Parallel robot with locking mode and planar 4R mechanism movement mode and method

Abstract

The invention discloses a parallel robot with a locking mode and a planar 4R mechanism motion mode. The parallel robot comprises a base, and a first kinematic chain and a second kinematic chain are connected to the base; the device further comprises a third kinematic chain and a fourth kinematic chain. The first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain. The motion mode of the parallel robot can be converted between a locking configuration and a plane 4R mechanism motion mode, the parallel robot can serve as a driving structure to design a multi-mode mechanism, the characteristic that locking driving is not needed in the locking mode is achieved, and the external acting force is resisted through the strength of components. The invention further discloses a driving method of the parallel robot with the locking mode and the planar 4R mechanism movement mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a parallel robot with a locking mode and a planar 4R mechanism motion mode, and also relates to a driving method of the parallel robot with a locking mode and a planar 4R mechanism motion mode. Background Art

[0002] A parallel mechanism with multiple modes can realize a variety of motion modes with fewer degrees of freedom, thereby adapting to work needs with different characteristics. Planar 4R mechanisms are often used as drives for complex robots. Mechanisms with planar 4R mechanism motion modes and other motion modes can be used to design multi-mode parallel mechanisms. The output component of the mechanism has high rigidity in the locking mode, and can maintain a fixed posture without locking the drive, which can meet the needs of specific operations and loads. Existing multi-mode mechanisms with planar 4R mechanism motion modes and mechanisms with locking modes are relatively rare. Summary of the invention

[0003] The first object of the present invention is to provide a parallel robot with a locking mode and a planar 4R mechanism motion mode, whose motion mode can be switched between the locking position and the planar 4R mechanism motion mode, and can be used as a multi-mode mechanism for driving structure design. It has the characteristic that in the locking mode, locking drive is not required, and external forces are resisted through the strength of the components.

[0004] A second object of the present invention is to provide a driving method for a parallel robot having a locking mode and a planar 4R mechanism motion mode.

[0005] The first technical solution adopted by the present invention is a parallel robot with a locking mode and a planar 4R mechanism motion mode, including a base, to which a first motion chain and a second motion chain are connected; and also including a third motion chain and a fourth motion chain; the first motion chain and the second motion chain are connected through the third motion chain and the fourth motion chain. The present invention is also characterized in that: The first kinematic chain includes an eleventh rotation pair R11, a second connecting rod, a twelfth rotation pair R12, a third connecting rod, 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 also connected to the base; The third connecting rod is an I-shaped connecting rod, and the third connecting rod includes a first cross bar and a second cross bar, and a first vertical rod is arranged between the first cross bar and the second cross bar; The first end of the first crossbar is connected to the second connecting rod through the twelfth rotation pair R12; the second end of the first crossbar is connected to the fourth connecting rod through the thirteenth rotation pair R13; The first end of the second cross bar is connected to the third kinematic chain, and the second end of the second cross bar is connected to the fourth kinematic chain.

[0006] The second kinematic chain includes a 32nd rotation pair R32, an eighth connecting rod, a 31st rotation pair R31, a sixth connecting rod, a 34th rotation pair R34, a ninth connecting rod and a 33rd rotation pair R33 which are connected in sequence; the 32nd rotation pair R32 and the 33rd rotation pair R33 are also connected to the base; The sixth connecting rod is an I-shaped connecting rod, and the sixth connecting rod includes a third cross bar and a fourth cross bar, and a second vertical rod is arranged between the third cross bar and the fourth cross bar; The first end of the third crossbar is connected to the eighth connecting rod through a thirty-first rotation pair R31; the second end of the third crossbar is connected to the ninth connecting rod through a thirty-fourth rotation pair R34; The first end of the fourth crossbar is connected to the third kinematic chain, and the second end of the fourth crossbar is connected to the fourth kinematic chain.

[0007] The third kinematic chain includes a twenty-first rotational pair R21, a fifth connecting rod and a twenty-second rotational pair R22 connected in sequence. One end of the fifth connecting rod is connected to the first end of the fourth crossbar through the twenty-first rotational pair R21, and the other end of the fifth connecting rod is also connected to the first end of the second crossbar through the twenty-second rotational pair R22.

[0008] The fourth kinematic chain includes a twenty-third rotational pair R23, a seventh connecting rod and a twenty-fourth rotational pair R24 ​​connected in sequence, one end of the seventh connecting rod is connected to the second end of the fourth crossbar through the twenty-fourth rotational pair R24, and the other end of the seventh connecting rod is connected to the second end of the second crossbar through the twenty-third rotational pair R23.

[0009] The eleventh rotating pair R11 is connected to a driving motor.

