Multi-mode parallel robot with two-rotation and one-movement motion mode

Abstract

The multi-mode parallel robot comprises a base and a movable platform, and the movable platform is connected with the base through a first kinematic chain, a second kinematic chain and a third kinematic chain; the first kinematic chain comprises an eighteenth ball pair S18, a seventh connecting rod, a seventeenth sliding pair P17 and a first kinematic branch chain assembly which are connected in sequence, the first kinematic branch chain assembly is further connected with the base, and the eighteenth ball pair S18 is further connected with the movable platform. After the movement modes of the robot are changed, a certain movement range of two rotations and one movement is changed, the adaptability of the robot to different machining operations is improved, and the robot can be suitable for machining of a part with a larger dimension by changing the movement modes.

Description

Technical Field

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

[0002] The two-rotation-one-movement parallel robot can be used to process complex parts. The existing two-rotation-one-movement parallel robot has a single motion mode and a small working space. Generally, it is only suitable for processing conditions with a single two-rotation-one-movement motion mode, and is not suitable for conditions where the processing direction or working range needs to be adjusted during processing. When processing parts with uneven dimensions in all dimensions, the existing two-rotation-one-movement parallel robot generally has processing difficulties. The existing robot is only suitable for processing parts with relatively balanced dimensions in all dimensions. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-mode parallel robot with two rotation and one movement motion modes. After changing the motion mode, the range of a certain motion of the two rotations and one movement will change, thereby increasing the adaptability of the robot to different processing operations. Through the change of the motion mode, it can be suitable for the processing of parts with relatively large dimensions.

[0004] The technical solution adopted by the present invention is a multi-mode parallel robot with two rotation and one movement modes, comprising a base and a moving platform, wherein the moving platform is connected to the base through a first movement chain, a second movement chain and a third movement chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base, and the eighteenth ball pair S18 is also connected to the moving platform.

[0005] The present invention is also characterized in that: The first kinematic branch chain assembly includes the eleventh rotation pair R11, the second connecting rod, the twelfth movable pair P12, the third connecting rod, the thirteenth rotation pair R13, the fourth connecting rod assembly, the fourteenth rotation pair R14, the fifth connecting rod, the fifteenth movable pair P15, the sixth connecting rod and the sixteenth rotation pair R16 which are connected in sequence. The eleventh rotation pair R11 and the sixteenth rotation pair R16 are both connected to the base; the fourth connecting rod assembly is connected to the seventeenth movable pair P17.

[0006] The fourth connecting rod assembly includes a first vertical rod and a first cross rod, the first end of the first vertical rod is connected to the seventeenth movable pair P17, the second end of the first vertical rod is connected to the rod body of the first cross rod, the first end of the first cross rod is connected to the thirteenth rotation pair R13, and the second end of the first cross rod is connected to the fourteenth rotation pair R14.

[0007] The second kinematic chain includes a twenty-eighth ball pair S28, a thirteenth connecting rod, a twenty-seventh movable pair P27 and a second kinematic branch chain assembly which are connected in sequence. The second kinematic branch chain assembly is also connected to the base, and the twenty-eighth ball pair S28 is also connected to the moving platform.

[0008] The second motion branch chain assembly includes a twenty-first rotation pair R21, an eighth connecting rod, a twenty-second movable pair P22, a ninth connecting rod, a twenty-third rotation pair R23, a tenth connecting rod assembly, a twenty-fourth rotation pair R24, an eleventh connecting rod, a twenty-fifth movable pair P25, a twelfth connecting rod and a twenty-sixth rotation pair R26 which are connected in sequence. The twenty-first rotation pair R21 and the twenty-sixth rotation pair R26 are both connected to the base; the tenth connecting rod assembly is connected to the twenty-seventh movable pair P27.

[0009] The tenth connecting rod assembly includes a second vertical rod and a second cross rod, the first end of the second vertical rod is connected to the twenty-seventh movable pair P27, the second end of the second vertical rod is connected to the rod body of the second cross rod, the first end of the second cross rod is connected to the twenty-third rotation pair R23, and the second end of the second cross rod is connected to the twenty-fourth rotation pair R24.

[0010] The third kinematic chain includes a thirty-eighth ball pair S38, a nineteenth connecting rod, a thirty-seventh movable pair P37 and a third kinematic branch chain assembly which are connected in sequence. The third kinematic branch chain assembly is also connected to the base, and the thirty-eighth ball pair S38 is also connected to the moving platform.

