Three-movement and one-rotation parallel robot with locking mode

Abstract

The present invention discloses a three-movement one-rotation parallel robot with a locking mode, comprising a fixed platform and a moving platform, wherein 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 kinematic chain comprises a first rotation pair R11, a second connecting rod assembly, a fifth connecting rod assembly and an eighth rotation pair R18; the second connecting rod assembly is connected to the fixed platform through the first rotation pair R11, and the fifth connecting rod assembly is connected to the moving platform through the eighth rotation pair R18; a first branch chain and a second branch chain are also arranged between the second connecting rod assembly and the fifth connecting rod assembly, and the second connecting rod assembly and the fifth connecting rod assembly are connected through the first branch chain and the second branch chain. The robot can be transformed into a locking mode through an auxiliary drive, in which no locking drive is required, and the robot can maintain a stable posture, and can meet the requirement that the moving platform has a certain static load-bearing capacity and stiffness under a specific static configuration.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a three-movement-one-rotation parallel robot with a locking mode. Background Art

[0002] The three-movement-one-rotation parallel mechanism can be applied to assembly, sorting and other application scenarios. The three-movement-one-rotation parallel robot with multiple modes can change the movement mode according to the changes in the external environment and operation requirements to adapt to the environment and operation requirements. When the three-movement-one-rotation parallel mechanism moves the operation object to the specified position and needs to maintain a stable posture, it is generally necessary to lock all drive pairs, and the external force received by the operation object needs to be balanced by driving force or torque. Summary of the invention

[0003] The purpose of the present invention is to provide a three-movement and one-rotation parallel robot with a locking mode. In its locked position, the robot can resist the forces of the external environment by relying on the strength of the robot components themselves without driving a motor, and can maintain a stable posture for a long time. It has good environmental adaptability when there is an impact of uncertain environmental loads.

[0004] The technical solution adopted by the present invention is that a three-movement one-rotation parallel robot with a locking mode includes 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;

[0005] The first motion chain includes a first rotation pair R11, a second connecting rod assembly, a fifth connecting rod assembly and an eighth rotation pair R18; the second connecting rod assembly is connected to the fixed platform through the first rotation pair R11, and the fifth connecting rod assembly is connected to the moving platform through the eighth rotation pair R18; a first branch chain and a second branch chain are also arranged between the second connecting rod assembly and the fifth connecting rod assembly, and the second connecting rod assembly and the fifth connecting rod assembly are connected through the first branch chain and the second branch chain.

[0006] The present invention is also characterized in that:

[0007] The first branch chain includes a second rotation pair R12, a third connecting rod, a third rotation pair R13, a fourth connecting rod and a fourth rotation pair R14 which are connected in sequence;

[0008] The second branch chain connection includes a fifth rotation pair R15, a sixth connecting rod, a sixth rotation pair R16, a seventh connecting rod and a seventh rotation pair R17 connected in sequence;

[0009] The second connecting rod assembly includes a U-shaped connecting rod and a first connecting vertical rod, wherein the first end of the first connecting vertical rod is connected to the cross rod at the center of the U-shaped connecting rod, and the second end of the first connecting vertical rod is connected to the first rotation pair R11; the first end of the U-shaped connecting rod is connected to the second rotation pair R12, and the second end of the U-shaped connecting rod is connected to the seventh rotation pair R17;

[0010] The fifth connecting rod assembly includes a connecting cross rod and a second connecting vertical rod. The first end of the connecting cross rod is connected to the fourth rotation pair R14, and the second end of the connecting cross rod is connected to the fifth rotation pair R15.

[0011] The second kinematic chain includes the twenty-first rotation pair R21, the eighth connecting rod, the twenty-second mobile pair P22, the ninth connecting rod, the twenty-third mobile pair P23, the tenth connecting rod and the twenty-fourth mobile pair P24 which are connected in sequence; the twenty-fourth mobile pair P24 is also connected to the moving platform, and the twenty-first rotation pair R21 is also connected to the fixed platform.

[0012] The tenth connecting rod is a V-shaped connecting rod; the twenty-first rotating pair R21 is connected to a rotating motor.

