Parallel robot with locking mode and one-dimensional space spiral motion mode

Abstract

The invention discloses a parallel robot with a locking mode and a one-dimensional space spiral motion mode. The parallel robot comprises a base, and a first motion branch chain, a second motion branch chain and a third motion branch chain are connected to the base; the first movement branch chain, the second movement branch chain and the third movement branch chain are all connected with the fourth movement branch chain; the first motion branch chain comprises an eleventh revolute pair R11, a second connecting rod, a twelfth revolute pair R12, a third connecting rod assembly, a thirteenth revolute pair R13, a fourth connecting rod and a fourteenth revolute pair R14 which are connected in sequence; the eleventh revolute pair R11 and the fourteenth revolute pair R14 are connected with the base; the axis of the eleventh rotation pair R11, the axis of the twelfth rotation pair R12, the axis of the thirteenth rotation pair R13 and the axis of the fourteenth rotation pair R14 are not intersected at one point at the same time. According to the robot, the folding and unfolding unit can keep the posture rigidity under the specific configuration without being driven in the specific working configuration.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a parallel robot with a locking mode and a one-dimensional space spiral motion mode. Background Art

[0002] After folding, the space folding mechanism can reduce its volume for easy transportation. After entering the working environment, it unfolds and enters the working state. In most cases, the folding mechanism has one degree of freedom, and generally has two forms of folding and unfolding, or has multiple folding and multiple unfolding forms. In general, the existing space folding mechanism cannot remain locked in the transitional position during the movement from folding to unfolding without being driven by locking.

[0003] It is relatively rare to find a folding and unfolding mechanism that can maintain a specific position without locking the drive in the transitional position between the folded state and the unfolded state. Summary of the invention

[0004] The purpose of the present invention is to provide a parallel robot with a locking mode and a one-dimensional space spiral motion mode, which can lock the parallel robot in a specified configuration during the unfolding path; the parallel robot can be used as a driving module of the folding and unfolding structure, so that the parallel robot can maintain the posture stiffness in a specific configuration without driving in the specified working configuration.

[0005] The technical solution adopted by the present invention is that a parallel robot with a locking mode and a one-dimensional space spiral motion mode includes a base, on which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, and the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected to the fourth motion branch chain; The first kinematic branch chain includes an eleventh rotation pair R11, a second connecting rod, a twelfth rotation pair R12, a third connecting rod assembly, a thirteenth rotation pair R13, a fourth connecting rod and a fourteenth rotation pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base; The third connecting rod assembly is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0006] The present invention is also characterized in that: The torsion angle between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the torsion angle between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The torsion angle between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the torsion angle between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; The distance between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the distance between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The distance between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the distance between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; And the structural parameters also satisfy: let the distance from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 be d1, and the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 be a1; let the distance from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 be d2, and the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 be a2, then the equation sin(a1) / d1=sin(a2) / d2.

[0007] The third connecting rod assembly is an I-shaped connecting rod assembly, and the third connecting rod assembly includes a first arc-shaped cross rod, a first vertical rod and a second arc-shaped cross rod, wherein the first end of the first vertical rod is connected to the rod body of the first arc-shaped cross rod, and the second end of the first vertical rod is connected to the rod body of the second arc-shaped cross rod; The first end of the first arc-shaped crossbar is connected to the twelfth rotation pair R12, and the second end of the first arc-shaped crossbar is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc-shaped crossbar are both connected to the fourth kinematic branch chain.

[0008] The fourth kinematic branch chain includes a twenty-second rotation pair R22, a fifth connecting rod, a twenty-first rotation pair R21, a seventh connecting rod assembly, a twenty-fourth rotation pair R24, a sixth connecting rod and a twenty-third rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly.

[0009] The seventh connecting rod assembly is an I-shaped connecting rod assembly, and the seventh connecting rod assembly includes a third arc-shaped cross rod, a second vertical rod and a fourth arc-shaped cross rod, the first end of the second vertical rod is connected to the rod body of the third arc-shaped cross rod, and the second end of the second vertical rod is connected to the rod body of the fourth arc-shaped cross rod; The first end of the third arc cross bar is connected to the twenty-first rotation pair R21, and the second end of the third arc cross bar is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc cross bar is connected to the second motion branch, and the second end of the fourth arc cross bar is connected to the third motion branch.