[0010] The thirty-second rotation pair R32 is connected to a driving motor.

[0011] The second technical solution adopted by the present invention is a driving method of a parallel robot with a locking mode and a planar 4R mechanism motion mode, when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide, and the axes of the thirty-second rotation pair R32, the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide, and the axes of the thirty-third rotation pair R33, the twenty-third rotation pair R23 and the thirteenth rotation pair R13 coincide, and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide, the driving motor connected to the eleventh rotation pair R11 is driven, the driving motor connected to the thirty-second rotation pair R32 is locked, and the robot is controlled to move until the third link is in the planar 4R motion mode configuration; When the third link is in the plane 4R motion mode configuration, when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide with each other; and the axes of the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide with each other and do not coincide with the axis of the thirty-second rotation pair R32; and the axes of the twenty-third rotation pair R23 coincide with the axis of the thirteenth rotation pair R13 and do not coincide with the axis of the thirty-third rotation pair R33; and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide with each other, the third link acts as a moving platform, the third link has a plane 4R mechanism motion mode, controls the drive motor connected to the eleventh rotation pair R11, and controls the plane 4R mechanism motion mode of the third link 3; When the third connecting rod is in the plane 4R motion mode and the locking mode transformation configuration, when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide, and the axes of the thirty-second rotation pair R32, the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide, and the axes of the thirty-third rotation pair R33, the twenty-third rotation pair R23 and the thirteenth rotation pair R13 coincide, and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide, lock the drive motor connected to the eleventh rotation pair R11, control the drive motor connected to the thirty-second rotation pair R32, and control the mechanism to move to the third connecting rod in the locking mode transformation configuration when the third connecting rod is in the plane 4R motion mode and the locking mode transformation configuration.

[0012] The beneficial effects of the present invention are: (1) The parallel robot of the present invention has a locking mode and a planar 4R mechanism motion mode. The motion mode can be switched between the locking mode and the planar 4R mechanism motion mode. The parallel robot can be used to design a multi-mode robot with different motion modes. The parallel robot can be used as a driving structure to design a multi-mode mechanism. The parallel robot has the characteristic that in the locking mode, the locking drive does not need to be locked, and the strength of the components can be used to resist external forces.

[0013] (2) The parallel robot of the present invention has a locking mode and a planar 4R mechanism motion mode. In the locking mode, there is no need to lock the drive. The output component of the mechanism can remain in a locked state, relying on the strength of the rod itself to resist external forces, effectively avoiding the damage to the drive motor caused by a sudden and sharp increase in external loads when the robot is in a specific configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A configuration diagram for transforming the locking mode of the third link and the planar 4R mechanism motion mode in a parallel robot having a locking mode and a planar 4R mechanism motion mode; Figure 2A configuration diagram of a planar 4R mechanism motion mode in which the third link of a parallel robot having a locking mode and a planar 4R mechanism motion mode; Figure 3 This is the configuration diagram of the locking mode of the third link in a parallel robot with a locking mode and a planar 4R mechanism motion mode.

[0015] 1. base, 2. second connecting rod, 3. third connecting rod, 4. fourth connecting rod, 5. fifth connecting rod, 6. sixth connecting rod, 7. seventh connecting rod, 8. eighth connecting rod, 9. ninth connecting rod.

[0016] 3-1. The first horizontal bar, 3-2. The second horizontal bar, 3-3. The first vertical bar; 6-1. The third horizontal bar, 6-2. The fourth horizontal bar, 6-3. The second vertical bar; R11. The eleventh rotation pair, R12. The twelfth rotation pair, R13. The thirteenth rotation pair, R14. The fourteenth rotation pair.

[0017] R21. The twenty-first rotation pair, R22. The twenty-second rotation pair, R23. The twenty-third rotation pair, R24. The twenty-fourth rotation pair.

[0018] R31. The thirty-first rotation pair, R32. The thirty-second rotation pair, R33. The thirty-third rotation pair, R34. The thirty-fourth rotation pair.

[0019] R41. The forty-first rotation pair, R42. The forty-second rotation pair, R43. The forty-third rotation pair, R44. The forty-fourth rotation pair. DETAILED DESCRIPTION

[0020] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The present invention provides a parallel robot with a locking mode and a planar 4R mechanism motion mode, such as Figure 1 As shown, it includes a base 1, to which a first kinematic chain and a second kinematic chain are connected; it also includes a third kinematic chain and a fourth kinematic chain; the first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain.

