Completely-decoupled 1R1T parallel stirrer with instantaneous rotation axis parallel to moving direction and method

Abstract

The invention discloses a 1R1T parallel stirrer with a complete decoupling instantaneous rotation axis parallel to a moving direction, and the 1R1T parallel stirrer with the complete decoupling instantaneous rotation axis parallel to the moving direction comprises a base, a movable platform and a first kinematic chain, the first kinematic chain is connected with the base, and the first kinematic chain is connected with a second kinematic chain; the second kinematic chain is connected with a fourth kinematic chain, and the second kinematic chain is connected with the movable platform through the fourth kinematic chain; and a third kinematic chain is arranged between the base and the movable platform. When the stirrer moves at high acceleration, the coriolis force is zero, so that the influence of the inertia force on the dynamic movement condition of the stirrer during the movement of the stirrer is reduced, and the high-acceleration movement of the stirrer is facilitated. The invention further discloses a driving method of the 1R1T parallel stirrer with the complete decoupling instantaneous rotation axis parallel to the moving direction.

Description

Technical Field

[0001] The present invention belongs to the technical field of mixers, and in particular relates to a 1R1T parallel mixer with a completely decoupled instantaneous rotation axis parallel to a moving direction, and also relates to a driving method of the 1R1T parallel mixer with a completely decoupled instantaneous rotation axis parallel to a moving direction. Background Art

[0002] In general, the rotational secondary axis of the 1R1T parallel mixer is not parallel to the moving direction. In particular, when the rotational secondary axis of the 1R1T parallel mixer is parallel to the moving secondary axis, the rotational motion mode is a fixed axis rotation mode. When the axis of the rotational motion mode of the 1R1T parallel mixer changes continuously during the motion process, since the rotational axis is not parallel to the moving direction, a Coriolis force will be generated, and the direction of the force is determined by the vector product of the rotational axis direction and the moving direction. When the mechanism is in high-acceleration motion, the Coriolis force will be large, which will affect the dynamic motion of the mixer, increase the degree of joint wear and affect the service life of the mixer. Summary of the invention

[0003] The first object of the present invention is to provide a 1R1T parallel mixer in which the instantaneous rotation axis is completely decoupled and parallel to the moving direction. The mixer can be used for mixing spherical materials. The direction of spherical rotation and the moving direction in the direction of the spherical radius coincide with each other, thereby reducing the inertia force of the end effector of the mixer, facilitating the mixer to maintain stability during high-speed movement, reducing the reaction force and friction of the equipment joints, and facilitating improving the service life of the mixer.

[0004] The second object of the present invention is to provide a driving method for a 1R1T parallel mixer in which the instantaneous rotation axis is completely decoupled and parallel to the moving direction.

[0005] The first technical solution adopted by the present invention is a 1R1T parallel mixer with a completely decoupled instantaneous rotation axis parallel to the moving direction, including a base, a moving platform and a first motion chain; the first motion chain is connected to the base, and the second motion chain is connected to the first motion chain; the second motion chain is connected to the fourth motion chain, and the second motion chain is connected to the moving platform through the fourth motion chain; a third motion chain is arranged between the base and the moving platform.

[0006] 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, an eighth connecting rod, a twenty-second rotation pair R22, a fifth connecting rod and a twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are both connected to the base; the eighth connecting rod is a V-shaped connecting rod; The second connecting rod is a T-shaped connecting rod, including a first cross rod and a first vertical rod, the first end of the first vertical rod is connected to the rod body of the first cross rod, and the second end of the first vertical rod is connected to the second kinematic chain; the first end of the first cross rod is connected to the first end of the eighth connecting rod through the twelfth rotation pair R12, and the second end of the first cross rod is connected to the base through the eleventh rotation pair R11; The fifth connecting rod is a T-shaped connecting rod, including a second cross rod and a second vertical rod, the first end of the second vertical rod is connected to the rod body of the second cross rod, and the second end of the second vertical rod is connected to the second kinematic chain; the first end of the second cross rod is connected to the second end of the eighth connecting rod through a twenty-second rotation pair R22, and the second end of the second cross rod is connected to the base through a twenty-first rotation pair R21; The third kinematic chain includes a thirty-first ball pair S31, a tenth connecting rod and a thirty-second motion pair P32 which are connected in sequence; the thirty-first ball pair S31 is also connected to the base.

