connected to the moving platform, and the thirty-first revolute joint R31 is also connected to the fixed platform.

[0016] The first rotary joint R11 is connected to a rotary motor.

[0017] The 21st rotary joint R21 is connected to a rotary motor.

[0018] The fourth rotary joint R14 is connected to an auxiliary rotary motor.

[0019] The beneficial effects of this invention are:

[0020] (1) The planar motion parallel robot with locking mode of the present invention does not require locking drive, so that the end effector can be locked in a specific working position. The end effector can quickly switch between motion and locking modes. By changing the robot's motion mode, it can lock the end effector without locking drive. This makes it easier for the planar robot to maintain the stability of position and posture when it moves to a specific position and posture and is subjected to large external forces, laying the foundation for subsequent operation process.

[0021] (2) The ability of the end effector of the planar motion parallel robot with locking mode to withstand external forces in the locked configuration is independent of the driving power and is determined by the stiffness of the entire structure and the strength of the materials when the robot is in the locked state. Attached Figure Description

[0022] Figure 1 This invention provides a motion mode transformation configuration for a planar parallel robot with a locking mode.

[0023] Figure 2 The planar parallel robot with locking mode of the present invention is in the locking mode configuration;

[0024] Figure 3 The planar motion parallel robot of the present invention with a locking mode is in the planar motion mode configuration.

[0025] 1. Fixed platform, 2. Second link, 3. Third link assembly, 4. Fourth link, 5. Fifth link, 6. Sixth link, 7. Seventh link, 8. Eighth link assembly, 9. Ninth link, 10. Tenth link, 11. Eleventh link, 12. Twelfth link assembly, 13. Thirteenth link, 14. Fourteenth link, 15. Moving platform, 16. Sixteenth link, 17. Seventeenth link, 18. Eighteenth link, 19. First link;

[0026] 3-1. First horizontal bar; 3-2. Second horizontal bar; 3-3. Connecting bar to the first horizontal bar;

[0027] 8-1. Third horizontal bar; 8-2. Fourth horizontal bar; 8-3. Connecting bar to the second horizontal bar;

[0028] 12-1. Fifth horizontal bar; 12-2. Vertical bar. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0030] This invention provides a planar motion parallel robot with a locking mode, such as... Figure 1 As shown, it includes a fixed platform 1 and a moving platform 15, and a first kinematic branch, a second kinematic branch and a third kinematic branch are provided between the fixed platform 1 and the moving platform 15.

[0031] The first kinematic chain includes a first chain assembly, a third link assembly 3, a second chain assembly, an eighth link assembly 8, a third chain assembly, a twelfth link assembly 12, and a seventeenth revolute joint R117 connected in sequence; the first chain assembly is also connected to the fixed platform 1, and the seventeenth revolute joint R117 is also connected to the moving platform 15.

[0032] The third link assembly 3 includes a first crossbar 3-1 and a second crossbar 3-2, and a first crossbar connecting rod 3-3 is provided between the first crossbar 3-1 and the second crossbar 3-2;

[0033] The eighth link assembly 8 includes a third crossbar 8-1 and a fourth crossbar 8-2, and a second crossbar connecting rod 8-3 is provided between the third crossbar 8-1 and the fourth crossbar 8-2;

[0034] The twelfth link assembly 12 includes a fifth horizontal bar 12-1 and a vertical bar 12-2. One end of the vertical bar 12-2 is connected to the fifth horizontal bar 12-1, and the other end of the vertical bar 12-2 is connected to the moving platform 15 through the seventeenth rotary joint R117.

[0035] The first branch assembly includes a first rotating joint R11, a second connecting rod 2, and a second rotating joint R12 connected in sequence; it also includes a third rotating joint R13, a fourth connecting rod 4, and a fourth rotating joint R14 connected in sequence, with the fourth rotating joint R14 and the first rotating joint R11 both connected to the fixed platform 1; the first end of the first crossbar 3-1 is connected to the second rotating joint R12, and the second end of the first crossbar 3-1 is connected to the third rotating joint R13; the fourth connecting rod 4 is a broken line connecting rod.