[0011] The third kinematic branch chain assembly includes a thirty-first rotation pair R31, a fourteenth connecting rod, a thirty-second movable pair P32, a fifteenth connecting rod, a thirty-third rotation pair R33, a sixteenth connecting rod assembly, a thirty-fourth rotation pair R34, a seventeenth connecting rod, a thirty-fifth movable pair P35, an eighteenth connecting rod and a thirty-sixth rotation pair R36 which are connected in sequence. The thirty-first rotation pair R31 and the thirty-sixth rotation pair R36 are both connected to the base; the sixteenth connecting rod assembly is connected to the thirty-seventh movable pair P37.

[0012] The sixteenth connecting rod assembly includes a third vertical rod and a third cross rod. The first end of the third vertical rod is connected to the thirty-seventh movable pair P37, the second end of the third vertical rod is connected to the rod body of the third cross rod, the first end of the third cross rod is connected to the thirty-third rotation pair R33, and the second end of the third cross rod is connected to the thirty-fourth rotation pair R34.

[0013] The eleventh rotation pair R11, the twenty-first rotation pair R21 and the thirty-first rotation pair R31 are all connected to a rotation drive motor; The twelfth moving pair P12, the fifteenth moving pair P15, the twenty-second moving pair P22, the twenty-fifth moving pair P25, the thirty-second moving pair P32 and the thirty-fifth moving pair P35 are all connected to a moving driving motor.

[0014] The beneficial effects of the present invention are: (1) The multi-mode parallel robot with two rotation and one movement modes of the present invention has a plurality of two rotation and one movement modes. The robot can switch between different movement modes through an auxiliary driving motor.

[0015] (2) After the multi-mode parallel robot with two rotation and one movement modes of the present invention changes its movement mode, the range of one of the two rotation and one movement will change, thereby increasing the adaptability of the robot to different processing operations. By changing the movement mode, the working performance of a single robot is improved. It is not only capable of processing parts with small differences in three-dimensional dimensions, but also suitable for processing parts with relatively large dimensions in one dimension. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a transformation configuration diagram of the multi-mode parallel robot having two rotation and one movement modes in the movement mode of the present invention; Figure 2 It is a configuration diagram of a multi-mode parallel robot having two rotation and one movement modes in the present invention in movement mode I; Figure 3 The present invention is a configuration diagram of a multi-mode parallel robot having two rotation and one movement modes in movement mode II.

[0017] 1. base, 2. second link, 3. third link, 4. fourth link assembly, 5. fifth link, 6. sixth link, 7. seventh link, 8. eighth link, 9. ninth link, 10. tenth link assembly, 11. eleventh link, 12. twelfth link, 13. thirteenth link, 14. fourteenth link, 15. fifteenth link, 16. sixteenth link assembly, 17. seventeenth link, 18. eighteenth link, 19. nineteenth link, 20. moving platform.

[0018] 4-1. The first vertical bar, 4-2. The first horizontal bar; 10-1. The second vertical bar, 10-2. The second horizontal bar; 16-1. The third vertical bar, 16-2. The third horizontal bar. DETAILED DESCRIPTION

[0019] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] The present invention provides a multi-mode parallel robot having two rotation and one translation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 20, and the moving platform 20 is connected to the base 1 through a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod 7, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base 1, and the eighteenth ball pair S18 is also connected to the moving platform 20.

[0021] The first kinematic branch chain assembly includes the eleventh rotational pair R11, the second connecting rod 2, the twelfth movable pair P12, the third connecting rod 3, the thirteenth rotational pair R13, the fourth connecting rod assembly 4, the fourteenth rotational pair R14, the fifth connecting rod 5, the fifteenth movable pair P15, the sixth connecting rod 6 and the sixteenth rotational pair R16 connected in sequence, the eleventh rotational pair R11 and the sixteenth rotational pair R16 are both connected to the base 1; the fourth connecting rod assembly 4 is connected to the seventeenth movable pair P17.

[0022] The fourth connecting rod assembly 4 includes a first vertical rod 4-1 and a first cross rod 4-2. The first end of the first vertical rod 4-1 is connected to the seventeenth movable pair P17, the second end of the first vertical rod 4-1 is connected to the rod body of the first cross rod 4-2, the first end of the first cross rod 4-2 is connected to the thirteenth rotation pair R13, and the second end of the first cross rod 4-2 is connected to the fourteenth rotation pair R14.

[0023] The second kinematic chain includes a twenty-eighth ball pair S28, a thirteenth connecting rod 13, a twenty-seventh movable pair P27 and a second kinematic branch chain assembly which are connected in sequence. The second kinematic branch chain assembly is also connected to the base 1, and the twenty-eighth ball pair S28 is also connected to the moving platform 20.