[0007] The second kinematic chain includes a thirteenth moving pair P13, a third link, a fourteenth moving pair P14, a fourth link, a fifteenth rotation pair R15, a ninth link, a twenty-fifth rotation pair R25, a seventh link, a twenty-fourth moving pair P24, a sixth link and a twenty-third moving pair P23 connected in sequence; The twenty-third movable pair P23 is also connected to the second end of the second vertical rod; The fourteenth movable pair P14 is also connected to the second end of the first vertical rod; The ninth connecting rod is an X-shaped connecting rod with four turning points, and the rod body at the second turning point of the ninth connecting rod close to the side of the twenty-fifth rotation pair R25 is connected to the fourth kinematic chain.

[0008] The third connecting rod and the sixth connecting rod are both V-shaped connecting rods.

[0009] The fourth kinematic chain includes a thirty-third rotation pair R33, a twelfth connecting rod and a thirty-fourth rotation pair R34 which are connected in sequence; The thirty-fourth rotational pair R34 is also connected to the rod body at the second turning point on the ninth connecting rod close to the side of the twenty-fifth rotational pair R25; The thirty-third rotation pair R33 is also connected to the moving platform.

[0010] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0011] The thirty-second moving pair P32 is connected to a driving moving motor.

[0012] The second technical solution adopted by the present invention is a driving method for the 1R1T parallel mixer in which the instantaneous rotation axis is completely decoupled and parallel to the moving direction, specifically: by controlling the driving rotating motor connected to the eleventh rotating pair R11, the moving platform is controlled to rotate along the instantaneous rotation axis of the spherical 4R mechanism; by controlling the driving moving motor connected to the thirty-second moving pair P32, the moving platform is controlled to move along the instantaneous rotation axis of the spherical 4R mechanism.

[0013] The beneficial effects of the present invention are: (1) The present invention proposes a 1R1T parallel mixer in which the instantaneous rotation axis is completely decoupled and parallel to the moving direction. The direction of the 1D movement of the end of the parallel mixer coincides with the 1D variable rotation axis. Therefore, the Coriolis force of the end actuator during the movement is smaller than that of the general 1R1T parallel mixer. When the mechanism moves at high speed, the Coriolis force is zero, thereby reducing the influence of the inertial force of the mixer on the dynamic movement of the mixer. The 1R1T parallel mixer of the present invention has spherical one-dimensional rotation and spherical radial movement, which can be used for mixing spherical materials. The direction of spherical rotation and the direction of movement in the spherical radius coincide, reducing the inertial force of the end actuator of the mixer, which is conducive to maintaining stability during high-speed movement of the mixer, reducing the generation of additional reaction force at the joints, reducing the equipment joint reaction force and friction, reducing joint wear, and helping to increase the service life of the mixer.

[0014] (2) The 1R1T parallel mixer proposed by the present invention has a completely decoupled instantaneous rotation axis parallel to the moving direction. The moving length of the mixer is controlled by one drive, and the variable axis rotation movement of the mixer is controlled by one drive, which has a completely decoupled 1R1T motion characteristic. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a configuration diagram of a 1R1T parallel mixer in which the instantaneous rotation axis is completely decoupled and parallel to the moving direction according to the present invention.

[0016] 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, 10. tenth connecting rod, 11. moving platform, 12. twelfth connecting rod.