[0036] The second branch assembly includes a seventh rotating joint R17, a ninth connecting rod 9, and an eighth rotating joint R18, which are sequentially connected between the first end of the third crossbar 8-1 and the first end of the second crossbar 3-2. The eighth rotating joint R18 is connected to the first end of the second crossbar 3-2, and the seventh rotating joint R17 is connected to the first end of the third crossbar 8-1. It also includes a sixth rotating joint R16, a seventh connecting rod 7, a fifth rotating joint R15, a sixth connecting rod 6, a tenth rotating joint R110, a fifth connecting rod 5, and a ninth rotating joint R19, which are sequentially connected between the second end of the third crossbar 8-1 and the second end of the second crossbar 3-2. The ninth rotating joint R19 is connected to the second end of the second crossbar 3-2, and the sixth rotating joint R16 is connected to the second end of the third crossbar 8-1.

[0037] The third branch assembly includes a fourteenth revolute joint R114, a thirteenth link 13, a fifteenth revolute joint R115, a fourteenth link 14, and a sixteenth revolute joint R116, which are sequentially connected between the first end of the fifth crossbar 12-1 and the first end of the fourth crossbar 8-2. The sixteenth revolute joint R116 is connected to the first end of the fourth crossbar 8-2, and the fourteenth revolute joint R114 is connected to the first end of the fifth crossbar 12-1. It also includes a thirteenth revolute joint R113, an eleventh link 11, a twelfth revolute joint R112, a tenth link 10, and an eleventh revolute joint R111, which are sequentially connected between the second end of the fifth crossbar 12-1 and the second end of the fourth crossbar 8-2. The eleventh revolute joint R111 is connected to the second end of the fourth crossbar 8-2, and the thirteenth revolute joint R113 is connected to the second end of the fifth crossbar 12-1.

[0038] The second kinematic chain includes a 21st revolute joint R21, a 17th link 17, a 22nd revolute joint R22, a 16th link 16, and a 23rd revolute joint R23 connected in sequence. The 23rd revolute joint R23 is also connected to the moving platform 15, and the 21st revolute joint R21 is also connected to the fixed platform 1.

[0039] The third kinematic chain includes a thirty-first revolute joint R31, a first link 19, a thirty-second revolute joint R32, an eighteenth link 18, and a thirty-third revolute joint R33 connected in sequence. The thirty-third revolute joint R33 is also connected to the moving platform 15, and the thirty-first revolute joint R31 is also connected to the fixed platform 1.

[0040] like Figure 1 As shown, one end of the first kinematic link is rotatably connected to the fixed platform 1 via the first revolute joint R11, and the second link 2 is rotatably connected to the fixed platform 1 via the first revolute joint R11. The first end of the first crossbar 3-1 is rotatably connected to the second link 2 via the second revolute joint R12, and the fourth link 4 is rotatably connected to the second end of the first crossbar 3-1 via the third revolute joint R13. The fourth link 4 is connected to the fixed platform 1 via the fourth revolute joint R14.

[0041] like Figure 1 As shown, the first end of the second crossbar 3-2 is rotatably connected to the ninth link 9 via the eighth revolute joint R18. The ninth link 9 is rotatably connected to the first end of the third crossbar 8-1 via the seventh revolute joint R17. The second end of the third crossbar 8-1 is rotatably connected to the seventh link 7 via the sixth revolute joint R16. The seventh link 7 is rotatably connected to the sixth link 6 via the fifth revolute joint R15, and the sixth link 6 is connected to the fifth link 5 via the tenth revolute joint R110. The fifth link 5 is rotatably connected to the second end of the second crossbar 3-2 via the ninth revolute joint R19.

[0042] like Figure 1 As shown, the second end of the fourth crossbar 8-2 is rotatably connected to the tenth link 10 via the eleventh revolute joint R111. The tenth link 10 is rotatably connected to the eleventh link 11 via the twelfth revolute joint R112. The eleventh link 11 and the thirteenth revolute joint R113 are rotatably connected to the second end of the fifth crossbar 12-1. The first end of the fifth crossbar 12-1 is rotatably connected to the thirteenth link 13 via the fourteenth revolute joint R114. The thirteenth link 13 and the fourteenth link 14 are rotatably connected via the fifteenth revolute joint R115. The fourteenth link 14 is rotatably connected to the first end of the fourth crossbar 8-2 via the sixteenth revolute joint R116.