[0013] The third kinematic chain includes a thirty-first mobile pair P31, an eleventh connecting rod, a thirty-second mobile pair P32, a twelfth connecting rod, a thirty-third mobile pair P33, a thirteenth connecting rod and a thirty-fourth rotation pair R34 which are connected in sequence; the thirty-fourth rotation pair R34 is also connected to the moving platform, and the thirty-first mobile pair P31 is also connected to the fixed platform.

[0014] The twelfth connecting rod is a V-shaped connecting rod; the thirty-first moving pair P31 is connected to a moving motor.

[0015] The fourth kinematic chain includes the forty-first mobile pair P41, the fourteenth connecting rod, the forty-second mobile pair P42, the fifteenth connecting rod, the forty-third mobile pair P43, the sixteenth connecting rod and the forty-fourth rotation pair R44 which are connected in sequence; the forty-fourth rotation pair R44 is also connected to the moving platform, and the forty-first mobile pair P41 is also connected to the fixed platform.

[0016] The fourteenth connecting rod is a V-shaped connecting rod; the forty-first movable pair P41 is connected to a movable motor.

[0017] The first rotating pair R11 is connected to a rotating motor.

[0018] The seventh rotation pair R17 and the second rotation pair R12 are both connected to auxiliary motors.

[0019] The beneficial effects of the present invention are:

[0020] (1) The three-movement-one-rotation parallel robot end effector with a locking mode of the present invention has a three-movement-one-rotation motion mode, which can be transformed into a locking mode without locking the drive pair. In the absence of power, the strength of the component itself can resist the impact of the external environment, and can meet the demand for maintaining a stable posture of the load for a long time in production operations.

[0021] (2) The three-movement and one-rotation parallel robot with a locking mode of the present invention can be used as a robot bionic leg. During movement, the three movements and one rotation can adjust the position of the legs and realize the swing of the legs. In the locked state, without drive, it has a certain ability to resist external forces and can maintain a stable posture.

[0022] (3) The three-movement and one-rotation parallel robot of the present invention has a locking mode. The robot can be transformed into the locking mode through an auxiliary drive. In this mode, the locking drive is not required, and the robot can maintain a stable posture. It can meet the needs of frequent changes in motion and static states under specific static configurations, and the robot can remain static without using a drive, thereby making the dynamic platform have a certain static load-bearing capacity and stiffness.

[0023] (4) The three-movement-one-rotation parallel robot with a locking mode of the present invention changes the motion mode of the end of the motion chain through a multi-mode motion chain and a kinematic pair configuration transformation, thereby changing the motion mode of the entire robot, and realizing the conversion of the robot end effector motion mode between the locking mode and the three-movement-one-rotation motion mode. In the locking mode, the robot end can withstand the impact of uncertain external loads without locking the drive pair. In the locking mode, the strength of the robot's own components plays a major role in resisting the impact of the external environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The colinear configuration of the axes of the kinematic chain of the three-movement-one-rotation parallel robot with a locking mode of the present invention;

[0025] Figure 2 The three-movement-one-rotation parallel robot with a locking mode of the present invention is in a three-rotation-one-movement motion mode;

[0026] Figure 3 The three-movement-one-rotation parallel robot with a locking mode of the present invention has a locking mode and a three-movement-one-rotation motion mode transformation configuration;

[0027] Figure 4 It is the locking mode I of the three-movement-one-rotation parallel robot with locking mode of the present invention;

[0028] Figure 5 This is the locking mode II of the three-movement-one-rotation parallel robot with a locking mode of the present invention.

[0029] 1. fixed platform, 2. second connecting rod assembly, 3. third connecting rod, 4. fourth connecting rod, 5. fifth connecting rod assembly, 6. sixth connecting rod, 7. seventh connecting rod, 8. eighth connecting rod, 9. ninth connecting rod, 10. tenth connecting rod, 11. eleventh connecting rod, 12. twelfth connecting rod, 13. thirteenth connecting rod, 14. fourteenth connecting rod, 15. fifteenth connecting rod, 16. sixteenth connecting rod, 17. moving platform;

[0030] 2-1. U-shaped connecting rod, 2-2. First connecting vertical rod;

[0031] 5-1. Connecting horizontal bar, 5-2. Second connecting vertical bar. DETAILED DESCRIPTION

[0032] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The present invention provides a three-movement one-rotation parallel robot with a locking mode, comprising a fixed platform 1 and a moving platform 17, 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 moving platform 17;

[0034] The first motion chain includes a first rotation pair R11, a second connecting rod assembly 2, a fifth connecting rod assembly 5 and an eighth rotation pair R18; the second connecting rod assembly 2 is connected to the fixed platform 1 through the first rotation pair R11, and the fifth connecting rod assembly 5 is connected to the movable platform 17 through the eighth rotation pair R18; a first branch chain and a second branch chain are also arranged between the second connecting rod assembly 2 and the fifth connecting rod assembly 5, and the second connecting rod assembly 2 is connected to the fifth connecting rod assembly through the first branch chain and the second branch chain.