[0017] 2-1. The first horizontal bar, 2-2. The first vertical bar; 5-1. The second horizontal bar, 5-2. The second vertical bar. DETAILED DESCRIPTION

[0018] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The present invention provides a 1R1T parallel mixer with a completely decoupled instantaneous rotation axis parallel to the moving direction, such as Figure 1 As shown, it includes a base 1, a moving platform 11 and a first motion chain; the first motion chain is connected to the base 1, and the second motion chain is connected to the first motion chain; the fourth motion chain is connected to the second motion chain, and the second motion chain is connected to the moving platform 11 through the fourth motion chain; a third motion chain is arranged between the base 1 and the moving platform 11.

[0020] The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod 2, the twelfth rotation pair R12, the eighth connecting rod 8, the twenty-second rotation pair R22, the fifth connecting rod 5 and the twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; the eighth connecting rod 8 is a V-shaped connecting rod; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, wherein the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the second kinematic chain; the first end of the first cross bar 2-1 is connected to the first end of the eighth connecting rod 8 through the twelfth rotation pair R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation pair R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross rod 5-1 and a second vertical rod 5-2, wherein the first end of the second vertical rod 5-2 is connected to the rod body of the second cross rod 5-1, and the second end of the second vertical rod 5-2 is connected to the second kinematic chain; the first end of the second cross rod 5-1 is connected to the second end of the eighth connecting rod 8 through a twenty-second rotation pair R22, and the second end of the second cross rod 5-1 is connected to the base 1 through a twenty-first rotation pair R21; The third kinematic chain includes a thirty-first ball pair S31, a tenth connecting rod 10 and a thirty-second movable pair P32 which are connected in sequence; the thirty-first ball pair S31 is also connected to the base.

[0021] The center of the 31st ball pair S31 coincides with the intersection of the axes of the 11th rotation pair R11, the 12th rotation pair R12, the 22nd rotation pair R22, and the 21st rotation pair R21.

[0022] The second kinematic chain includes the third link 3 of the thirteenth moving pair P13, the fourteenth moving pair P14, the fourth link 4, the fifteenth rotation pair R15, the ninth link 9, the twenty-fifth rotation pair R25, the seventh link 7, the twenty-fourth moving pair P24, the sixth link 6 and the twenty-third moving pair P23 connected in sequence; The twenty-third movable pair P23 is also connected to the second end of the second vertical rod 5-1; The fourteenth mobile pair P14 is also connected to the second end of the first vertical rod 2-2; The ninth connecting rod 9 is an X-shaped connecting rod with four turning points. The rod body at the second turning point on the side of the ninth connecting rod 9 close to the twenty-fifth rotation pair R25 is connected to the fourth kinematic chain.

[0023] The third connecting rod 3 and the sixth connecting rod 6 are both V-shaped connecting rods.

[0024] The fourth kinematic chain includes a thirty-third rotation pair R33, a twelfth connecting rod 12 and a thirty-fourth rotation pair R34 which are connected in sequence; The thirty-fourth rotation pair R34 is also connected to the rod body at the second turning point on the ninth connecting rod 9 close to the side of the twenty-fifth rotation pair R25; The thirty-third rotation pair R33 is also connected to the moving platform 11.

[0025] The eleventh rotating pair R11 is connected to a driving rotating motor.

[0026] The thirty-second moving pair P32 is connected to a driving moving motor.

[0027] The driving method of the above-mentioned 1R1T parallel mixer in which the instantaneous rotation axis is completely decoupled and parallel to the moving direction is specifically as follows: by controlling the driving rotating motor connected to the eleventh rotating pair R11, the moving platform 11 is controlled to rotate along the instantaneous rotation axis of the spherical 4R mechanism; by controlling the driving moving motor connected to the thirty-second moving pair P32, the moving platform 11 is controlled to move along the instantaneous rotation axis of the spherical 4R mechanism.