[0024] The second kinematic branch chain assembly includes a twenty-first rotational pair R21, an eighth connecting rod 8, a twenty-second movable pair P22, a ninth connecting rod 9, a twenty-third rotational pair R23, a tenth connecting rod assembly 10, a twenty-fourth rotational pair R24, an eleventh connecting rod 11, a twenty-fifth movable pair P25, a twelfth connecting rod 12 and a twenty-sixth rotational pair R26 which are connected in sequence. The twenty-first rotational pair R21 and the twenty-sixth rotational pair R26 are both connected to the base 1; the tenth connecting rod assembly 10 is connected to the twenty-seventh movable pair P27.

[0025] The tenth connecting rod assembly 10 includes a second vertical rod 10-1 and a second cross rod 10-2. The first end of the second vertical rod 10-1 is connected to the twenty-seventh movable pair P27, the second end of the second vertical rod 10-1 is connected to the rod body of the second cross rod 10-2, the first end of the second cross rod 10-2 is connected to the twenty-third rotation pair R23, and the second end of the second cross rod 10-2 is connected to the twenty-fourth rotation pair R24.

[0026] The third kinematic chain includes a thirty-eighth ball pair S38, a nineteenth connecting rod 19, a thirty-seventh movable pair P37 and a third kinematic branch chain assembly which are connected in sequence. The third kinematic branch chain assembly is also connected to the base 1, and the thirty-eighth ball pair S38 is also connected to the moving platform 20.

[0027] The third kinematic branch chain assembly includes a thirty-first rotation pair R31, a fourteenth connecting rod 14, a thirty-second movable pair P32, a fifteenth connecting rod 15, a thirty-third rotation pair R33, a sixteenth connecting rod assembly 16, a thirty-fourth rotation pair R34, a seventeenth connecting rod 17, a thirty-fifth movable pair P35, an eighteenth connecting rod 18 and a thirty-sixth rotation pair R36 which are connected in sequence. The thirty-first rotation pair R31 and the thirty-sixth rotation pair R36 are both connected to the base 1; the sixteenth connecting rod assembly 16 is connected to the thirty-seventh movable pair P37.

[0028] The sixteenth connecting rod assembly 16 includes a third vertical rod 16-1 and a third cross rod 16-2. The first end of the third vertical rod 16-1 is connected to the thirty-seventh movable pair P37, the second end of the third vertical rod 16-1 is connected to the rod body of the third cross rod 16-2, the first end of the third cross rod 16-2 is connected to the thirty-third rotation pair R33, and the second end of the third cross rod 16-2 is connected to the thirty-fourth rotation pair R34.

[0029] The eleventh rotation pair R11, the twenty-first rotation pair R21 and the thirty-first rotation pair R31 are all connected to a rotation drive motor; The twelfth moving pair P12, the fifteenth moving pair P15, the twenty-second moving pair P22, the twenty-fifth moving pair P25, the thirty-second moving pair P32 and the thirty-fifth moving pair P35 are all connected to a moving driving motor.

[0030] like Figure 1 As shown, the second connecting rod 2 is rotationally connected to the base 1 through the eleventh rotation pair R11, and the third connecting rod 3 is movably connected to the second connecting rod 2 through the twelfth movement pair P12. The first end of the first crossbar 4-2 of the fourth connecting rod assembly 4 is rotationally connected to the third connecting rod 3 through the thirteenth rotation pair R13. The fifth connecting rod 5 is rotationally connected to the second end of the first crossbar 4-2 of the fourth connecting rod assembly 4 through the fourteenth rotation pair R14. The sixth connecting rod 6 is rotationally connected to the base 1 through the sixteenth rotation pair R16. The first end of the first vertical rod 4-1 of the fourth connecting rod assembly 4 is movably connected to the seventh connecting rod 7 through the seventeenth movement pair P17. The seventh connecting rod 7 is rotationally connected to the moving platform 20 through the eighteenth ball pair S18.

[0031] like Figure 1As shown, the eighth connecting rod 8 is rotatably connected to the base 1 through the twenty-first rotation pair R21, and the ninth connecting rod 9 is rotatably connected to the eighth connecting rod 8 through the twenty-second movement pair P22. The first end of the second crossbar 10-1 in the tenth connecting rod assembly 10 is rotatably connected to the ninth connecting rod 9 through the twenty-third rotation pair R23. The eleventh connecting rod 11 is rotatably connected to the second end of the second crossbar 10-1 in the tenth connecting rod assembly 10 through the twenty-fourth rotation pair R24. The twelfth connecting rod 12 is rotatably connected to the eleventh connecting rod 11 through the twenty-fifth movement pair P25, and the twelfth connecting rod 12 is rotatably connected to the base 1 through the twenty-sixth rotation pair R26. The first end of the second vertical rod 10-1 in the tenth connecting rod assembly 10 is rotatably connected to the thirteenth connecting rod 13 through the twenty-seventh movement pair P27. The thirteenth connecting rod 13 is rotatably connected to the moving platform 20 through the twenty-eighth ball pair S28.