[0035] The first branch chain includes a second rotation pair R12, a third link 3, a third rotation pair R13, a fourth link 4 and a fourth rotation pair R14 connected in sequence;

[0036] The second branch chain connection comprises a fifth rotational pair R15, a sixth connecting rod 6, a sixth rotational pair R16, a seventh connecting rod 7 and a seventh rotational pair R17 connected in sequence;

[0037] The second connecting rod assembly 2 includes a U-shaped connecting rod 2-1 and a first connecting vertical rod 2-2, wherein the first end of the first connecting vertical rod 2-2 is connected to the cross bar at the center of the U-shaped connecting rod 2-1, and the second end of the first connecting vertical rod 2-2 is connected to the first rotation pair R11; the first end of the U-shaped connecting rod 2-1 is connected to the second rotation pair R12, and the second end of the U-shaped connecting rod 2-1 is connected to the seventh rotation pair R17;

[0038] The fifth connecting rod assembly 5 includes a connecting cross bar 5-1 and a second connecting vertical bar 5-2. The first end of the connecting cross bar 5-1 is connected to the fourth rotation pair R14, and the second end of the connecting cross bar 5-1 is connected to the fifth rotation pair R15.

[0039] The second motion chain includes the twenty-first rotation pair R21, the eighth connecting rod 8, the twenty-second movable pair P22, the ninth connecting rod 9, the twenty-third movable pair P23, the tenth connecting rod 10 and the twenty-fourth movable pair P24 which are connected in sequence; the twenty-fourth movable pair P24 is also connected to the moving platform 17, and the twenty-first rotation pair R21 is also connected to the fixed platform 1.

[0040] The tenth connecting rod 10 is a V-shaped connecting rod.

[0041] The third motion chain includes a thirty-first movable pair P31, an eleventh connecting rod 11, a thirty-second movable pair P32, a twelfth connecting rod 12, a thirty-third movable pair P33, a thirteenth connecting rod 13 and a thirty-fourth rotation pair R34 which are connected in sequence; the thirty-fourth rotation pair R34 is also connected to the moving platform 17, and the thirty-first movable pair P31 is also connected to the fixed platform 1.

[0042] The twelfth connecting rod 12 is a V-shaped connecting rod.

[0043] The fourth kinematic chain includes the forty-first movable pair P41, the fourteenth connecting rod 14, the forty-second movable pair P42, the fifteenth connecting rod 15, the forty-third movable pair P43, the sixteenth connecting rod 16 and the forty-fourth rotation pair R44 which are connected in sequence; the forty-fourth rotation pair R44 is also connected to the moving platform 17, and the forty-first movable pair P41 is also connected to the fixed platform 1.

[0044] The fourteenth connecting rod 14 is a V-shaped connecting rod.

[0045] like Figure 1 As shown, the first rotation pair R11 in the first kinematic chain is rotationally connected to the fixed platform 1, and the second connecting rod assembly 2 is rotationally connected to the fixed platform 1 through the first rotation pair R11. The third connecting rod 3 is rotationally connected to the second connecting rod assembly 2 through the second rotation pair R12, and the fourth connecting rod 4 is rotationally connected to the third connecting rod 3 through the third rotation pair R13. The fourth connecting rod 4 is rotationally connected to the fifth connecting rod assembly 5 through the fourth rotation pair R14. The fifth connecting rod assembly 5 is rotationally connected to the sixth connecting rod 6 through the fifth rotation pair R15. The sixth connecting rod 6 is rotationally connected to the seventh connecting rod 7 through the sixth rotation pair R16. The seventh connecting rod 7 is rotationally connected to the second connecting rod assembly 2 through the seventh rotation pair R17. The second connecting vertical rod 5-2 of the fifth connecting rod assembly 5 is rotationally connected to the moving platform 17 through the eighth rotation pair R18.