[0028] like Figure 1 As shown, the base 1 is rotationally connected to the second end of the first cross bar 2-1 in the second link 2 through the eleventh rotation pair R11, the first end of the first cross bar 2-1 is rotationally connected to the first end of the eighth link 8 through the twelfth rotation pair R12, the second end of the eighth link 8 is rotationally connected to the first end of the second cross bar 5-1 in the fifth link 5 through the twenty-second rotation pair R22, and the second end of the second cross bar 5-1 is rotationally connected to the base 1 through the twenty-first rotation pair R21.

[0029] The second end of the first vertical rod 2-2 in the second connecting rod 2 is movably connected to the third connecting rod 3 through the thirteenth moving pair P13, the third connecting rod 3 is movably connected to the fourth connecting rod 4 through the fourteenth moving pair P14, and the fourth connecting rod 4 is rotationally connected to the ninth connecting rod 9 through the fifteenth rotation pair R15. The ninth connecting rod 9 is rotationally connected to the seventh connecting rod 7 through the twenty-fifth rotation pair R25. The seventh connecting rod 7 is movably connected to the sixth connecting rod 6 through the twenty-fourth moving pair P24. The sixth connecting rod 6 is movably connected to the second end of the second vertical rod 5-2 in the fifth connecting rod 5 through the twenty-third moving pair P23.

[0030] The tenth connecting rod 10 is connected to the base 1 through the thirty-first ball joint S31, and the tenth connecting rod 10 is connected to the movable platform 11 through the thirty-second movable joint P32. The movable platform 11 is connected to the twelfth connecting rod 12 through the thirty-third rotation joint R33. The twelfth connecting rod 12 is connected to the ninth connecting rod 9 through the thirty-fourth rotation joint R34.

[0031] Figure 1 In the shown mechanism configuration, the axes of the eleventh rotational pair R11, the twelfth rotational pair R12, the twenty-second rotational pair R22 and the twenty-first rotational pair R21 intersect at point O. Figure 1 In the illustrated mechanism configuration, the axes of the eleventh rotational pair R11, the twelfth rotational pair R12, the twenty-second rotational pair R22 and the twenty-first rotational pair R21 are not coplanar.

[0032] Figure 1 In the shown configuration, the moving directions of the thirteenth moving pair P13 and the fourteenth moving pair P14 are parallel to the planes where the axes of the eleventh rotation pair R11 and the twelfth rotation pair R12 are located. Figure 1 In the shown mechanism configuration, the moving direction of the thirteenth movable pair P13 is parallel to the axis of the eleventh rotation pair R11, and the moving direction of the fourteenth movable pair P14 is parallel to the axis of the twelfth rotation pair R12.

[0033] Figure 1 In the shown mechanism configuration, the axis of the fifteenth rotation pair R15 is parallel to the axis of the eleventh rotation pair R11.

[0034] Figure 1 In the shown configuration, the moving directions of the twenty-third moving pair P23 and the twenty-fourth moving pair P24 are parallel to the plane where the axes of the twenty-first rotation pair R21 and the twenty-second rotation pair R22 are located. Figure 1 In the shown mechanism configuration, the moving direction of the twenty-third movable pair P23 is parallel to the axis of the twenty-first rotation pair R21, and the moving direction of the twenty-fourth movable pair P24 is parallel to the axis of the twenty-second rotation pair R22.

[0035] Figure 1 In the shown mechanism configuration, the axis of the twenty-fifth rotation pair R25 is parallel to the axis of the twenty-first rotation pair R21.

[0036] Figure 1 In the shown mechanism configuration, the center of the 31st ball pair S31 coincides with point O. The moving direction of the 32nd motion pair P32 is perpendicular to the axis of the 33rd rotation pair R33, and the moving direction of the 32nd motion pair P32 is perpendicular to the axis of the 34th rotation pair R34.