[0022] The first kinematic chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; the eleventh rotational pair R11 and the fourteenth rotational pair R14 are also connected to the base 1; The third connecting rod 3 is an I-shaped connecting rod, and the third connecting rod 3 includes a first cross bar 3-1 and a second cross bar 3-2, and a first vertical rod 3-3 is arranged between the first cross bar 3-1 and the second cross bar 3-2; The first end of the first crossbar 3-1 is connected to the second connecting rod 2 through the twelfth rotation pair R12; the second end of the first crossbar 3-1 is connected to the fourth connecting rod 4 through the thirteenth rotation pair R13; The first end of the second cross bar 3 - 2 is connected to the third kinematic chain, and the second end of the second cross bar 3 - 2 is connected to the fourth kinematic chain.

[0023] The second kinematic chain includes a 32nd rotation pair R32, an 8th connecting rod 8, a 31st rotation pair R31, a 6th connecting rod 6, a 34th rotation pair R34, a 9th connecting rod 9 and a 33rd rotation pair R33 which are connected in sequence; the 32nd rotation pair R32 and the 33rd rotation pair R33 are also connected to the base 1; The sixth connecting rod 6 is an I-shaped connecting rod, and the sixth connecting rod 6 includes a third cross bar 6-1 and a fourth cross bar 6-2, and a second vertical rod 6-3 is arranged between the third cross bar 6-1 and the fourth cross bar 6-2; The first end of the third crossbar 6-1 is connected to the eighth connecting rod 8 through a thirty-first rotation pair R31; the second end of the third crossbar 6-1 is connected to the ninth connecting rod 9 through a thirty-fourth rotation pair R34; The first end of the fourth cross bar 6 - 2 is connected to the third kinematic chain, and the second end of the fourth cross bar 6 - 2 is connected to the fourth kinematic chain.

[0024] The third motion chain includes a twenty-first rotation pair R21, a fifth connecting rod 5 and a twenty-second rotation pair R22 connected in sequence. One end of the fifth connecting rod 5 is connected to the first end of the fourth cross bar 6-2 through the twenty-first rotation pair R21, and the other end of the fifth connecting rod 5 is also connected to the first end of the second cross bar 3-2 through the twenty-second rotation pair R22.

[0025] The fourth motion chain includes the twenty-third rotation pair R23, the seventh connecting rod 7 and the twenty-fourth rotation pair R24 ​​connected in sequence. One end of the seventh connecting rod 7 is connected to the second end of the fourth cross bar 6-2 through the twenty-fourth rotation pair R24, and the other end of the seventh connecting rod 7 is connected to the second end of the second cross bar 3-2 through the twenty-third rotation pair R23.

[0026] The eleventh rotating pair R11 is connected to a driving motor.

[0027] The thirty-second rotation pair R32 is connected to a driving motor.

[0028] The driving method of the parallel robot with the locking mode and the planar 4R mechanism motion mode is specifically as follows: when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide, and the axes of the thirty-second rotation pair R32, the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide, and the axes of the thirty-third rotation pair R33, the twenty-third rotation pair R23 and the thirteenth rotation pair R13 coincide, and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide, drive the driving motor connected to the eleventh rotation pair R11, lock the driving motor connected to the thirty-second rotation pair R32, and control the robot to move until the third link 3 is in the planar 4R motion mode configuration; When the third link 3 is in the plane 4R motion mode configuration, when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide with each other; and the axes of the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide with each other and do not coincide with the axis of the thirty-second rotation pair R32; and the axes of the twenty-third rotation pair R23 coincide with the axis of the thirteenth rotation pair R13 and do not coincide with the axis of the thirty-third rotation pair R33; and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide with each other, the third link 3 acts as a moving platform, the third link 3 has a plane 4R mechanism motion mode, controls the drive motor connected to the eleventh rotation pair R11, and controls the plane 4R mechanism motion mode of the third link 3; When the third connecting rod 3 is in the plane 4R motion mode and the locking mode transformation configuration, when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide, and the axes of the thirty-second rotation pair R32, the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide, and the axes of the thirty-third rotation pair R33, the twenty-third rotation pair R23 and the thirteenth rotation pair R13 coincide, and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide, lock the drive motor connected to the eleventh rotation pair R11, control the drive motor connected to the thirty-second rotation pair R32, and control the mechanism to move to the third connecting rod 3 in the locking mode transformation configuration when the third connecting rod 3 is in the plane 4R motion mode and the locking mode transformation configuration.

[0029] like Figure 1 As shown, the base 1 is rotationally connected to the second connecting rod 2 through the eleventh rotational pair R11, the second connecting rod 2 is rotationally connected to the first end of the first crossbar 3-1 through the twelfth rotational pair R12, and the second end of the first crossbar 3-1 is rotationally connected to the fourth connecting rod 4 through the thirteenth rotational pair R13. The fourth connecting rod 4 is rotationally connected to the base 1 through the fourteenth rotational pair R14.