[0032] like Figure 1 As shown, the fourteenth connecting rod 14 is rotatably connected to the base 1 through the thirty-first rotation pair R31, and the fifteenth connecting rod 15 is rotatably connected to the fourteenth connecting rod 14 through the thirty-second movement pair P32. The first end of the third crossbar 16-2 in the sixteenth connecting rod assembly 16 is rotatably connected to the fifteenth connecting rod 15 through the thirty-third rotation pair R33. The seventeenth connecting rod 17 is rotatably connected to the second end of the third crossbar 16-2 in the sixteenth connecting rod assembly 16 through the thirty-fourth rotation pair R34. The eighteenth connecting rod 18 is rotatably connected to the seventeenth connecting rod 17 through the thirty-fifth movement pair P35, and the eighteenth connecting rod 18 is rotatably connected to the base 1 through the thirty-sixth rotation pair R36. The first end of the third vertical rod 16-1 in the sixteenth connecting rod assembly 16 is rotatably connected to the nineteenth connecting rod 19 through the thirty-seventh movement pair P37. The nineteenth connecting rod 19 is rotatably connected to the moving platform 20 through the thirty-eighth ball pair S38.

[0033] like Figure 1 As shown, the axes of the eleventh rotational pair R11 , the thirteenth rotational pair R13 , the fourteenth rotational pair R14 and the sixteenth rotational pair R16 all intersect at point O1 .

[0034] like Figure 1 As shown, the axes of the twenty-first rotational pair R21, the twenty-third rotational pair R23, the twenty-fourth rotational pair R24 ​​and the twenty-sixth rotational pair R26 all intersect at point O2.

[0035] like Figure 1 As shown, the axes of the thirty-first rotational pair R31, the thirty-third rotational pair R33, the thirty-fourth rotational pair R34 and the thirty-sixth rotational pair R36 all intersect at point O3.

[0036] Figure 1 In the shown mechanism configuration, the moving directions of the twelfth moving pair P12 and the fifteenth moving pair P15 are parallel.

[0037] Figure 1 In the shown mechanism configuration, the moving directions of the twenty-first moving pair P21 and the twenty-fifth moving pair P25 are parallel.

[0038] Figure 1 In the shown mechanism configuration, the moving directions of the thirty-second moving pair P32 and the thirty-fifth moving pair P35 are parallel.

[0039] Figure 1 In the shown mechanism configuration, the eleventh rotation pair R11, the twenty-first rotation pair R21 and the thirty-first rotation pair R31 are all connected to a rotation drive motor.

[0040] Figure 1 In the shown mechanism configuration, the twelfth moving pair P12, the fifteenth moving pair P15, the twenty-second moving pair P22, the twenty-fifth moving pair P25, the thirty-second moving pair P32 and the thirty-fifth moving pair P35 are all connected to a moving drive motor.

[0041] Figure 1 In the shown configuration of the mechanism, the rotating motors connected to the eleventh rotating pair R11, the twenty-first rotating pair R21 and the thirty-first rotating pair R31 drive the mobile driving motors connected to the twelfth mobile pair P12 and the fifteenth mobile pair P15; drive the mobile driving motors connected to the twenty-second mobile pair P22 and the twenty-fifth mobile pair P25; drive the mobile driving motors connected to the thirty-second mobile pair P32 and the thirty-fifth mobile pair P35; the mechanism can be moved to Figure 2 The structure is shown in the following configuration.

[0042] Figure 2 In the shown mechanism configuration, the moving platform 20 has two rotation and one translation motion modes. Figure 2 In the shown mechanical configuration, the moving platform 20 has a large moving range in the moving direction of the twelfth moving pair P12. Figure 2 In the mode shown, the movable platform can move in a large range along the Z-axis direction. It can not only process parts with small differences in three-dimensional dimensions, but also is suitable for processing parts with relatively large dimensions in one dimension.

[0043] After the multi-mode parallel robot of the present invention has two rotation and one movement modes, the range of one of the two rotations and one movement will change after the movement mode is changed, thereby increasing the adaptability of the robot to different processing operations. By changing the movement mode, the working performance of a single robot is improved.

[0044] Figure 2In the shown mechanism configuration, the intersection of the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 does not coincide with the intersection of the axis of the eleventh rotation pair R11 and the axis of the twelfth rotation pair R12.