[0037] Figure 1In the shown mechanism configuration, the rotational pair axis of the thirty-third rotational pair R33 intersects the axis of the thirty-fourth rotational pair R34 at point P. Figure 1 In the shown mechanism configuration, the line connecting point P and point O coincides with the instantaneous rotation axis of the connecting rod 8 relative to the base 1. Figure 1 In the shown mechanism configuration, the line connecting point P and point O is parallel to the moving direction of the thirty-second movable pair P32.

[0038] Figure 1 In the shown mechanism configuration, the eleventh rotation pair R11 is connected to a driving rotation motor.

[0039] The thirty-second moving pair P32 is connected to a driving moving motor.

[0040] By controlling the driving motor connected to the eleventh rotation pair R11, the movable platform 11 can be controlled to rotate along the instantaneous rotation axis of the spherical surface 4R mechanism. By controlling the driving motor connected to the thirty-second movement pair P32, the movable platform 11 can be controlled to move along the instantaneous rotation axis of the spherical surface 4R mechanism.

[0041] When the driving rotating motor connected to the eleventh rotating pair R11 is controlled to make the moving platform 11 rotate along the instantaneous rotation axis of the spherical 4R mechanism, and the driving moving motor connected to the thirty-second moving pair P32 is controlled to make the moving platform 11 move along the instantaneous rotation axis of the spherical 4R mechanism, the rotating pair axis of the thirty-third rotating pair R33 intersects with the axis of the thirty-fourth rotating pair R34 at point P, and the line connecting this point and point O coincides with the instantaneous rotation axis of the connecting rod 8 relative to the base 1. Figure 1 In the shown mechanism configuration, the line connecting point P and point O is parallel to the moving direction of the thirty-second movable pair P32.

[0042] Example 1 Completely decoupled 1R1T parallel mixer with instantaneous rotation axis parallel to the moving direction, such as Figure 1 As shown, it includes a base 1, a moving platform 11 and a first motion chain; the first motion chain is connected to the base 1, and the second motion chain is connected to the first motion chain; the fourth motion chain is connected to the second motion chain, and the second motion chain is connected to the moving platform 11 through the fourth motion chain; a third motion chain is arranged between the base 1 and the moving platform 11.

[0043] Example 2 Completely decoupled 1R1T parallel mixer with instantaneous rotation axis parallel to the moving direction, such as Figure 1 As shown, it includes a base 1, a moving platform 11 and a first motion chain; the first motion chain is connected to the base 1, and the second motion chain is connected to the first motion chain; the fourth motion chain is connected to the second motion chain, and the second motion chain is connected to the moving platform 11 through the fourth motion chain; a third motion chain is arranged between the base 1 and the moving platform 11.

[0044] The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod 2, the twelfth rotation pair R12, the eighth connecting rod 8, the twenty-second rotation pair R22, the fifth connecting rod 5 and the twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; the eighth connecting rod 8 is a V-shaped connecting rod; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, wherein the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the second kinematic chain; the first end of the first cross bar 2-1 is connected to the first end of the eighth connecting rod 8 through the twelfth rotation pair R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation pair R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross rod 5-1 and a second vertical rod 5-2, wherein the first end of the second vertical rod 5-2 is connected to the rod body of the second cross rod 5-1, and the second end of the second vertical rod 5-2 is connected to the second kinematic chain; the first end of the second cross rod 5-1 is connected to the second end of the eighth connecting rod 8 through a twenty-second rotation pair R22, and the second end of the second cross rod 5-1 is connected to the base 1 through a twenty-first rotation pair R21; The third kinematic chain includes a thirty-first ball pair S31, a tenth connecting rod 10 and a thirty-second movable pair P32 which are connected in sequence; the thirty-first ball pair S31 is also connected to the base.

[0045] Example 3 Completely decoupled 1R1T parallel mixer with instantaneous rotation axis parallel to the moving direction, such as Figure 1 As shown, it includes a base 1, a moving platform 11 and a first motion chain; the first motion chain is connected to the base 1, and the second motion chain is connected to the first motion chain; the fourth motion chain is connected to the second motion chain, and the second motion chain is connected to the moving platform 11 through the fourth motion chain; a third motion chain is arranged between the base 1 and the moving platform 11.