[0010] The second kinematic branch chain includes a thirty-first rotation pair R31, an eighth connecting rod and a thirty-second rotation pair R32 connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped crossbar; The thirty-second rotation pair R32 is connected to the base.

[0011] The third kinematic branch chain includes a thirty-fourth rotation pair R34, a ninth connecting rod and a thirty-third rotation pair R33 connected in sequence; The thirty-fourth rotation pair R34 is connected to the second end of the fourth arc-shaped crossbar; The thirty-third rotation pair R33 is connected to the base.

[0012] The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

[0013] The beneficial effects of the present invention are: (1) The parallel folding and unfolding unit structure proposed in the present invention can be used as a drive for the folding and unfolding device, which can realize the locking of the folding and unfolding device in a specific position without the need for locking the drive.

[0014] (2) The present invention can lock the parallel robot in a specified configuration during the unfolding path; the parallel robot can be used as a driving module of the folding and unfolding structure, so that the parallel robot can maintain the posture stiffness in a specific configuration without being driven in the specified working configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The parallel robot having a locking mode and a one-dimensional space spiral motion mode of the present invention is in a motion mode transformation configuration; Figure 2 The parallel robot having a locking mode and a one-dimensional space spiral motion mode of the present invention is in a locking mode mechanism configuration; Figure 3 The parallel robot having the locking mode and the one-dimensional space spiral motion mode of the present invention is in the one-dimensional spiral motion mode.

[0016] 1. base, 2. second connecting rod, 3. third connecting rod assembly, 4. fourth connecting rod, 5. fifth connecting rod, 6. sixth connecting rod, 7. seventh connecting rod assembly, 8. eighth connecting rod, 9. ninth connecting rod; 3-1. The first arc-shaped crossbar, 3-2. The first vertical bar, 3-3. The second arc-shaped crossbar; 7-1. The third curved horizontal bar, 7-2. The second vertical bar, 7-3. The fourth curved bar. DETAILED DESCRIPTION

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

[0018] The present invention provides a parallel robot with a locking mode and a one-dimensional space spiral motion mode, comprising a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0019] The torsion angle between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the torsion angle between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The torsion angle between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the torsion angle between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; And the structural parameters also satisfy: Suppose the distance from the axis of the eleventh rotating pair R11 to the axis of the twelfth rotating pair R12 is d1, and the torsion angle from the axis of the eleventh rotating pair R11 to the axis of the twelfth rotating pair R12 is a1; suppose the distance from the axis of the twelfth rotating pair R12 to the axis of the thirteenth rotating pair R13 is d2, and the torsion angle from the axis of the twelfth rotating pair R12 to the axis of the thirteenth rotating pair R13 is a2, then the equation sin(a1) / d1=sin(a2) / d2.

[0020] The structural parameters of the mechanism module indicate that the mechanism module has the characteristics of being foldable and unfoldable.

[0021] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0022] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0023] The seventh connecting rod assembly 7 is an I-shaped connecting rod assembly, and the seventh connecting rod assembly 7 includes a third arc-shaped cross bar 7-1, a second vertical rod 7-2 and a fourth arc-shaped cross bar 7-3, a first end of the second vertical rod 7-2 is connected to the rod body of the third arc-shaped cross bar 7-1, and a second end of the second vertical rod 7-2 is connected to the rod body of the fourth arc-shaped cross bar 7-3; The first end of the third arc-shaped cross bar 7-1 is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar 7-1 is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar 7-3 is connected to the second motion branch, and the second end of the fourth arc-shaped cross bar 7-3 is connected to the third motion branch.

[0024] The second kinematic branch chain includes a thirty-first rotation pair R31, an eighth connecting rod 8 and a thirty-second rotation pair R32 connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped cross bar 7-3; The thirty-second rotation pair R32 is connected to the base 1 .

[0025] The third kinematic branch chain includes a thirty-fourth rotation pair R34, a ninth connecting rod 9 and a thirty-third rotation pair R33 connected in sequence; The thirty-fourth rotation pair R34 is connected to the second end of the fourth arc-shaped crossbar 7-3; The thirty-third rotation pair R33 is connected to the base 1 .