[0030] The first end of the second cross bar 3-2 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 fourth cross bar 6-2 through the twenty-first rotation pair R21, the second end of the fourth cross bar 6-2 is rotationally connected to the seventh connecting rod 7 through the twenty-fourth rotation pair R24, and the seventh connecting rod 7 is rotationally connected to the second end of the second cross bar 3-2 through the twenty-third rotation pair R23.

[0031] The first end of the third cross bar 6-1 is rotationally connected to the eighth connecting rod 8 through the thirty-first rotation pair R31, and the eighth connecting rod 8 is rotationally connected to the base 1 through the thirty-second rotation pair R32. The second end of the third cross bar 6-1 is rotationally connected to the ninth connecting rod 9 through the thirty-fourth rotation pair R34, and the ninth connecting rod 9 is rotationally connected to the base 1 through the thirty-third rotation pair.

[0032] Figure 1 In the shown mechanism configuration, the axes of the eleventh rotation pair R11, the twelfth rotation pair R12, the thirteenth rotation pair R13, the fourteenth rotation pair R14, the twenty-first rotation pair R21, the twenty-second rotation pair R22, the twenty-third rotation pair R23, the twenty-fourth rotation pair R24, the thirty-first rotation pair R31, the thirty-second rotation pair R32, the thirty-third rotation pair R33 and the thirty-fourth rotation pair R34 are parallel to the Y axis.

[0033] 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 twenty-first rotational pair R21 to the axis of the twenty-second rotational pair R22, and the distance from the axis of the thirty-first rotational pair R31 to the axis of the thirty-second rotational pair R32.

[0034] Figure 1 In the shown mechanism configuration, the distance from the axis of the twelfth rotational pair R12 to the axis of the thirteenth rotational pair R13 is the same as the distance from the axis of the twenty-second rotational pair R22 to the axis of the twenty-third rotational pair R23, and the distance from the axis of the thirty-second rotational pair R32 to the axis of the thirty-third rotational pair R33.

[0035] Figure 1 Under the shown mechanism configuration, the distance from the axis of the thirteenth rotation pair R13 to the axis of the fourteenth rotation pair R14 is the same as the distance from the axis of the twenty-third rotation pair R23 to the axis of the twenty-fourth rotation pair R24, and the distance from the axis of the thirty-third rotation pair R33 to the axis of the thirty-fourth rotation pair R34.

[0036] 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 twenty-fourth rotational pair R24 ​​to the axis of the twenty-first rotational pair R21, and the distance from the axis of the thirty-fourth rotational pair R34 to the axis of the thirty-first rotational pair R31.

[0037] Figure 1 In the shown mechanism configuration, the eleventh rotation pair R11 is connected to the drive motor, and the thirty-second rotation pair R32 is connected to the drive motor.

[0038] Figure 1 In the shown configuration, the driving motor connected to the eleventh rotation pair R11 is driven, and the driving motor connected to the thirty-second rotation pair R32 is locked, and the robot is controlled to move to Figure 2 The configuration shown.

[0039] Figure 2 In the shown mechanism configuration, the third link 3 serves as a moving platform, and the third link 3 has a planar 4R mechanism motion mode. The drive motor connected to the eleventh rotation pair R11 is controlled to control the planar 4R mechanism motion mode of the third link 3.

[0040] 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.

[0041] 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.

[0042] 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 this axis is not collinear with the axis of the thirty-third rotation pair R33.

[0043] 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.

[0044] Figure 1 In the shown configuration, the drive motor connected to the eleventh rotation pair R11 is locked to control the drive motor connected to the thirty-second rotation pair R32. Figure 1 The mechanism shown moves to Figure 3 The configuration shown.

[0045] Figure 3 In the shown mechanism configuration, the third connecting rod 3 is in a locking mode, the driving motor connected to the eleventh rotation pair R11 is not locked, the driving motor connected to the thirty-second rotation pair R32 is not locked, and the third connecting rod 3 is in a locking mode.

[0046] Figure 3 In the shown mechanism configuration, the axes of the twenty-second rotation pair R22 and the thirty-first rotation pair R31 are collinear, and the axes do not coincide with the axis of the eleventh rotation pair R11.

[0047] Figure 3 In the shown mechanism configuration, the axis of the twelfth rotation pair R12, the axis of the twenty-second rotation pair R22, and the axis of the thirty-second rotation pair R32 are collinear.