[0046] The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod 2, the twelfth rotation pair R12, the eighth connecting rod 8, the twenty-second rotation pair R22, the fifth connecting rod 5 and the twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; the eighth connecting rod 8 is a V-shaped connecting rod; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, wherein the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the second kinematic chain; the first end of the first cross bar 2-1 is connected to the first end of the eighth connecting rod 8 through the twelfth rotation pair R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation pair R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross rod 5-1 and a second vertical rod 5-2, wherein the first end of the second vertical rod 5-2 is connected to the rod body of the second cross rod 5-1, and the second end of the second vertical rod 5-2 is connected to the second kinematic chain; the first end of the second cross rod 5-1 is connected to the second end of the eighth connecting rod 8 through a twenty-second rotation pair R22, and the second end of the second cross rod 5-1 is connected to the base 1 through a twenty-first rotation pair R21; The third kinematic chain includes a thirty-first ball pair S31, a tenth connecting rod 10 and a thirty-second movable pair P32 which are connected in sequence; the thirty-first ball pair S31 is also connected to the base.

[0047] The center of the 31st ball pair S31 coincides with the intersection of the axes of the 11th rotation pair R11, the 12th rotation pair R12, the 22nd rotation pair R22, and the 21st rotation pair R21.

[0048] Example 4 Completely decoupled 1R1T parallel mixer with instantaneous rotation axis parallel to the moving direction, such as Figure 1 As shown, it includes a base 1, a moving platform 11 and a first motion chain; the first motion chain is connected to the base 1, and the second motion chain is connected to the first motion chain; the fourth motion chain is connected to the second motion chain, and the second motion chain is connected to the moving platform 11 through the fourth motion chain; a third motion chain is arranged between the base 1 and the moving platform 11.

[0049] The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod 2, the twelfth rotation pair R12, the eighth connecting rod 8, the twenty-second rotation pair R22, the fifth connecting rod 5 and the twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; the eighth connecting rod 8 is a V-shaped connecting rod; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, wherein the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the second kinematic chain; the first end of the first cross bar 2-1 is connected to the first end of the eighth connecting rod 8 through the twelfth rotation pair R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation pair R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross rod 5-1 and a second vertical rod 5-2, wherein the first end of the second vertical rod 5-2 is connected to the rod body of the second cross rod 5-1, and the second end of the second vertical rod 5-2 is connected to the second kinematic chain; the first end of the second cross rod 5-1 is connected to the second end of the eighth connecting rod 8 through a twenty-second rotation pair R22, and the second end of the second cross rod 5-1 is connected to the base 1 through a twenty-first rotation pair R21; The third kinematic chain includes a thirty-first ball pair S31, a tenth connecting rod 10 and a thirty-second movable pair P32 which are connected in sequence; the thirty-first ball pair S31 is also connected to the base.

[0050] The center of the 31st ball pair S31 coincides with the intersection of the axes of the 11th rotation pair R11, the 12th rotation pair R12, the 22nd rotation pair R22, and the 21st rotation pair R21.

[0051] The second kinematic chain includes the third link 3 of the thirteenth moving pair P13, the fourteenth moving pair P14, the fourth link 4, the fifteenth rotation pair R15, the ninth link 9, the twenty-fifth rotation pair R25, the seventh link 7, the twenty-fourth moving pair P24, the sixth link 6 and the twenty-third moving pair P23 connected in sequence; The twenty-third movable pair P23 is also connected to the second end of the second vertical rod 5-1; The fourteenth mobile pair P14 is also connected to the second end of the first vertical rod 2-2; The ninth connecting rod 9 is an X-shaped connecting rod with four turning points. The rod body at the second turning point on the side of the ninth connecting rod 9 close to the twenty-fifth rotation pair R25 is connected to the fourth kinematic chain.