[0026] The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

[0027] like Figure 1 As shown, the second connecting rod 2 is rotationally connected to the base 1 through the eleventh rotation pair R11. The third connecting rod 3 is rotationally connected to the second connecting rod 2 through the twelfth rotation pair R12. The fourth connecting rod 4 is rotationally connected to the second end of the first arc-shaped cross bar 3-1 through the thirteenth rotation pair R13. The fourth connecting rod 4 is rotationally connected to the base 1 through the fourteenth rotation pair R14.

[0028] The first end of the second arc-shaped cross bar 3-3 is rotationally connected to the fifth connecting rod 5 through the twenty-second rotation pair R22. The fifth connecting rod 5 is rotationally connected to the first end of the third arc-shaped cross bar 7-1 through the twenty-first rotation pair R21, the second end of the third arc-shaped cross bar 7-1 is rotationally connected to one end of the sixth connecting rod 6 through the twenty-fourth rotation pair R24, and the other end of the sixth connecting rod 6 is rotationally connected to the second end of the second arc-shaped cross bar 3-3 through the twenty-third rotation pair R23.

[0029] The first end of the fourth arc rod 7-3 is rotationally connected to one end of the eighth connecting rod 8 through the thirty-first rotation pair R31, and the other end of the eighth connecting rod 8 is connected to the base 1 through the thirty-second rotation pair R32. The base 1 is rotationally connected to the ninth connecting rod 9 through the thirty-third rotation pair R33, and the ninth connecting rod 9 is rotationally connected to the second end of the fourth arc rod 7-3 through the thirty-fourth rotation pair R34.

[0030] Figure 1 In the shown mechanism configuration, the axes of the eleventh rotation pair R11, the twenty-first rotation pair R21, and the thirty-first rotation pair R31 are collinear.

[0031] Figure 1 In the shown mechanism configuration, the axes of the twelfth rotation pair R12, the twenty-second rotation pair R22, and the thirty-second rotation pair R32 are collinear.

[0032] Figure 1 In the shown mechanism configuration, the axes of the thirteenth rotation pair R13, the twenty-third rotation pair R23, and the thirty-third rotation pair R33 are collinear.

[0033] Figure 1 In the shown mechanism configuration, the axes of the fourteenth rotation pair R14, the twenty-fourth rotation pair R24, and the thirty-fourth rotation pair R34 are collinear.

[0034] Figure 1 In the shown mechanism configuration, the distance from the axis of the eleventh rotational pair R11 to the axis of the twelfth rotational pair R12 is the same as the distance from the axis of the thirteenth rotational pair R13 to the axis of the fourteenth rotational pair R14.

[0035] Figure 1 In the shown mechanism configuration, the distance from the axis of the fourteenth rotational pair R14 to the axis of the eleventh rotational pair R11 is the same as the distance from the axis of the twelfth rotational pair R12 to the axis of the thirteenth rotational pair R13.

[0036] According to the DH parameter method, the kinematic parameters are established. Figure 1 In the shown mechanism configuration, the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is the same as the torsion angle from the axis of the thirteenth rotation pair R13 to the axis of the fourteenth rotation pair R14.

[0037] According to the DH parameter method, the kinematic parameters are established. Figure 1 In the shown mechanism configuration, the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is the same as the torsion angle from the axis of the fourteenth rotation pair R14 to the axis of the eleventh rotation pair R11.

[0038] Figure 1 In the shown mechanism configuration, let the distance from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 be d1, and the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 be a1; let the distance from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 be d2, and the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 be a2, then the equation sin(a1) / d1=sin(a2) / d2.

[0039] Figure 2 In the shown mechanism configuration, the axes of the eleventh rotation pair R11, the twenty-first rotation pair R21, and the thirty-first rotation pair R31 are collinear.

[0040] Figure 2 In the shown mechanism configuration, the axes of the twelfth rotation pair R12 and the twenty-second rotation pair R22 are collinear, and the axes are not collinear with the axis of the thirty-second rotation pair R32.

[0041] Figure 2 In the shown mechanism configuration, the axes of the thirteenth rotation pair R13 and the twenty-third rotation pair R23 are collinear, and the axes are not collinear with the axis of the thirty-third rotation pair R33.

[0042] Figure 2 In the shown mechanism configuration, the axes of the fourteenth rotation pair R14, the twenty-fourth rotation pair R24, and the thirty-fourth rotation pair R34 are collinear.

[0043] Figure 3 In the shown mechanism configuration, the axes of the twenty-first rotation pair R21 and the thirty-first rotation pair R31 are collinear, and the axes are not collinear with the eleventh rotation pair R11.