[0046] like Figure 1 As shown, the axis of the first rotation pair R11 is colinear with the axis of the eighth rotation pair R18.

[0047] like Figure 1 As shown, the axes of the second rotational pair R12, the third rotational pair R13, the fourth rotational pair R14, the fifth rotational pair R15, the sixth rotational pair R16 and the seventh rotational pair R17 are parallel to the X-axis.

[0048] like Figure 1 As shown, the axis of the second rotation pair R12 coincides with the axis of the seventh rotation pair R17. The axis of the fourth rotation pair R14 coincides with the axis of the fifth rotation pair R15.

[0049] like Figure 1 As shown, the distance between the axis of the second rotation pair R12 and the axis of the third rotation pair R13 is the same as the distance from the axis of the third rotation pair R13 to the axis of the fourth rotation pair R14.

[0050] like Figure 1 As shown, the distance between the axis of the seventh rotation pair R17 and the axis of the sixth rotation pair R16 is the same as the distance from the axis of the sixth rotation pair R16 to the axis of the fifth rotation pair R15.

[0051] like Figure 1 As shown, the eighth connecting rod 8 is rotationally connected to the fixed platform 1 through the twenty-first rotation pair R21. The ninth connecting rod 9 is movably connected to the eighth connecting rod 8 through the twenty-second movement pair P22. The tenth connecting rod 10 is movably connected to the ninth connecting rod 9 through the twenty-third movement pair P23. The tenth connecting rod 10 is movably connected to the moving platform 17 through the twenty-fourth movement pair P24.

[0052] like Figure 1 As shown, the axis of the twenty-first rotation pair R21 is parallel to the X axis. The moving direction of the twenty-second movement pair P22 is parallel to the X axis, the moving direction of the twenty-third movement pair P23 is parallel to the Z axis. The moving direction of the twenty-fourth movement pair P24 is parallel to the Y axis.

[0053] like Figure 1 As shown, the eleventh connecting rod 11 is movably connected to the fixed platform 1 through the thirty-first moving pair P31. The twelfth connecting rod 12 is movably connected to the eleventh connecting rod 11 through the thirty-second moving pair P22. The twelfth connecting rod 12 is movably connected to the thirteenth connecting rod 13 through the thirty-third moving pair P33. The thirteenth connecting rod 13 is rotatably connected to the moving platform 17 through the thirty-fourth rotating pair R34.

[0054] like Figure 1 As shown, the axis of the thirty-first movable pair P31 is parallel to the Z axis. The moving direction of the thirty-second movable pair P32 is parallel to the Y axis, the moving direction of the thirty-third movable pair P33 is parallel to the X axis. The rotation direction of the thirty-fourth rotation pair R34 is parallel to the X axis.

[0055] like Figure 1As shown, the fourteenth connecting rod 14 is movably connected to the fixed platform 1 through the forty-first moving pair P41. The fifteenth connecting rod 15 is movably connected to the fifteenth connecting rod 15 through the forty-second moving pair P42. The fifteenth connecting rod 15 is movably connected to the sixteenth connecting rod 16 through the forty-third moving pair P43. The sixteenth connecting rod 16 is rotatably connected to the moving platform 17 through the forty-fourth rotating pair R44.

[0056] like Figure 1 As shown, the axis of the forty-first movable pair P41 is parallel to the Y axis. The moving direction of the forty-second movable pair P42 is parallel to the X axis. The moving direction of the forty-third movable pair P43 is parallel to the Z axis. The rotation direction of the forty-fourth rotation pair R44 is parallel to the X axis.

[0057] Figure 1 In the shown mechanism configuration, the first rotation pair R11 is connected to a rotating motor. The twenty-first rotation pair R21 is connected to a rotating motor. The thirty-first movement pair P31 is connected to a movement motor. The forty-first movement pair P41 is connected to a movement motor.

[0058] Figure 1 In the shown configuration, the motor connected to the first rotation pair R11 is locked, the motor connected to the twenty-first rotation pair R21 is locked, the motor connected to the thirty-first movement pair P31 is locked, and the motor connected to the forty-first movement pair P41 is controlled, so that Figure 1 The robot moves to Figure 2 The robot configuration is shown.