[0052] Example 5 Completely decoupled 1R1T parallel mixer with instantaneous rotation axis parallel to the moving direction, such as Figure 1 As shown, it includes a base 1, a moving platform 11 and a first motion chain; the first motion chain is connected to the base 1, and the second motion chain is connected to the first motion chain; the fourth motion chain is connected to the second motion chain, and the second motion chain is connected to the moving platform 11 through the fourth motion chain; a third motion chain is arranged between the base 1 and the moving platform 11.

[0053] The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod 2, the twelfth rotation pair R12, the eighth connecting rod 8, the twenty-second rotation pair R22, the fifth connecting rod 5 and the twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; the eighth connecting rod 8 is a V-shaped connecting rod; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, wherein the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the second kinematic chain; the first end of the first cross bar 2-1 is connected to the first end of the eighth connecting rod 8 through the twelfth rotation pair R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation pair R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross rod 5-1 and a second vertical rod 5-2, wherein the first end of the second vertical rod 5-2 is connected to the rod body of the second cross rod 5-1, and the second end of the second vertical rod 5-2 is connected to the second kinematic chain; the first end of the second cross rod 5-1 is connected to the second end of the eighth connecting rod 8 through a twenty-second rotation pair R22, and the second end of the second cross rod 5-1 is connected to the base 1 through a twenty-first rotation pair R21; The third kinematic chain includes a thirty-first ball pair S31, a tenth connecting rod 10 and a thirty-second movable pair P32 which are connected in sequence; the thirty-first ball pair S31 is also connected to the base.

[0054] The center of the 31st ball pair S31 coincides with the intersection of the axes of the 11th rotation pair R11, the 12th rotation pair R12, the 22nd rotation pair R22, and the 21st rotation pair R21.

[0055] The second kinematic chain includes the third link 3 of the thirteenth moving pair P13, the fourteenth moving pair P14, the fourth link 4, the fifteenth rotation pair R15, the ninth link 9, the twenty-fifth rotation pair R25, the seventh link 7, the twenty-fourth moving pair P24, the sixth link 6 and the twenty-third moving pair P23 connected in sequence; The twenty-third movable pair P23 is also connected to the second end of the second vertical rod 5-1; The fourteenth mobile pair P14 is also connected to the second end of the first vertical rod 2-2; The ninth connecting rod 9 is an X-shaped connecting rod with four turning points. The rod body at the second turning point on the side of the ninth connecting rod 9 close to the twenty-fifth rotation pair R25 is connected to the fourth kinematic chain.

[0056] The third connecting rod 3 and the sixth connecting rod 6 are both V-shaped connecting rods.

[0057] Example 6 Completely decoupled 1R1T parallel mixer with instantaneous rotation axis parallel to the moving direction, such as Figure 1 As shown, it includes a base 1, a moving platform 11 and a first motion chain; the first motion chain is connected to the base 1, and the second motion chain is connected to the first motion chain; the fourth motion chain is connected to the second motion chain, and the second motion chain is connected to the moving platform 11 through the fourth motion chain; a third motion chain is arranged between the base 1 and the moving platform 11.