[0045] Figure 2 In the shown mechanism configuration, the intersection point of the axis of the twenty-third rotation pair R23 and the axis of the twenty-fourth rotation pair R24 ​​does not coincide with the intersection point of the axis of the twenty-first rotation pair R21 and the axis of the twenty-second rotation pair R22.

[0046] Figure 2 In the shown mechanism configuration, the intersection of the axis of the thirty-third rotation pair R33 and the axis of the thirty-fourth rotation pair R34 does not coincide with the intersection of the axis of the thirty-first rotation pair R31 and the axis of the thirty-second rotation pair R32.

[0047] When the organization moves to Figure 2 In the shown mechanism configuration, there is no need to drive the rotation motors connected to the eleventh rotation pair R11, the twenty-first rotation pair R21 and the thirty-first rotation pair R31. By driving the mobile drive motors connected to the twelfth mobile pair P12 and the fifteenth mobile pair P15; driving the mobile drive motors connected to the twenty-second mobile pair P22 and the twenty-fifth mobile pair P25; and driving the mobile drive motors connected to the thirty-second mobile pair P32 and the thirty-fifth mobile pair P35, the movable platform 20 can be controlled to perform a two-rotation-one-mobile mode of motion.

[0048] Figure 1 In the shown configuration of the mechanism, the mobile drive motor connected to the twelfth mobile pair P12 and the fifteenth mobile pair P15 is locked; the mobile drive motor connected to the twenty-second mobile pair P22 and the twenty-fifth mobile pair P25 is locked; the mobile drive motor connected to the thirty-second mobile pair P32 and the thirty-fifth mobile pair P35 is locked; the rotation drive motor connected to the eleventh rotation pair R11, the twenty-first rotation pair R21 and the thirty-first rotation pair R31 can be driven to move the mechanism to Figure 3 The structure is shown in the following configuration. Figure 3 In the shown mechanism configuration, the moving platform 20 has another two-rotation-one-movement motion mode.

[0049] When the organization moves to Figure 3In the shown mechanism configuration, it is not necessary to drive the mobile drive motors connected to the 12th mobile pair P12 and the 15th mobile pair P15; it is not necessary to drive the mobile drive motors connected to the 22nd mobile pair P22 and the 25th mobile pair P25; it is not necessary to drive the mobile drive motors connected to the 32nd mobile pair P32 and the 35th mobile pair P35. By driving the rotation motors connected to the 11th rotation pair R11, the 21st rotation pair R21 and the 31st rotation pair R31, the platform 20 can be controlled to move in a two-rotation-one-movement mode.

[0050] Figure 3 In the shown mechanism configuration, the direction of the twelfth mobile pair P12 does not coincide with the direction of the fifteenth mobile pair P15.

[0051] Figure 3 In the shown mechanism configuration, the direction of the twenty-second mobile pair P22 does not coincide with the direction of the twenty-fifth mobile pair P25.

[0052] Figure 3 In the shown mechanism configuration, the direction of the thirty-second mobile pair P32 does not coincide with the direction of the thirty-fifth mobile pair P35.

[0053] Figure 3 In the shown mechanism configuration, the intersection of the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 coincides with the intersection of the axis of the eleventh rotation pair R11 and the axis of the twelfth rotation pair R12.

[0054] Figure 3 In the shown mechanism configuration, the intersection of the axis of the twenty-third rotation pair R23 and the axis of the twenty-fourth rotation pair R24 ​​coincides with the intersection of the axis of the twenty-first rotation pair R21 and the axis of the twenty-second rotation pair R22.

[0055] Figure 3 In the shown mechanism configuration, the intersection of the axis of the thirty-third rotation pair R33 and the axis of the thirty-fourth rotation pair R34 coincides with the intersection of the axis of the thirty-first rotation pair R31 and the axis of the thirty-second rotation pair R32.

[0056] Example 1 A multi-mode parallel robot with two rotation and one translation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 20, and the moving platform 20 is connected to the base 1 through a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod 7, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base 1, and the eighteenth ball pair S18 is also connected to the moving platform 20.

[0057] Example 2 A multi-mode parallel robot with two rotation and one translation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 20, and the moving platform 20 is connected to the base 1 through a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod 7, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base 1, and the eighteenth ball pair S18 is also connected to the moving platform 20.

[0058] The first kinematic branch chain assembly includes the eleventh rotational pair R11, the second connecting rod 2, the twelfth movable pair P12, the third connecting rod 3, the thirteenth rotational pair R13, the fourth connecting rod assembly 4, the fourteenth rotational pair R14, the fifth connecting rod 5, the fifteenth movable pair P15, the sixth connecting rod 6 and the sixteenth rotational pair R16 connected in sequence, the eleventh rotational pair R11 and the sixteenth rotational pair R16 are both connected to the base 1; the fourth connecting rod assembly 4 is connected to the seventeenth movable pair P17.