[0048] Figure 3 In the shown mechanism configuration, the axis of the thirteenth rotation pair R13, the axis of the twenty-third rotation pair R23, and the axis of the thirty-third rotation pair R33 are collinear.

[0049] 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 do not coincide with the axis of the fourteenth rotation pair R14.

[0050] Example 1 A parallel robot with locking mode and planar 4R mechanism motion mode, such as Figure 1 As shown, it includes a base 1, to which a first kinematic chain and a second kinematic chain are connected; it also includes a third kinematic chain and a fourth kinematic chain; the first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain.

[0051] Example 2 A parallel robot with locking mode and planar 4R mechanism motion mode, such as Figure 1 As shown, it includes a base 1, to which a first kinematic chain and a second kinematic chain are connected; it also includes a third kinematic chain and a fourth kinematic chain; the first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain.

[0052] The first kinematic chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; the eleventh rotational pair R11 and the fourteenth rotational pair R14 are also connected to the base 1; The third connecting rod 3 is an I-shaped connecting rod, and the third connecting rod 3 includes a first cross bar 3-1 and a second cross bar 3-2, and a first vertical rod 3-3 is arranged between the first cross bar 3-1 and the second cross bar 3-2; The first end of the first crossbar 3-1 is connected to the second connecting rod 2 through the twelfth rotation pair R12; the second end of the first crossbar 3-1 is connected to the fourth connecting rod 4 through the thirteenth rotation pair R13; The first end of the second cross bar 3 - 2 is connected to the third kinematic chain, and the second end of the second cross bar 3 - 2 is connected to the fourth kinematic chain.

[0053] Example 3 A parallel robot with locking mode and planar 4R mechanism motion mode, such as Figure 1As shown, it includes a base 1, to which a first kinematic chain and a second kinematic chain are connected; it also includes a third kinematic chain and a fourth kinematic chain; the first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain.

[0054] The first kinematic chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; the eleventh rotational pair R11 and the fourteenth rotational pair R14 are also connected to the base 1; The third connecting rod 3 is an I-shaped connecting rod, and the third connecting rod 3 includes a first cross bar 3-1 and a second cross bar 3-2, and a first vertical rod 3-3 is arranged between the first cross bar 3-1 and the second cross bar 3-2; The first end of the first crossbar 3-1 is connected to the second connecting rod 2 through the twelfth rotation pair R12; the second end of the first crossbar 3-1 is connected to the fourth connecting rod 4 through the thirteenth rotation pair R13; The first end of the second cross bar 3 - 2 is connected to the third kinematic chain, and the second end of the second cross bar 3 - 2 is connected to the fourth kinematic chain.

[0055] The second kinematic chain includes a 32nd rotation pair R32, an 8th connecting rod 8, a 31st rotation pair R31, a 6th connecting rod 6, a 34th rotation pair R34, a 9th connecting rod 9 and a 33rd rotation pair R33 which are connected in sequence; the 32nd rotation pair R32 and the 33rd rotation pair R33 are also connected to the base 1; The sixth connecting rod 6 is an I-shaped connecting rod, and the sixth connecting rod 6 includes a third cross bar 6-1 and a fourth cross bar 6-2, and a second vertical rod 6-3 is arranged between the third cross bar 6-1 and the fourth cross bar 6-2; The first end of the third crossbar 6-1 is connected to the eighth connecting rod 8 through a thirty-first rotation pair R31; the second end of the third crossbar 6-1 is connected to the ninth connecting rod 9 through a thirty-fourth rotation pair R34; The first end of the fourth cross bar 6 - 2 is connected to the third kinematic chain, and the second end of the fourth cross bar 6 - 2 is connected to the fourth kinematic chain.

[0056] Example 4 A parallel robot with locking mode and planar 4R mechanism motion mode, such as Figure 1 As shown, it includes a base 1, to which a first kinematic chain and a second kinematic chain are connected; it also includes a third kinematic chain and a fourth kinematic chain; the first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain.

[0057] The first kinematic chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; the eleventh rotational pair R11 and the fourteenth rotational pair R14 are also connected to the base 1; The third connecting rod 3 is an I-shaped connecting rod, and the third connecting rod 3 includes a first cross bar 3-1 and a second cross bar 3-2, and a first vertical rod 3-3 is arranged between the first cross bar 3-1 and the second cross bar 3-2; The first end of the first crossbar 3-1 is connected to the second connecting rod 2 through the twelfth rotation pair R12; the second end of the first crossbar 3-1 is connected to the fourth connecting rod 4 through the thirteenth rotation pair R13; The first end of the second cross bar 3 - 2 is connected to the third kinematic chain, and the second end of the second cross bar 3 - 2 is connected to the fourth kinematic chain.