[0044] Figure 3 In the shown mechanism configuration, the axes of the twelfth rotational pair R12, the twenty-second rotational pair R22, and the thirty-second rotational pair R32 are collinear.

[0045] Figure 3 In the shown mechanism configuration, the axes of the thirteenth rotation pair R13, the twenty-third rotation pair R23, and the thirty-third rotation pair R33 are collinear.

[0046] Figure 3 In the shown mechanism configuration, the axes of the twenty-fourth rotation pair R24 ​​and the thirty-fourth rotation pair R34 are collinear, and the axes are not collinear with the axis of the fourteenth rotation pair R14.

[0047] The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

[0048] Driving the auxiliary rotating motor connected to the eleventh rotating pair R11 and locking the driving rotating motor connected to the thirty-second rotating pair R32 can make the mechanism move to Figure 2 The configuration of the mechanism shown, Figure 2 In the shown mechanism configuration, the seventh connecting rod assembly 7 is in a locked mode. In this mode, it is not necessary to lock the auxiliary rotating motor connected to the eleventh rotating pair R11, and it is not necessary to lock the driving rotating motor connected to the thirty-second rotating pair R32. The seventh connecting rod assembly 7 is in a locked state.

[0049] Locking the auxiliary rotating motor connected to the eleventh rotating pair R11 and driving the driving rotating motor connected to the thirty-second rotating pair R32 can make the mechanism Figure 1 The configuration shown, moving to Figure 3 The configuration of the mechanism shown, Figure 3 In the shown configuration, the seventh connecting rod assembly 7 is in a one-dimensional spiral motion mode. In this mode, the driving motor connected to the thirty-second rotation pair R32 is driven to make the seventh connecting rod assembly 7 perform a one-dimensional spiral motion mode. The instantaneous axis of the one-dimensional spiral motion passes through the intersection of the axis of the twelfth rotation pair R12 and the axis of the twenty-fourth rotation pair R24, and passes through the intersection of the axis of the twenty-first rotation pair R21 and the axis of the thirteenth rotation pair R13.

[0050] Figure 1 In the shown mechanism configuration, the eleventh rotational pair axis R11 and the axes of the twelfth rotational pair R12, the thirteenth rotational pair R13 and the fourteenth rotational pair R14 do not intersect at the same point.

[0051] Figure 3 In the shown mechanism configuration, the seventh connecting rod assembly 7 has one-dimensional spatial spiral motion, the axes of the twenty-first rotating pair R21 and the thirteenth rotating pair R13 intersect at point A, the axes of the twenty-fourth rotating pair R24 ​​and the twenty-second rotating pair R22 intersect at point B, and the seventh connecting rod assembly 7 can perform spiral motion along the line AB.

[0052] Example 1 A parallel robot with a locking mode and a one-dimensional space spiral motion mode comprises a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0053] Example 2 A parallel robot with a locking mode and a one-dimensional space spiral motion mode comprises a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0054] The torsion angle between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the torsion angle between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The torsion angle between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the torsion angle between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; Suppose the distance from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is d1, and the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is a1; suppose the distance from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is d2, and the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is a2, then the equation sina1 / d1=sin(a2) / d2.

[0055] Example 3 A parallel robot with a locking mode and a one-dimensional space spiral motion mode comprises a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0056] The torsion angle between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the torsion angle between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The torsion angle between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the torsion angle between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; Suppose the distance from the axis of the eleventh rotating pair R11 to the axis of the twelfth rotating pair R12 is d1, and the torsion angle from the axis of the eleventh rotating pair R11 to the axis of the twelfth rotating pair R12 is a1; suppose the distance from the axis of the twelfth rotating pair R12 to the axis of the thirteenth rotating pair R13 is d2, and the torsion angle from the axis of the twelfth rotating pair R12 to the axis of the thirteenth rotating pair R13 is a2, then the equation sina1 / d1=sin(a2) / d2.

[0057] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0058] Example 4 A parallel robot with a locking mode and a one-dimensional space spiral motion mode comprises a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0059] The torsion angle between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the torsion angle between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The torsion angle between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the torsion angle between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; Suppose the distance from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is d1, and the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is a1; suppose the distance from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is d2, and the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is a2, then the equation sina1 / d1=sin(a2) / d2.