[0043] like Figure 1 As shown, the second end of the vertical rod 12-2 is rotatably connected to the moving platform 15 through the seventeenth revolute joint R117.

[0044] Figure 1 In the configuration shown, the axes of the first revolute joint R11 and the third revolute joint R13 are parallel to the Z-axis, and the two axes are collinear.

[0045] Figure 1 In the configuration shown, the axes of the second revolute joint R12 and the fourth revolute joint R14 are collinear.

[0046] Figure 1 In the configuration shown, the axis of the second revolute joint R12 is not parallel to the axis of the first revolute joint R11, and they do not intersect.

[0047] The axes of the fifth revolute joint R15, the sixth revolute joint R16, the seventh revolute joint R17, and the ninth revolute joint R19 are parallel and parallel to the Z-axis.

[0048] The distance between the axis of the fifth revolute joint R15 and the axis of the sixth revolute joint R16 is the same as the distance between the axis of the ninth revolute joint R19 and the axis of the seventh revolute joint R17.

[0049] The distance between the axis of the fifth revolute joint R15 and the axis of the ninth revolute joint R19 is the same as the distance between the axis of the sixth revolute joint R16 and the axis of the seventh revolute joint R17.

[0050] The axis of the tenth revolute joint R110 is collinear with the axis of the eighth revolute joint R18.

[0051] The axis of the tenth revolute joint R110 intersects the axis of the second revolute joint R12 at point O.

[0052] The axes of the eleventh revolute joint R111, the twelfth revolute joint R112, and the fourteenth revolute joint R114 are parallel, and the axis of the sixteenth revolute joint R116 is parallel and parallel to the Z-axis.

[0053] The distance between the axis of the eleventh revolute joint R111 and the axis of the twelfth revolute joint R112 is the same as the distance between the axis of the fourteenth revolute joint R114 and the axis of the sixteenth revolute joint R116.

[0054] The distance between the axis of the eleventh revolute joint R111 and the axis of the sixteenth revolute joint R116 is the same as the distance between the axis of the fourteenth revolute joint R114 and the axis of the twelfth revolute joint R112.

[0055] The axis of the thirteenth revolute joint R113 is collinear with the axis of the fifteenth revolute joint R115.

[0056] The axis of the thirteenth revolute joint R113 intersects the axis of the fifteenth revolute joint R115 at point O.

[0057] The axes of the seventeenth revolute joint R117 intersect at point O.

[0058] Figure 1 In the configuration shown, any three axes of the seventeenth revolute joint R117, the thirteenth revolute joint R113, the tenth revolute joint R110, and the second revolute joint R12 are not coplanar.

[0059] Figure 1 In the configuration shown, the axes of the 21st revolute joint R21, the 22nd revolute joint R22, the 23rd revolute joint R23, the 31st revolute joint R31, the 32nd revolute joint R32, and the 33rd revolute joint R33 are parallel and parallel to the Z-axis.

[0060] Figure 1 In the configuration shown, the robot is in a locked and planar motion mode transformation configuration.

[0061] Figure 1 In the configuration shown, the moving platform 15 has two translational degrees of freedom parallel to the XOY plane and a rotational degree of freedom about the Z-axis.

[0062] Figure 1In the configuration shown, the first revolute joint R11 is connected to a rotary motor. The twenty-first revolute joint R21 is connected to a rotary motor. The thirty-first revolute joint R31 is connected to a rotary motor. The fourth revolute joint R14 is connected to an auxiliary rotary motor.

[0063] Figure 1 In the shown configuration, the rotary motor is locked to the first rotary joint R11. The rotary motor is locked to the twenty-first rotary joint R21. The rotary motor is locked to the thirty-first rotary joint R31. Controlling the auxiliary rotary motor connected to the fourth rotary joint R14 allows the robot to be switched to... Figure 2 The robot configuration shown is shown.