[0059] Example 3 A multi-mode parallel robot with two rotation and one translation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 20, and the moving platform 20 is connected to the base 1 through a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod 7, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base 1, and the eighteenth ball pair S18 is also connected to the moving platform 20.

[0060] The first kinematic branch chain assembly includes the eleventh rotational pair R11, the second connecting rod 2, the twelfth movable pair P12, the third connecting rod 3, the thirteenth rotational pair R13, the fourth connecting rod assembly 4, the fourteenth rotational pair R14, the fifth connecting rod 5, the fifteenth movable pair P15, the sixth connecting rod 6 and the sixteenth rotational pair R16 connected in sequence, the eleventh rotational pair R11 and the sixteenth rotational pair R16 are both connected to the base 1; the fourth connecting rod assembly 4 is connected to the seventeenth movable pair P17.

[0061] The fourth connecting rod assembly 4 includes a first vertical rod 4-1 and a first cross rod 4-2. The first end of the first vertical rod 4-1 is connected to the seventeenth movable pair P17, the second end of the first vertical rod 4-1 is connected to the rod body of the first cross rod 4-2, the first end of the first cross rod 4-2 is connected to the thirteenth rotation pair R13, and the second end of the first cross rod 4-2 is connected to the fourteenth rotation pair R14.

[0062] Example 4 A multi-mode parallel robot with two rotation and one translation motion modes, such as Figure 1As shown, it includes a base 1 and a moving platform 20, and the moving platform 20 is connected to the base 1 through a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod 7, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base 1, and the eighteenth ball pair S18 is also connected to the moving platform 20.

[0063] The first kinematic branch chain assembly includes the eleventh rotational pair R11, the second connecting rod 2, the twelfth movable pair P12, the third connecting rod 3, the thirteenth rotational pair R13, the fourth connecting rod assembly 4, the fourteenth rotational pair R14, the fifth connecting rod 5, the fifteenth movable pair P15, the sixth connecting rod 6 and the sixteenth rotational pair R16 connected in sequence, the eleventh rotational pair R11 and the sixteenth rotational pair R16 are both connected to the base 1; the fourth connecting rod assembly 4 is connected to the seventeenth movable pair P17.

[0064] The fourth connecting rod assembly 4 includes a first vertical rod 4-1 and a first cross rod 4-2. The first end of the first vertical rod 4-1 is connected to the seventeenth movable pair P17, the second end of the first vertical rod 4-1 is connected to the rod body of the first cross rod 4-2, the first end of the first cross rod 4-2 is connected to the thirteenth rotation pair R13, and the second end of the first cross rod 4-2 is connected to the fourteenth rotation pair R14.

[0065] The second kinematic chain includes a twenty-eighth ball pair S28, a thirteenth connecting rod 13, a twenty-seventh movable pair P27 and a second kinematic branch chain assembly which are connected in sequence. The second kinematic branch chain assembly is also connected to the base 1, and the twenty-eighth ball pair S28 is also connected to the moving platform 20.

[0066] Example 5 A multi-mode parallel robot with two rotation and one translation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 20, and the moving platform 20 is connected to the base 1 through a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod 7, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base 1, and the eighteenth ball pair S18 is also connected to the moving platform 20.

[0067] The first kinematic branch chain assembly includes the eleventh rotational pair R11, the second connecting rod 2, the twelfth movable pair P12, the third connecting rod 3, the thirteenth rotational pair R13, the fourth connecting rod assembly 4, the fourteenth rotational pair R14, the fifth connecting rod 5, the fifteenth movable pair P15, the sixth connecting rod 6 and the sixteenth rotational pair R16 connected in sequence, the eleventh rotational pair R11 and the sixteenth rotational pair R16 are both connected to the base 1; the fourth connecting rod assembly 4 is connected to the seventeenth movable pair P17.

[0068] The fourth connecting rod assembly 4 includes a first vertical rod 4-1 and a first cross rod 4-2. The first end of the first vertical rod 4-1 is connected to the seventeenth movable pair P17, the second end of the first vertical rod 4-1 is connected to the rod body of the first cross rod 4-2, the first end of the first cross rod 4-2 is connected to the thirteenth rotation pair R13, and the second end of the first cross rod 4-2 is connected to the fourteenth rotation pair R14.

[0069] The second kinematic chain includes a twenty-eighth ball pair S28, a thirteenth connecting rod 13, a twenty-seventh movable pair P27 and a second kinematic branch chain assembly which are connected in sequence. The second kinematic branch chain assembly is also connected to the base 1, and the twenty-eighth ball pair S28 is also connected to the moving platform 20.