[0059] like Figure 2 In the robot configuration shown, the axis of the first rotation pair R11 and the axis of the eighth rotation pair R18 are parallel but not colinear.

[0060] like Figure 2 As shown, the axes of the second rotational pair R12, the third rotational pair R13, the fourth rotational pair R14, the fifth rotational pair R15, the sixth rotational pair R16 and the seventh rotational pair R17 are parallel to the X-axis.

[0061] like Figure 2 As shown, the axis of the second rotation pair R12 coincides with the axis of the seventh rotation pair R17. The axis of the fourth rotation pair R14 coincides with the axis of the fifth rotation pair R15.

[0062] like Figure 2 As shown, the distance between the axis of the second rotation pair R12 and the axis of the third rotation pair R13 is the same as the distance from the axis of the third rotation pair R13 to the axis of the fourth rotation pair R14.

[0063] like Figure 2 As shown, the distance between the axis of the seventh rotation pair R17 and the axis of the sixth rotation pair R16 is the same as the distance from the axis of the sixth rotation pair R16 to the axis of the fifth rotation pair R15.

[0064] like Figure 2 In the robot configuration shown, the moving platform 17 has three-dimensional movement and one-dimensional rotation motion modes. By controlling the motors connected to the first rotation pair R11, the twenty-first rotation pair R21, the thirty-first movement pair P31, and the forty-first movement pair P41, the moving platform 17 can be controlled to move in three dimensions and rotate around a direction parallel to the X-axis.

[0065] like Figure 1 In the robot configuration shown, the motor connected to the first rotation pair R11 is locked, and the motor connected to the twenty-first rotation pair R21 is locked. The motor connected to the forty-first mobile pair P41 is locked. The thirty-first mobile pair P31 is controlled so that Figure 1 The robot moves to Figure 3 The robot configuration is shown.

[0066] Figure 3 In the robot configuration shown, the axis of the first rotational pair R11 is parallel to the axis of the eighth rotational pair R18 and is collinear.

[0067] like Figure 3 As shown, the axes of the second rotational pair R12, the third rotational pair R13, the fourth rotational pair R14, the fifth rotational pair R15, the sixth rotational pair R16 and the seventh rotational pair R17 are parallel to the X-axis.

[0068] like Figure 3 As shown, the axis of the second rotational pair R12, the axis of the seventh rotational pair R17, the axis of the fourth rotational pair R14 and the axis of the fifth rotational pair R15 coincide.

[0069] like Figure 3 As shown, the distance between the axis of the second rotation pair R12 and the axis of the third rotation pair R13 is the same as the distance from the axis of the third rotation pair R13 to the axis of the fourth rotation pair R14.

[0070] like Figure 3 As shown, the distance between the axis of the seventh rotation pair R17 and the axis of the sixth rotation pair R16 is the same as the distance from the axis of the sixth rotation pair R16 to the axis of the fifth rotation pair R15.

[0071] like Figure 3 As shown, the axes of the second rotational pair R12, the seventh rotational pair R17, the fourth rotational pair R14, the fifth rotational pair R15, the third rotational pair R13 and the sixth rotational pair R16 are coplanar.

[0072] Figure 3In the robot configuration shown, the motor connected to the first rotation pair R11 is controlled, the motor connected to the twenty-first rotation pair R21 is locked, the motor connected to the thirty-first movement pair P31 is locked, and the motor connected to the forty-first movement pair P41 is locked, so that the robot can be controlled to move to Figure 4 The configuration of the mechanism shown.

[0073] like Figure 4 As shown, the axes of the second rotational pair R12, the third rotational pair R13, the fourth rotational pair R14, the fifth rotational pair R15, the sixth rotational pair R16 and the seventh rotational pair R17 are not parallel to the X-axis.

[0074] like Figure 4 As shown, the axis of the second rotational pair R12, the axis of the seventh rotational pair R17, the axis of the fourth rotational pair R14 and the axis of the fifth rotational pair R15 coincide with each other.

[0075] like Figure 4 As shown, the distance between the axis of the second rotation pair R12 and the axis of the third rotation pair R13 is the same as the distance from the axis of the third rotation pair R13 to the axis of the fourth rotation pair R14.