[0064] Figure 2 In the robot configuration shown, the moving platform 15 is in a locked state. The rotary motor connected to the first rotary joint R11, the rotary motor connected to the twenty-first rotary joint R21, the rotary motor connected to the thirty-first rotary joint R31, and the auxiliary rotary motor connected to the fourth rotary joint R14 do not need to be locked. The moving platform 15 has a locked mode.

[0065] Figure 2 In the robot configuration shown, the axis of the first revolute joint R11 intersects the axis of the third revolute joint R13, and the axis of the second revolute joint R12 is collinear with the axis of the fourth revolute joint R14.

[0066] Figure 2 In the robot configuration shown, the axis of the tenth revolute joint R110 is collinear with the axis of the eighth revolute joint R18 and passes through point O. The axes of the fifth revolute joint R15, the sixth revolute joint R16, and the seventh revolute joint R17 are parallel. The axis of the seventh revolute joint R17 is not parallel to the axis of the ninth revolute joint R19.

[0067] Figure 2 In the robot configuration shown, the axis of the thirteenth revolute joint R113 is collinear with the axis of the fifteenth revolute joint R115 and passes through point O. The axes of the eleventh revolute joint R111, the twelfth revolute joint R112, and the sixteenth revolute joint R116 are parallel. The axis of the fourteenth revolute joint R114 is not parallel to the axis of the sixteenth revolute joint R116.

[0068] Figure 2 In the robot configuration shown, the axis of the seventeenth revolute joint R117 passes through point O.

[0069] Figure 1 In the shown configuration, the control motor is connected to the first revolute joint R11. The control motor is connected to the twenty-first revolute joint R21. The control motor is connected to the thirty-first revolute joint R31. Locking the auxiliary revolute motor connected to the fourth revolute joint R14 allows the robot to switch to... Figure 3 The robot configuration shown is shown.

[0070] Figure 3 In the robot configuration shown, the axis of the first revolute joint R11 is collinear with the axis of the third revolute joint R13. The axis of the second revolute joint R12 intersects with the axis of the fourth revolute joint R14.

[0071] Figure 3 In the robot configuration shown, the axis of the seventh revolute joint R17 intersects the axis of the ninth revolute joint R19. The axes of the fifth revolute joint R15, the sixth revolute joint R16, the tenth revolute joint R110, and the eighth revolute joint R18 are parallel and parallel to the Z-axis.

[0072] Figure 3 In the robot configuration shown, the axis of the thirteenth revolute joint R113 intersects the axis of the fifteenth revolute joint R115. The axes of the eleventh revolute joint R111, the twelfth revolute joint R112, the fourteenth revolute joint R114, and the sixteenth revolute joint R116 are parallel and parallel to the Z-axis.

[0073] Figure 3 In the configuration shown, the control motors connected to the first revolute joint R11, the twenty-first revolute joint R21, and the thirty-first revolute joint R31 can control the movement of the moving platform 15 along the two-dimensional plane of the XOY plane and its rotation about a axis parallel to the Z-axis.

[0074] The advantages of this invention are as follows:

[0075] (1) The planar motion robot of the present invention does not require a locking drive, so that the end effector can be locked in a specific working position. It can quickly switch between the motion and locking modes. By changing the robot's motion mode, it can lock the end effector without the locking drive. This makes it easier for the planar robot to maintain the stability of its position and posture when it moves to a specific position and posture and is subjected to large external forces, thus laying the foundation for subsequent work processes.

[0076] (2) The ability of the end effector of the planar motion robot of the present invention to withstand external forces in the locked configuration is independent of the driving power and is determined by the stiffness of the entire structure and the strength of the materials when the robot is in the locked state.

[0077] Example 1

[0078] Parallel robots with locking modes, such as Figure 1 As shown, it includes a fixed platform 1 and a moving platform 15, and a first kinematic branch, a second kinematic branch and a third kinematic branch are provided between the fixed platform 1 and the moving platform 15.