[0058] The second kinematic chain includes a 32nd rotation pair R32, an 8th connecting rod 8, a 31st rotation pair R31, a 6th connecting rod 6, a 34th rotation pair R34, a 9th connecting rod 9 and a 33rd rotation pair R33 which are connected in sequence; the 32nd rotation pair R32 and the 33rd rotation pair R33 are also connected to the base 1; The sixth connecting rod 6 is an I-shaped connecting rod, and the sixth connecting rod 6 includes a third cross bar 6-1 and a fourth cross bar 6-2, and a second vertical rod 6-3 is arranged between the third cross bar 6-1 and the fourth cross bar 6-2; The first end of the third crossbar 6-1 is connected to the eighth connecting rod 8 through a thirty-first rotation pair R31; the second end of the third crossbar 6-1 is connected to the ninth connecting rod 9 through a thirty-fourth rotation pair R34; The first end of the fourth cross bar 6 - 2 is connected to the third kinematic chain, and the second end of the fourth cross bar 6 - 2 is connected to the fourth kinematic chain.

[0059] The third motion chain includes a twenty-first rotation pair R21, a fifth connecting rod 5 and a twenty-second rotation pair R22 connected in sequence. One end of the fifth connecting rod 5 is connected to the first end of the fourth cross bar 6-2 through the twenty-first rotation pair R21, and the other end of the fifth connecting rod 5 is also connected to the first end of the second cross bar 3-2 through the twenty-second rotation pair R22.

[0060] Example 5 A parallel robot with locking mode and planar 4R mechanism motion mode, such as Figure 1 As shown, it includes a base 1, to which a first kinematic chain and a second kinematic chain are connected; it also includes a third kinematic chain and a fourth kinematic chain; the first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain.

[0061] The first kinematic chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; the eleventh rotational pair R11 and the fourteenth rotational pair R14 are also connected to the base 1; The third connecting rod 3 is an I-shaped connecting rod, and the third connecting rod 3 includes a first cross bar 3-1 and a second cross bar 3-2, and a first vertical rod 3-3 is arranged between the first cross bar 3-1 and the second cross bar 3-2; The first end of the first crossbar 3-1 is connected to the second connecting rod 2 through the twelfth rotation pair R12; the second end of the first crossbar 3-1 is connected to the fourth connecting rod 4 through the thirteenth rotation pair R13; The first end of the second cross bar 3 - 2 is connected to the third kinematic chain, and the second end of the second cross bar 3 - 2 is connected to the fourth kinematic chain.

[0062] The second kinematic chain includes a 32nd rotation pair R32, an 8th connecting rod 8, a 31st rotation pair R31, a 6th connecting rod 6, a 34th rotation pair R34, a 9th connecting rod 9 and a 33rd rotation pair R33 which are connected in sequence; the 32nd rotation pair R32 and the 33rd rotation pair R33 are also connected to the base 1; The sixth connecting rod 6 is an I-shaped connecting rod, and the sixth connecting rod 6 includes a third cross bar 6-1 and a fourth cross bar 6-2, and a second vertical rod 6-3 is arranged between the third cross bar 6-1 and the fourth cross bar 6-2; The first end of the third crossbar 6-1 is connected to the eighth connecting rod 8 through a thirty-first rotation pair R31; the second end of the third crossbar 6-1 is connected to the ninth connecting rod 9 through a thirty-fourth rotation pair R34; The first end of the fourth cross bar 6 - 2 is connected to the third kinematic chain, and the second end of the fourth cross bar 6 - 2 is connected to the fourth kinematic chain.

[0063] The third motion chain includes a twenty-first rotation pair R21, a fifth connecting rod 5 and a twenty-second rotation pair R22 connected in sequence. One end of the fifth connecting rod 5 is connected to the first end of the fourth cross bar 6-2 through the twenty-first rotation pair R21, and the other end of the fifth connecting rod 5 is also connected to the first end of the second cross bar 3-2 through the twenty-second rotation pair R22.

[0064] The fourth motion chain includes the twenty-third rotation pair R23, the seventh connecting rod 7 and the twenty-fourth rotation pair R24 ​​connected in sequence. One end of the seventh connecting rod 7 is connected to the second end of the fourth cross bar 6-2 through the twenty-fourth rotation pair R24, and the other end of the seventh connecting rod 7 is connected to the second end of the second cross bar 3-2 through the twenty-third rotation pair R23.

[0065] Example 6 A parallel robot with locking mode and planar 4R mechanism motion mode, such as Figure 1As shown, it includes a base 1, to which a first kinematic chain and a second kinematic chain are connected; it also includes a third kinematic chain and a fourth kinematic chain; the first kinematic chain and the second kinematic chain are connected through the third kinematic chain and the fourth kinematic chain.