[0060] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0061] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0062] Example 5 A parallel robot with a locking mode and a one-dimensional space spiral motion mode comprises a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0063] The torsion angle between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the torsion angle between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The torsion angle between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the torsion angle between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; Suppose the distance from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is d1, and the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is a1; suppose the distance from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is d2, and the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is a2, then the equation sina1 / d1=sin(a2) / d2.

[0064] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0065] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0066] The seventh connecting rod assembly 7 is an I-shaped connecting rod assembly, and the seventh connecting rod assembly 7 includes a third arc-shaped cross bar 7-1, a second vertical rod 7-2 and a fourth arc-shaped cross bar 7-3, a first end of the second vertical rod 7-2 is connected to the rod body of the third arc-shaped cross bar 7-1, and a second end of the second vertical rod 7-2 is connected to the rod body of the fourth arc-shaped cross bar 7-3; The first end of the third arc-shaped cross bar 7-1 is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar 7-1 is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar 7-3 is connected to the second motion branch, and the second end of the fourth arc-shaped cross bar 7-3 is connected to the third motion branch.

[0067] Example 6 A parallel robot with a locking mode and a one-dimensional space spiral motion mode comprises a base 1, to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod assembly 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base 1; The third connecting rod assembly 3 is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

[0068] The torsion angle between the axis of the eleventh rotational pair R11 and the axis of the twelfth rotational pair R12 is the same as the torsion angle between the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14; The torsion angle between the axis of the twelfth rotational pair R12 and the axis of the thirteenth rotational pair R13 is the same as the torsion angle between the axis of the fourteenth rotational pair R14 and the axis of the eleventh rotational pair R11; Suppose the distance from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is d1, and the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is a1; suppose the distance from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is d2, and the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is a2, then the equation sina1 / d1=sin(a2) / d2.

[0069] The third connecting rod assembly 3 is an I-shaped connecting rod assembly, and the third connecting rod assembly 3 includes a first arc-shaped cross rod 3-1, a first vertical rod 3-2 and a second arc-shaped cross rod 3-3, wherein the first end of the first vertical rod 3-2 is connected to the rod body of the first arc-shaped cross rod 3-1, and the second end of the first vertical rod 3-2 is connected to the rod body of the second arc-shaped cross rod 3-3; The first end of the first arc cross bar 3-1 is connected to the twelfth rotation pair R12, and the second end of the first arc cross bar 3-1 is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc cross bar 3-3 are both connected to the fourth motion branch chain.

[0070] The fourth kinematic branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5, a 21st rotation pair R21, a seventh connecting rod assembly 7, a 24th rotation pair R24, a sixth connecting rod 6 and a 23rd rotation pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar 3-3, and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar 3-3; The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly 7 .

[0071] The seventh connecting rod assembly 7 is an I-shaped connecting rod assembly, and the seventh connecting rod assembly 7 includes a third arc-shaped cross bar 7-1, a second vertical rod 7-2 and a fourth arc-shaped cross bar 7-3, a first end of the second vertical rod 7-2 is connected to the rod body of the third arc-shaped cross bar 7-1, and a second end of the second vertical rod 7-2 is connected to the rod body of the fourth arc-shaped cross bar 7-3; The first end of the third arc-shaped cross bar 7-1 is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar 7-1 is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar 7-3 is connected to the second motion branch, and the second end of the fourth arc-shaped cross bar 7-3 is connected to the third motion branch.

[0072] The second kinematic branch chain includes a thirty-first rotation pair R31, an eighth connecting rod 8 and a thirty-second rotation pair R32 connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped cross bar 7-3; The thirty-second rotation pair R32 is connected to the base 1 .

Claims

1. A parallel robot with a locking mode and a one-dimensional spiral motion mode, characterized in that: The invention comprises a base (1), to which a first motion branch chain, a second motion branch chain and a third motion branch chain are connected; and a fourth motion branch chain is also included, to which the first motion branch chain, the second motion branch chain and the third motion branch chain are all connected; The first kinematic branch chain comprises an eleventh rotational pair R11, a second connecting rod (2), a twelfth rotational pair R12, a third connecting rod assembly (3), a thirteenth rotational pair R13, a fourth connecting rod (4) and a fourteenth rotational pair R14 which are connected in sequence; The eleventh rotation pair R11 and the fourteenth rotation pair R14 are both connected to the base (1); The third connecting rod assembly (3) is connected to the fourth kinematic branch chain; The axis of the eleventh rotational pair R11, the axis of the twelfth rotational pair R12, the axis of the thirteenth rotational pair R13 and the axis of the fourteenth rotational pair R14 do not intersect at the same time.