[0079] The first kinematic chain includes a first chain assembly, a third link assembly 3, a second chain assembly, an eighth link assembly 8, a third chain assembly, a twelfth link assembly 12, and a seventeenth revolute joint R117 connected in sequence; the first chain assembly is also connected to the fixed platform 1, and the seventeenth revolute joint R117 is also connected to the moving platform 15.

[0080] Example 2

[0081] Parallel robots with locking modes, such as Figure 1 As shown, it includes a fixed platform 1 and a moving platform 15, and a first kinematic branch, a second kinematic branch and a third kinematic branch are provided between the fixed platform 1 and the moving platform 15.

[0082] The first kinematic chain includes a first chain assembly, a third link assembly 3, a second chain assembly, an eighth link assembly 8, a third chain assembly, a twelfth link assembly 12, and a seventeenth revolute joint R117 connected in sequence; the first chain assembly is also connected to the fixed platform 1, and the seventeenth revolute joint R117 is also connected to the moving platform 15.

[0083] The second kinematic chain includes a 21st revolute joint R21, a 17th link 17, a 22nd revolute joint R22, a 16th link 16, and a 23rd revolute joint R23 connected in sequence. The 23rd revolute joint R23 is also connected to the moving platform 15, and the 21st revolute joint R21 is also connected to the fixed platform 1.

[0084] Example 3

[0085] Parallel robots with locking modes, such as Figure 1 As shown, it includes a fixed platform 1 and a moving platform 15, and a first kinematic branch, a second kinematic branch and a third kinematic branch are provided between the fixed platform 1 and the moving platform 15.

[0086] The first kinematic chain includes a first chain assembly, a third link assembly 3, a second chain assembly, an eighth link assembly 8, a third chain assembly, a twelfth link assembly 12, and a seventeenth revolute joint R117 connected in sequence; the first chain assembly is also connected to the fixed platform 1, and the seventeenth revolute joint R117 is also connected to the moving platform 15.

[0087] The second kinematic chain includes a 21st revolute joint R21, a 17th link 17, a 22nd revolute joint R22, a 16th link 16, and a 23rd revolute joint R23 connected in sequence. The 23rd revolute joint R23 is also connected to the moving platform 15, and the 21st revolute joint R21 is also connected to the fixed platform 1.

[0088] The third kinematic chain includes a thirty-first revolute joint R31, a first link 19, a thirty-second revolute joint R32, an eighteenth link 18, and a thirty-third revolute joint R33 connected in sequence. The thirty-third revolute joint R33 is also connected to the moving platform 15, and the thirty-first revolute joint R31 is also connected to the fixed platform 1.