[0070] The second kinematic branch chain assembly includes a twenty-first rotational pair R21, an eighth connecting rod 8, a twenty-second movable pair P22, a ninth connecting rod 9, a twenty-third rotational pair R23, a tenth connecting rod assembly 10, a twenty-fourth rotational pair R24, an eleventh connecting rod 11, a twenty-fifth movable pair P25, a twelfth connecting rod 12 and a twenty-sixth rotational pair R26 which are connected in sequence. The twenty-first rotational pair R21 and the twenty-sixth rotational pair R26 are both connected to the base 1; the tenth connecting rod assembly 10 is connected to the twenty-seventh movable pair P27.

[0071] Example 6 A multi-mode parallel robot with two rotation and one translation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 20, and the moving platform 20 is connected to the base 1 through a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain includes an eighteenth ball pair S18, a seventh connecting rod 7, a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base 1, and the eighteenth ball pair S18 is also connected to the moving platform 20.

[0072] The first kinematic branch chain assembly includes the eleventh rotational pair R11, the second connecting rod 2, the twelfth movable pair P12, the third connecting rod 3, the thirteenth rotational pair R13, the fourth connecting rod assembly 4, the fourteenth rotational pair R14, the fifth connecting rod 5, the fifteenth movable pair P15, the sixth connecting rod 6 and the sixteenth rotational pair R16 connected in sequence, the eleventh rotational pair R11 and the sixteenth rotational pair R16 are both connected to the base 1; the fourth connecting rod assembly 4 is connected to the seventeenth movable pair P17.

[0073] The fourth connecting rod assembly 4 includes a first vertical rod 4-1 and a first cross rod 4-2. The first end of the first vertical rod 4-1 is connected to the seventeenth movable pair P17, the second end of the first vertical rod 4-1 is connected to the rod body of the first cross rod 4-2, the first end of the first cross rod 4-2 is connected to the thirteenth rotation pair R13, and the second end of the first cross rod 4-2 is connected to the fourteenth rotation pair R14.

[0074] The second kinematic chain includes a twenty-eighth ball pair S28, a thirteenth connecting rod 13, a twenty-seventh movable pair P27 and a second kinematic branch chain assembly which are connected in sequence. The second kinematic branch chain assembly is also connected to the base 1, and the twenty-eighth ball pair S28 is also connected to the moving platform 20.

[0075] The second kinematic branch chain assembly includes a twenty-first rotational pair R21, an eighth connecting rod 8, a twenty-second movable pair P22, a ninth connecting rod 9, a twenty-third rotational pair R23, a tenth connecting rod assembly 10, a twenty-fourth rotational pair R24, an eleventh connecting rod 11, a twenty-fifth movable pair P25, a twelfth connecting rod 12 and a twenty-sixth rotational pair R26 which are connected in sequence. The twenty-first rotational pair R21 and the twenty-sixth rotational pair R26 are both connected to the base 1; the tenth connecting rod assembly 10 is connected to the twenty-seventh movable pair P27.

[0076] The tenth connecting rod assembly 10 includes a second vertical rod 10-1 and a second cross rod 10-2. The first end of the second vertical rod 10-1 is connected to the twenty-seventh movable pair P27, the second end of the second vertical rod 10-1 is connected to the rod body of the second cross rod 10-2, the first end of the second cross rod 10-2 is connected to the twenty-third rotation pair R23, and the second end of the second cross rod 10-2 is connected to the twenty-fourth rotation pair R24.

Claims

1. A multi-mode parallel robot having two rotation and one translation motion modes, characterized in that: It comprises a base (1) and a moving platform (20), wherein the moving platform (20) is connected to the base (1) via a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain comprises an eighteenth ball pair S18, a seventh connecting rod (7), a seventeenth movable pair P17 and a first kinematic branch chain assembly which are connected in sequence. The first kinematic branch chain assembly is also connected to the base (1), and the eighteenth ball pair S18 is also connected to the moving platform (20).

2. The multi-mode parallel robot with two rotation and one movement modes according to claim 1, characterized in that: The first kinematic branch chain assembly comprises an eleventh rotational pair R11, a second connecting rod (2), a twelfth movable pair P12, a third connecting rod (3), a thirteenth rotational pair R13, a fourth connecting rod assembly (4), a fourteenth rotational pair R14, a fifth connecting rod (5), a fifteenth movable pair P15, a sixth connecting rod (6) and a sixteenth rotational pair R16 which are connected in sequence. The eleventh rotational pair R11 and the sixteenth rotational pair R16 are both connected to the base (1); the fourth connecting rod assembly (4) is connected to the seventeenth movable pair P17.