2. The parallel robot with locking mode and one-dimensional space spiral motion mode according to claim 1, characterized in that: Suppose the distance from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is d1, and the torsion angle from the axis of the eleventh rotation pair R11 to the axis of the twelfth rotation pair R12 is a1; suppose the distance from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is d2, and the torsion angle from the axis of the twelfth rotation pair R12 to the axis of the thirteenth rotation pair R13 is a2, then the equation sin(a1) / d1=sin(a2) / d2.

3. The parallel robot with locking mode and one-dimensional space spiral motion mode according to claim 2, characterized in that: The third connecting rod assembly (3) is an I-shaped connecting rod assembly, comprising a first arc-shaped cross rod (3-1), a first vertical rod (3-2) and a second arc-shaped cross rod (3-3), wherein the first end of the first vertical rod (3-2) is connected to the rod body of the first arc-shaped cross rod (3-1), and the second end of the first vertical rod (3-2) is connected to the rod body of the second arc-shaped cross rod (3-3); The first end of the first arc-shaped cross bar (3-1) is connected to the twelfth rotation pair R12, and the second end of the first arc-shaped cross bar (3-1) is connected to the thirteenth rotation pair R13; the first end and the second end of the second arc-shaped cross bar (3-3) are both connected to the fourth kinematic branch chain.

4. The parallel robot with locking mode and one-dimensional space spiral motion mode according to claim 3, characterized in that: The fourth kinematic branch chain comprises a twenty-second rotational pair R22, a fifth connecting rod (5), a twenty-first rotational pair R21, a seventh connecting rod assembly (7), a twenty-fourth rotational pair R24, a sixth connecting rod (6) and a twenty-third rotational pair R23 which are connected in sequence; The twenty-second rotation pair R22 is connected to the first end of the second arc-shaped cross bar (3-3), and the twenty-third rotation pair R23 is connected to the second end of the second arc-shaped cross bar (3-3); The second motion branch chain and the third motion branch chain are both connected to the seventh connecting rod assembly (7).

5. The parallel robot with locking mode and one-dimensional space spiral motion mode according to claim 4, characterized in that: The seventh connecting rod assembly (7) is an I-shaped connecting rod assembly, comprising a third arc-shaped cross rod (7-1), a second vertical rod (7-2) and a fourth arc-shaped cross rod (7-3), wherein the first end of the second vertical rod (7-2) is connected to the rod body of the third arc-shaped cross rod (7-1), and the second end of the second vertical rod (7-2) is connected to the rod body of the fourth arc-shaped cross rod (7-3); The first end of the third arc-shaped cross bar (7-1) is connected to the twenty-first rotation pair R21, and the second end of the third arc-shaped cross bar (7-1) is connected to the twenty-fourth rotation pair R24; the first end of the fourth arc-shaped cross bar (7-3) is connected to the second motion branch chain, and the second end of the fourth arc-shaped cross bar (7-3) is connected to the third motion branch chain.

6. The parallel robot with locking mode and one-dimensional space spiral motion mode according to claim 5, characterized in that: The second kinematic branch chain comprises a thirty-first rotation pair R31, an eighth connecting rod (8) and a thirty-second rotation pair R32 which are connected in sequence; The thirty-first rotation pair R31 is connected to the first end of the fourth arc-shaped crossbar (7-3); The thirty-second rotation pair R32 is connected to the base (1).

7. The parallel robot with locking mode and one-dimensional space spiral motion mode according to claim 6, characterized in that: The third kinematic branch chain comprises a thirty-fourth rotation pair R34, a ninth connecting rod (9) and a thirty-third rotation pair R33 which are connected in sequence; The thirty-fourth rotation pair R34 is connected to the second end of the fourth arc-shaped crossbar (7-3); The thirty-third rotation pair R33 is connected to the base (1).

8. The parallel robot with locking mode and one-dimensional space spiral motion mode according to claim 7, characterized in that: The eleventh rotation pair R11 is connected to an auxiliary rotation motor, and the thirty-second rotation pair R32 is connected to a driving rotation motor.

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