[0076] like Figure 4 As shown, the distance between the axis of the seventh rotation pair R17 and the axis of the sixth rotation pair R16 is the same as the distance from the axis of the sixth rotation pair R16 to the axis of the fifth rotation pair R15.

[0077] like Figure 4 As shown, the axis of the second rotation pair R12, the axis of the seventh rotation pair R17, the axis of the fourth rotation pair R14, the axis of the fifth rotation pair R15, the axis of the third rotation pair R13 and the axis of the sixth rotation pair R16 are coplanar.

[0078] Figure 4 In the robot configuration shown, the motor connected to the first rotation pair R11, the motor connected to the twenty-first rotation pair R21, the motor connected to the thirty-first mobile pair P31, the motor connected to the forty-first mobile pair P41, and the auxiliary motor connected to the seventh rotation pair R17 and the second rotation pair R12 are controlled at the same time, so that the robot can be controlled to move to Figure 5 The configuration of the mechanism shown.

[0079] like Figure 5 As shown, the axes of the second rotational pair R12, the third rotational pair R13, the fourth rotational pair R14, the fifth rotational pair R15, the sixth rotational pair R16 and the seventh rotational pair R17 are not parallel to the X-axis.

[0080] like Figure 5 As shown, the axis of the second rotational pair R12, the axis of the seventh rotational pair R17, the axis of the fourth rotational pair R14 and the axis of the fifth rotational pair R15 coincide with each other.

[0081] like Figure 5 As shown, the distance between the axis of the second rotation pair R12 and the axis of the third rotation pair R13 is the same as the distance from the axis of the third rotation pair R13 to the axis of the fourth rotation pair R14.

[0082] like Figure 5 As shown, the distance between the axis of the seventh rotation pair R17 and the axis of the sixth rotation pair R16 is the same as the distance from the axis of the sixth rotation pair R16 to the axis of the fifth rotation pair R15.

[0083] like Figure 5 As shown, the axis of the second rotation pair R12, the axis of the third rotation pair R13 and the axis of the sixth rotation pair R16 are not coplanar.

[0084] Figure 5 In the robot configuration shown, the moving platform 17 can remain in a locked state without locking the motor connected to the first rotation pair R11, the motor connected to the twenty-first rotation pair R21, the motor connected to the thirty-first motion pair P31, or the motor connected to the forty-first motion pair P41.

[0085] It can be known from the above-mentioned configuration transformation that the end effector of the three-movement-one-rotation parallel robot with a locking mode of the present invention has a three-movement-one-rotation motion mode, which can be transformed into a locking mode without locking the drive pair. In the case of no power, the strength of the component itself can resist the impact of the external environment, and can meet the demand of maintaining a stable posture for a long time under load in production operations. Through an auxiliary drive, the robot can be transformed into a locking mode, in which the drive does not need to be locked, and the robot can maintain a stable posture, which can meet the frequent transformation of the motion and static state under a specific static configuration, and the robot can be kept still without using a drive, so that the dynamic platform has a certain static bearing capacity and stiffness. Through the multi-mode motion chain, the configuration transformation of the motion pair changes the motion mode of the end of the motion chain, so that the motion mode of the entire robot changes, and the motion mode of the robot end effector is transformed between the locking mode and the three-movement-one-rotation motion modes. In the locking mode, the end of the robot can withstand the impact of uncertain external loads, and there is no need to lock the drive pair. In the locking mode, the strength of the robot's own components plays a major role in resisting the impact of the external environment.

[0086] Example 1

[0087] A three-movement one-rotation parallel robot with a locking mode comprises a fixed platform 1 and a moving platform 17, 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 moving platform 17;

[0088] The first motion chain includes a first rotation pair R11, a second connecting rod assembly 2, a fifth connecting rod assembly 5 and an eighth rotation pair R18; the second connecting rod assembly 2 is connected to the fixed platform 1 through the first rotation pair R11, and the fifth connecting rod assembly 5 is connected to the movable platform 17 through the eighth rotation pair R18; a first branch chain and a second branch chain are also arranged between the second connecting rod assembly 2 and the fifth connecting rod assembly 5, and the second connecting rod assembly 2 is connected to the fifth connecting rod assembly through the first branch chain and the second branch chain.