[0066] The first kinematic chain includes an eleventh rotational pair R11, a second connecting rod 2, a twelfth rotational pair R12, a third connecting rod 3, a thirteenth rotational pair R13, a fourth connecting rod 4 and a fourteenth rotational pair R14 which are connected in sequence; the eleventh rotational pair R11 and the fourteenth rotational pair R14 are also connected to the base 1; The third connecting rod 3 is an I-shaped connecting rod, and the third connecting rod 3 includes a first cross bar 3-1 and a second cross bar 3-2, and a first vertical rod 3-3 is arranged between the first cross bar 3-1 and the second cross bar 3-2; The first end of the first crossbar 3-1 is connected to the second connecting rod 2 through the twelfth rotation pair R12; the second end of the first crossbar 3-1 is connected to the fourth connecting rod 4 through the thirteenth rotation pair R13; The first end of the second cross bar 3 - 2 is connected to the third kinematic chain, and the second end of the second cross bar 3 - 2 is connected to the fourth kinematic chain.

[0067] The second kinematic chain includes a 32nd rotation pair R32, an 8th connecting rod 8, a 31st rotation pair R31, a 6th connecting rod 6, a 34th rotation pair R34, a 9th connecting rod 9 and a 33rd rotation pair R33 which are connected in sequence; the 32nd rotation pair R32 and the 33rd rotation pair R33 are also connected to the base 1; The sixth connecting rod 6 is an I-shaped connecting rod, and the sixth connecting rod 6 includes a third cross bar 6-1 and a fourth cross bar 6-2, and a second vertical rod 6-3 is arranged between the third cross bar 6-1 and the fourth cross bar 6-2; The first end of the third crossbar 6-1 is connected to the eighth connecting rod 8 through a thirty-first rotation pair R31; the second end of the third crossbar 6-1 is connected to the ninth connecting rod 9 through a thirty-fourth rotation pair R34; The first end of the fourth cross bar 6 - 2 is connected to the third kinematic chain, and the second end of the fourth cross bar 6 - 2 is connected to the fourth kinematic chain.

[0068] The third motion chain includes a twenty-first rotation pair R21, a fifth connecting rod 5 and a twenty-second rotation pair R22 connected in sequence. One end of the fifth connecting rod 5 is connected to the first end of the fourth cross bar 6-2 through the twenty-first rotation pair R21, and the other end of the fifth connecting rod 5 is also connected to the first end of the second cross bar 3-2 through the twenty-second rotation pair R22.

[0069] The fourth kinematic chain includes a 23rd rotational pair R23, a 7th connecting rod 7 and a 24th rotational pair R24 ​​connected in sequence, one end of the 7th connecting rod 7 is connected to the second end of the 4th crossbar 6-2 through the 24th rotational pair R24, and the other end of the 7th connecting rod 7 is connected to the second end of the 2nd crossbar 3-2 through the 23rd rotational pair R23. The 11th rotational pair R11 is connected to a driving motor.

Claims

1. A parallel robot with a locking mode and a planar 4R mechanism motion mode, characterized in that: The invention comprises a base (1), to which a first kinematic chain and a second kinematic chain are connected; and a third kinematic chain and a fourth kinematic chain are also included; the first kinematic chain and the second kinematic chain are connected via the third kinematic chain and the fourth kinematic chain.

2. The parallel robot with locking mode and planar 4R mechanism motion mode according to claim 1, characterized in that: The first kinematic chain comprises an eleventh rotational pair R11, a second connecting rod (2), a twelfth rotational pair R12, a third connecting rod (3), a thirteenth rotational pair R13, a fourth connecting rod (4) and a fourteenth rotational pair R14 which are connected in sequence; the eleventh rotational pair R11 and the fourteenth rotational pair R14 are also connected to the base (1); The third connecting rod (3) is an I-shaped connecting rod, and the third connecting rod (3) comprises a first cross rod (3-1) and a second cross rod (3-2), and a first vertical rod (3-3) is arranged between the first cross rod (3-1) and the second cross rod (3-2); The first end of the first crossbar (3-1) is connected to the second connecting rod (2) via a twelfth rotation pair R12; the second end of the first crossbar (3-1) is connected to the fourth connecting rod (4) via a thirteenth rotation pair R13; The first end of the second crossbar (3-2) is connected to the third kinematic chain, and the second end of the second crossbar (3-2) is connected to the fourth kinematic chain.