3. The multi-mode parallel robot with two rotation and one movement modes according to claim 2, characterized in that: The fourth connecting rod assembly (4) comprises a first vertical rod (4-1) and a first cross rod (4-2), wherein the first end of the first vertical rod (4-1) is connected to the seventeenth movable pair P17, the second end of the first vertical rod (4-1) is connected to the rod body of the first cross rod (4-2), the first end of the first cross rod (4-2) is connected to the thirteenth rotation pair R13, and the second end of the first cross rod (4-2) is connected to the fourteenth rotation pair R14.

4. The multi-mode parallel robot with two rotation and one movement modes according to claim 3, characterized in that: The second kinematic chain comprises a twenty-eighth ball pair S28, a thirteenth connecting rod (13), a twenty-seventh movable pair P27 and a second kinematic branch chain assembly which are connected in sequence. The second kinematic branch chain assembly is also connected to the base (1), and the twenty-eighth ball pair S28 is also connected to the moving platform (20).

5. The multi-mode parallel robot with two rotation and one movement modes according to claim 4, characterized in that: The second kinematic branch chain assembly comprises a twenty-first rotational pair R21, an eighth connecting rod (8), a twenty-second movable pair P22, a ninth connecting rod (9), a twenty-third rotational pair R23, a tenth connecting rod assembly (10), a twenty-fourth rotational pair R24, an eleventh connecting rod (11), a twenty-fifth movable pair P25, a twelfth connecting rod (12) and a twenty-sixth rotational pair R26 which are connected in sequence. The twenty-first rotational pair R21 and the twenty-sixth rotational pair R26 are both connected to the base (1); the tenth connecting rod assembly (10) is connected to the twenty-seventh movable pair P27.

6. The multi-mode parallel robot with two rotation and one translation motion modes according to claim 5, characterized in that: The tenth connecting rod assembly (10) comprises a second vertical rod (10-1) and a second cross rod (10-2), wherein the first end of the second vertical rod (10-1) is connected to the twenty-seventh movable pair P27, the second end of the second vertical rod (10-1) is connected to the rod body of the second cross rod (10-2), the first end of the second cross rod (10-2) is connected to the twenty-third rotation pair R23, and the second end of the second cross rod (10-2) is connected to the twenty-fourth rotation pair R24.

7. The multi-mode parallel robot with two rotation and one translation motion modes according to claim 6, characterized in that: The third kinematic chain comprises a thirty-eighth ball pair S38, a nineteenth connecting rod (19), a thirty-seventh movable pair P37 and a third kinematic branch chain assembly which are connected in sequence. The third kinematic branch chain assembly is also connected to the base (1), and the thirty-eighth ball pair S38 is also connected to the moving platform (20).

8. The multi-mode parallel robot with two rotation and one translation motion modes according to claim 7, characterized in that: The third kinematic branch chain assembly comprises a thirty-first rotational pair R31, a fourteenth connecting rod (14), a thirty-second moving pair P32, a fifteenth connecting rod (15), a thirty-third rotational pair R33, a sixteenth connecting rod assembly (16), a thirty-fourth rotational pair R34, a seventeenth connecting rod (17), a thirty-fifth moving pair P35, an eighteenth connecting rod (18) and a thirty-sixth rotational pair R36 which are connected in sequence. The thirty-first rotational pair R31 and the thirty-sixth rotational pair R36 are both connected to the base (1); the sixteenth connecting rod assembly (16) is connected to the thirty-seventh moving pair P37.

9. The multi-mode parallel robot with two rotation and one translation motion modes according to claim 8, characterized in that: The sixteenth connecting rod assembly (16) comprises a third vertical rod (16-1) and a third cross rod (16-2), wherein the first end of the third vertical rod (16-1) is connected to the thirty-seventh movable pair P37, the second end of the third vertical rod (16-1) is connected to the rod body of the third cross rod (16-2), the first end of the third cross rod (16-2) is connected to the thirty-third rotation pair R33, and the second end of the third cross rod (16-2) is connected to the thirty-fourth rotation pair R34.

10. The multi-mode parallel robot with two rotation and one translation motion modes according to claim 9, characterized in that: The eleventh rotation pair R11, the twenty-first rotation pair R21 and the thirty-first rotation pair R31 are all connected to a rotation drive motor; The twelfth moving pair P12, the fifteenth moving pair P15, the twenty-second moving pair P22, the twenty-fifth moving pair P25, the thirty-second moving pair P32 and the thirty-fifth moving pair P35 are all connected to a moving driving motor.

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