[0089] Example 2

[0090] A three-movement one-rotation parallel robot with a locking mode comprises a fixed platform 1 and a moving platform 17, 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 moving platform 17;

[0091] The first motion chain includes a first rotation pair R11, a second connecting rod assembly 2, a fifth connecting rod assembly 5 and an eighth rotation pair R18; the second connecting rod assembly 2 is connected to the fixed platform 1 through the first rotation pair R11, and the fifth connecting rod assembly 5 is connected to the movable platform 17 through the eighth rotation pair R18; a first branch chain and a second branch chain are also arranged between the second connecting rod assembly 2 and the fifth connecting rod assembly 5, and the second connecting rod assembly 2 is connected to the fifth connecting rod assembly through the first branch chain and the second branch chain.

[0092] The first branch chain includes a second rotation pair R12, a third link 3, a third rotation pair R13, a fourth link 4 and a fourth rotation pair R14 connected in sequence;

[0093] The second branch chain connection comprises a fifth rotational pair R15, a sixth connecting rod 6, a sixth rotational pair R16, a seventh connecting rod 7 and a seventh rotational pair R17 connected in sequence;

[0094] The second connecting rod assembly 2 includes a U-shaped connecting rod 2-1 and a first connecting vertical rod 2-2, wherein the first end of the first connecting vertical rod 2-2 is connected to the cross bar at the center of the U-shaped connecting rod 2-1, and the second end of the first connecting vertical rod 2-2 is connected to the first rotation pair R11; the first end of the U-shaped connecting rod 2-1 is connected to the second rotation pair R12, and the second end of the U-shaped connecting rod 2-1 is connected to the seventh rotation pair R17;

[0095] The fifth connecting rod assembly 5 includes a connecting cross bar 5-1 and a second connecting vertical bar 5-2. The first end of the connecting cross bar 5-1 is connected to the fourth rotation pair R14, and the second end of the connecting cross bar 5-1 is connected to the fifth rotation pair R15.

[0096] Example 3

[0097] A three-movement one-rotation parallel robot with a locking mode comprises a fixed platform 1 and a moving platform 17, 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 moving platform 17;

[0098] The first motion chain includes a first rotation pair R11, a second connecting rod assembly 2, a fifth connecting rod assembly 5 and an eighth rotation pair R18; the second connecting rod assembly 2 is connected to the fixed platform 1 through the first rotation pair R11, and the fifth connecting rod assembly 5 is connected to the movable platform 17 through the eighth rotation pair R18; a first branch chain and a second branch chain are also arranged between the second connecting rod assembly 2 and the fifth connecting rod assembly 5, and the second connecting rod assembly 2 is connected to the fifth connecting rod assembly through the first branch chain and the second branch chain.

[0099] The first branch chain includes a second rotation pair R12, a third link 3, a third rotation pair R13, a fourth link 4 and a fourth rotation pair R14 connected in sequence;

[0100] The second branch chain connection comprises a fifth rotational pair R15, a sixth connecting rod 6, a sixth rotational pair R16, a seventh connecting rod 7 and a seventh rotational pair R17 connected in sequence;

[0101] The second connecting rod assembly 2 includes a U-shaped connecting rod 2-1 and a first connecting vertical rod 2-2, wherein the first end of the first connecting vertical rod 2-2 is connected to the cross bar at the center of the U-shaped connecting rod 2-1, and the second end of the first connecting vertical rod 2-2 is connected to the first rotation pair R11; the first end of the U-shaped connecting rod 2-1 is connected to the second rotation pair R12, and the second end of the U-shaped connecting rod 2-1 is connected to the seventh rotation pair R17;

[0102] The fifth connecting rod assembly 5 includes a connecting cross bar 5-1 and a second connecting vertical bar 5-2. The first end of the connecting cross bar 5-1 is connected to the fourth rotation pair R14, and the second end of the connecting cross bar 5-1 is connected to the fifth rotation pair R15.

[0103] The second motion chain includes the twenty-first rotation pair R21, the eighth connecting rod 8, the twenty-second movable pair P22, the ninth connecting rod 9, the twenty-third movable pair P23, the tenth connecting rod 10 and the twenty-fourth movable pair P24 which are connected in sequence; the twenty-fourth movable pair P24 is also connected to the moving platform 17, and the twenty-first rotation pair R21 is also connected to the fixed platform 1.