3. The parallel robot with locking mode and planar 4R mechanism motion mode according to claim 2, characterized in that: The second kinematic chain comprises a thirty-second rotational pair R32, an eighth connecting rod (8), a thirty-first rotational pair R31, a sixth connecting rod (6), a thirty-fourth rotational pair R34, a ninth connecting rod (9) and a thirty-third rotational pair R33 which are connected in sequence; the thirty-second rotational pair R32 and the thirty-third rotational pair R33 are also connected to the base (1); The sixth connecting rod (6) is an I-shaped connecting rod, and the sixth connecting rod (6) comprises a third cross rod (6-1) and a fourth cross rod (6-2), and a second vertical rod (6-3) is arranged between the third cross rod (6-1) and the fourth cross rod (6-2); The first end of the third crossbar (6-1) is connected to the eighth connecting rod (8) via a thirty-first rotation pair R31; the second end of the third crossbar (6-1) is connected to the ninth connecting rod (9) via a thirty-fourth rotation pair R34; The first end of the fourth crossbar (6-2) is connected to the third kinematic chain, and the second end of the fourth crossbar (6-2) is connected to the fourth kinematic chain.

4. The parallel robot with locking mode and planar 4R mechanism motion mode according to claim 3, characterized in that: The third kinematic chain comprises a twenty-first rotational pair R21, a fifth connecting rod (5) and a twenty-second rotational pair R22 which are connected in sequence, one end of the fifth connecting rod (5) is connected to the first end of the fourth crossbar (6-2) via the twenty-first rotational pair R21, and the other end of the fifth connecting rod (5) is also connected to the first end of the second crossbar (3-2) via the twenty-second rotational pair R22.

5. The parallel robot with locking mode and planar 4R mechanism motion mode according to claim 4, characterized in that: The fourth kinematic chain comprises a twenty-third rotational pair R23, a seventh connecting rod (7) and a twenty-fourth rotational pair R24 ​​which are connected in sequence, one end of the seventh connecting rod (7) is connected to the second end of the fourth crossbar (6-2) via the twenty-fourth rotational pair R24, and the other end of the seventh connecting rod (7) is connected to the second end of the second crossbar (3-2) via the twenty-third rotational pair R23.

6. The parallel robot with locking mode and planar 4R mechanism motion mode according to claim 2, characterized in that: The eleventh rotation pair R11 is connected to a driving motor.

7. The parallel robot with locking mode and planar 4R mechanism motion mode according to claim 3, characterized in that: The thirty-second rotation pair R32 is connected to a driving motor.

8. A driving method for a parallel robot having a locking mode and a planar 4R mechanism motion mode according to any one of claims 1 to 7, characterized in that: Specifically: When the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide, and the axes of the thirty-second rotation pair R32, the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide, and the axes of the thirty-third rotation pair R33, the twenty-third rotation pair R23 and the thirteenth rotation pair R13 coincide, and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide, drive the drive motor connected to the eleventh rotation pair R11, lock the drive motor connected to the thirty-second rotation pair R32, and control the robot to move until the third link 3 is in the plane 4R motion mode configuration; When the third connecting rod (3) is in the plane 4R motion mode configuration, when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide with each other; and the axes of the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide with each other and do not coincide with the axis of the thirty-second rotation pair R32; and the axes of the twenty-third rotation pair R23 coincide with the axis of the thirteenth rotation pair R13 and do not coincide with the axis of the thirty-third rotation pair R33; and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide with each other, the third connecting rod (3) acts as a moving platform, the third connecting rod (3) has a plane 4R mechanism motion mode, controls the drive motor connected to the eleventh rotation pair R11, and controls the plane 4R mechanism motion mode of the third connecting rod (3); When the third connecting rod (3) is in the plane 4R motion mode and the locking mode transformation configuration, when the axes of the thirty-first rotation pair R31, the twenty-first rotation pair R21 and the eleventh rotation pair R11 coincide, and the axes of the thirty-second rotation pair R32, the twenty-second rotation pair R22 and the twelfth rotation pair R12 coincide, and the axes of the thirty-third rotation pair R33, the twenty-third rotation pair R23 and the thirteenth rotation pair R13 coincide, and the axes of the thirty-fourth rotation pair R34, the twenty-fourth rotation pair R24 ​​and the fourteenth rotation pair R14 coincide, the drive motor connected to the eleventh rotation pair R11 is locked, the drive motor connected to the thirty-second rotation pair R32 is controlled, and the mechanism is controlled to move to the third connecting rod (3) in the plane 4R motion mode and the locking mode transformation configuration when the third connecting rod (3) is in the plane 4R motion mode and the locking mode transformation configuration to the third connecting rod (3) in the locking mode transformation configuration.

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