Claims

1. A planar parallel robot with a locking mode, characterized in that, It includes a fixed platform (1) and a moving platform (15), and a first kinematic branch, a second kinematic branch and a third kinematic branch are provided between the fixed platform (1) and the moving platform (15); The first kinematic chain includes a first chain assembly, a third link assembly (3), a second chain assembly, an eighth link assembly (8), a third chain assembly, a twelfth link assembly (12), and a seventeenth rotary joint R117 connected in sequence; the first chain assembly is also connected to the fixed platform (1), and the seventeenth rotary joint R117 is also connected to the moving platform (15). The third link assembly (3) includes a first crossbar (3-1) and a second crossbar (3-2), and a first crossbar connecting rod (3-3) is provided between the first crossbar (3-1) and the second crossbar (3-2). The eighth link assembly (8) includes a third crossbar (8-1) and a fourth crossbar (8-2), and a second crossbar connecting rod (8-3) is provided between the third crossbar (8-1) and the fourth crossbar (8-2). The twelfth link assembly (12) includes a fifth horizontal bar (12-1) and a vertical bar (12-2). One end of the vertical bar (12-2) is connected to the fifth horizontal bar (12-1), and the other end of the vertical bar (12-2) is connected to the moving platform (15) through the seventeenth rotating joint R117. The first branch assembly includes a first rotating joint R11, a second connecting rod (2) and a second rotating joint R12 connected in sequence; it also includes a third rotating joint R13, a fourth connecting rod (4) and a fourth rotating joint R14 connected in sequence, the fourth rotating joint R14 and the first rotating joint R11 are both connected to the fixed platform (1); the first end of the first crossbar (3-1) is connected to the second rotating joint R12, and the second end of the first crossbar (3-1) is connected to the third rotating joint R13; The second branch assembly includes a seventh rotary joint R17, a ninth link (9), and an eighth rotary joint R18 connected sequentially between the first end of the third crossbar (8-1) and the first end of the second crossbar (3-2). The eighth rotary joint R18 is connected to the first end of the second crossbar (3-2), and the seventh rotary joint R17 is connected to the first end of the third crossbar (8-1). It also includes a sixth rotary joint R16, a seventh link (7), a fifth rotary joint R15, a sixth link (6), a tenth rotary joint R110, a fifth link (5), and a ninth rotary joint R19 connected sequentially between the second end of the third crossbar (8-1) and the second end of the second crossbar (3-2). The ninth rotary joint R19 is connected to the second end of the second crossbar (3-2), and the sixth rotary joint R16 is connected to the second end of the third crossbar (8-1). The third branch assembly includes a fourteenth revolute joint R114, a thirteenth link (13), a fifteenth revolute joint R115, a fourteenth link (14), and a sixteenth revolute joint R116, which are sequentially connected between the first end of the fifth crossbar (12-1) and the first end of the fourth crossbar (8-2). The sixteenth revolute joint R116 is connected to the first end of the fourth crossbar (8-2), and the fourteenth revolute joint R114 is connected to the first end of the fifth crossbar (12-1). It also includes a thirteenth revolute joint R113, an eleventh link (11), a twelfth revolute joint R112, a tenth link (10), and an eleventh revolute joint R111, which are sequentially connected between the second end of the fifth crossbar (12-1) and the second end of the fourth crossbar (8-2). The eleventh revolute joint R111 is connected to the second end of the fourth crossbar (8-2), and the thirteenth revolute joint R113 is connected to the second end of the fifth crossbar (12-1). When the parallel robot is in locked mode configuration, the axis of the first rotary joint R11 intersects the axis of the third rotary joint R13, and the axis of the second rotary joint R12 is collinear with the axis of the fourth rotary joint R14. The axis of the tenth revolute joint R110 is collinear with the axis of the eighth revolute joint R18 and passes through point O; the axes of the fifth revolute joint R15, the sixth revolute joint R16, and the seventh revolute joint R17 are parallel; the axis of the seventh revolute joint R17 is not parallel to the axis of the ninth revolute joint R19. The axis of the thirteenth revolute joint R113 is collinear with the axis of the fifteenth revolute joint R115 and passes through point O; the axes of the eleventh revolute joint R111, the twelfth revolute joint R112, and the sixteenth revolute joint R116 are parallel; the axis of the fourteenth revolute joint R114 is not parallel to the axis of the sixteenth revolute joint R116. The axis of the seventeenth revolute joint R117 passes through point O.

2. The planar parallel robot with a locking mode according to claim 1, characterized in that, The second kinematic chain includes a 21st rotary joint R21, a 17th link (17), a 22nd rotary joint R22, a 16th link (16), and a 23rd rotary joint R23 connected in sequence. The 23rd rotary joint R23 is also connected to the moving platform (15), and the 21st rotary joint R21 is also connected to the fixed platform (1).

3. The planar parallel robot with a locking mode according to claim 1, characterized in that, The third kinematic chain includes a 31st rotary joint R31, a first link (19), a 32nd rotary joint R32, an 18th link (18), and a 33rd rotary joint R33 connected in sequence. The 33rd rotary joint R33 is also connected to the moving platform (15), and the 31st rotary joint R31 is also connected to the fixed platform (1).

4. The planar parallel robot with a locking mode according to claim 1, characterized in that, The first rotary joint R11 is connected to a rotary motor.

5. The planar parallel robot with a locking mode according to claim 2, characterized in that, The 21st rotary joint R21 is connected to a rotary motor.

6. The planar parallel robot with a locking mode according to claim 1, characterized in that, The fourth rotary joint R14 is connected to an auxiliary rotary motor.

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