Claims

1. A three-movement and one-rotation parallel robot with locking mode, characterized in that: It comprises a fixed platform (1) and a movable platform (17), 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 (17); The first kinematic chain comprises a first rotational pair R11, a second connecting rod assembly (2), a fifth connecting rod assembly (5) and an eighth rotational pair R18; the second connecting rod assembly (2) is connected to the fixed platform (1) via the first rotational pair R11, and the fifth connecting rod assembly (5) is connected to the movable platform (17) via the eighth rotational pair R18; a first branch chain and a second branch chain are further provided between the second connecting rod assembly (2) and the fifth connecting rod assembly (5), and the second connecting rod assembly (2) is connected to the fifth connecting rod assembly via the first branch chain and the second branch chain; The first branch chain comprises a second rotational pair R12, a third connecting rod (3), a third rotational pair R13, a fourth connecting rod (4) and a fourth rotational pair R14 which are connected in sequence; The second branch chain connection comprises a fifth rotational pair R15, a sixth connecting rod (6), a sixth rotational pair R16, a seventh connecting rod (7) and a seventh rotational pair R17 which are connected in sequence; The second connecting rod assembly (2) comprises a U-shaped connecting rod (2-1) and a first connecting vertical rod (2-2); the first end of the first connecting vertical rod (2-2) is connected to a cross rod at the center of the U-shaped connecting rod (2-1); the second end of the first connecting vertical rod (2-2) is connected to a first rotation pair R11; the first end of the U-shaped connecting rod (2-1) is connected to a second rotation pair R12; the second end of the U-shaped connecting rod (2-1) is connected to a seventh rotation pair R17; The fifth connecting rod assembly (5) comprises a connecting cross rod (5-1) and a second connecting vertical rod (5-2), wherein the first end of the connecting cross rod (5-1) is connected to the fourth rotation pair R14, and the second end of the connecting cross rod (5-1) is connected to the fifth rotation pair R15; The second kinematic chain comprises a twenty-first rotational pair R21, an eighth connecting rod (8), a twenty-second moving pair P22, a ninth connecting rod (9), a twenty-third moving pair P23, a tenth connecting rod (10) and a twenty-fourth moving pair P24 which are connected in sequence; the twenty-fourth moving pair P24 is also connected to the moving platform (17), and the twenty-first rotational pair R21 is also connected to the fixed platform (1); The third kinematic chain comprises a thirty-first moving pair P31, an eleventh connecting rod (11), a thirty-second moving pair P32, a twelfth connecting rod (12), a thirty-third moving pair P33, a thirteenth connecting rod (13) and a thirty-fourth rotation pair R34 which are connected in sequence; the thirty-fourth rotation pair R34 is also connected to the moving platform (17), and the thirty-first moving pair P31 is also connected to the fixed platform (1); The fourth kinematic chain comprises a forty-first movable pair P41, a fourteenth connecting rod (14), a forty-second movable pair P42, a fifteenth connecting rod (15), a forty-third movable pair P43, a sixteenth connecting rod (16) and a forty-fourth rotation pair R44 which are connected in sequence; the forty-fourth rotation pair R44 is also connected to the moving platform (17), and the forty-first movable pair P41 is also connected to the fixed platform (1).

2. The three-movement-one-rotation parallel robot with locking mode according to claim 1, characterized in that: The tenth connecting rod (10) is a V-shaped connecting rod; the twenty-first rotating pair R21 is connected to a rotating motor.

3. The three-movement-one-rotation parallel robot with locking mode according to claim 1, characterized in that: The twelfth connecting rod (12) is a V-shaped connecting rod; the thirty-first movable pair P31 is connected to a movable motor.

4. The three-movement-one-rotation parallel robot with locking mode according to claim 1, characterized in that: The fourteenth connecting rod (14) is a V-shaped connecting rod; the forty-first movable pair P41 is connected to a movable motor.

5. The three-movement-one-rotation parallel robot with locking mode according to claim 1, characterized in that: The first rotating pair R11 is connected to a rotating motor.

6. The three-movement-one-rotation parallel robot with locking mode according to claim 1, characterized in that: The seventh rotation pair R17 and the second rotation pair R12 are both connected to auxiliary motors.

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