[0058] The first kinematic chain includes the eleventh rotation pair R11, the second connecting rod 2, the twelfth rotation pair R12, the eighth connecting rod 8, the twenty-second rotation pair R22, the fifth connecting rod 5 and the twenty-first rotation pair R21 which are connected in sequence; the twenty-first rotation pair R21 and the eleventh rotation pair R11 are also connected to the base 1; the eighth connecting rod 8 is a V-shaped connecting rod; The second connecting rod 2 is a T-shaped connecting rod, including a first cross bar 2-1 and a first vertical bar 2-2, wherein the first end of the first vertical bar 2-2 is connected to the rod body of the first cross bar 2-1, and the second end of the first vertical bar 2-2 is connected to the second kinematic chain; the first end of the first cross bar 2-1 is connected to the first end of the eighth connecting rod 8 through the twelfth rotation pair R12, and the second end of the first cross bar 2-1 is connected to the base 1 through the eleventh rotation pair R11; The fifth connecting rod 5 is a T-shaped connecting rod, including a second cross rod 5-1 and a second vertical rod 5-2, wherein the first end of the second vertical rod 5-2 is connected to the rod body of the second cross rod 5-1, and the second end of the second vertical rod 5-2 is connected to the second kinematic chain; the first end of the second cross rod 5-1 is connected to the second end of the eighth connecting rod 8 through a twenty-second rotation pair R22, and the second end of the second cross rod 5-1 is connected to the base 1 through a twenty-first rotation pair R21; The third kinematic chain includes a thirty-first ball pair S31, a tenth connecting rod 10 and a thirty-second movable pair P32 which are connected in sequence; the thirty-first ball pair S31 is also connected to the base.

[0059] The center of the 31st ball pair S31 coincides with the intersection of the axes of the 11th rotation pair R11, the 12th rotation pair R12, the 22nd rotation pair R22, and the 21st rotation pair R21.

[0060] The second kinematic chain includes the third link 3 of the thirteenth moving pair P13, the fourteenth moving pair P14, the fourth link 4, the fifteenth rotation pair R15, the ninth link 9, the twenty-fifth rotation pair R25, the seventh link 7, the twenty-fourth moving pair P24, the sixth link 6 and the twenty-third moving pair P23 connected in sequence; The twenty-third movable pair P23 is also connected to the second end of the second vertical rod 5-1; The fourteenth mobile pair P14 is also connected to the second end of the first vertical rod 2-2; The ninth connecting rod 9 is an X-shaped connecting rod with four turning points. The rod body at the second turning point on the side of the ninth connecting rod 9 close to the twenty-fifth rotation pair R25 is connected to the fourth kinematic chain.

[0061] The third connecting rod 3 and the sixth connecting rod 6 are both V-shaped connecting rods.

[0062] The fourth kinematic chain includes a thirty-third rotation pair R33, a twelfth connecting rod 12 and a thirty-fourth rotation pair R34 which are connected in sequence; The thirty-fourth rotation pair R34 is also connected to the rod body at the second turning point on the ninth connecting rod 9 close to the side of the twenty-fifth rotation pair R25; The thirty-third rotation pair R33 is also connected to the moving platform 11.

Claims

1. A 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction, characterized in that: The invention comprises a base (1), a moving platform (11) and a first kinematic chain; the first kinematic chain is connected to the base (1), and a second kinematic chain is connected to the first kinematic chain; a fourth kinematic chain is connected to the second kinematic chain, and the second kinematic chain is connected to the moving platform (11) via the fourth kinematic chain; and a third kinematic chain is arranged between the base (1) and the moving platform (11).

2. The 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to claim 1 is characterized in that: The first kinematic chain comprises an eleventh rotational pair R11, a second connecting rod (2), a twelfth rotational pair R12, an eighth connecting rod (8), a twenty-second rotational pair R22, a fifth connecting rod (5) and a twenty-first rotational pair R21 which are connected in sequence; the twenty-first rotational pair R21 and the eleventh rotational pair R11 are both connected to the base; the eighth connecting rod (8) is a V-shaped connecting rod; The second connecting rod (2) is a T-shaped connecting rod, comprising a first cross rod (2-1) and a first vertical rod (2-2); the first end of the first vertical rod (2-2) is connected to the rod body of the first cross rod (2-1), and the second end of the first vertical rod (2-2) is connected to the second kinematic chain; the first end of the first cross rod (2-1) is connected to the first end of the eighth connecting rod (8) via a twelfth rotation pair R12, and the second end of the first cross rod (2-1) is connected to the base (1) via an eleventh rotation pair R11; The fifth connecting rod (5) is a T-shaped connecting rod, comprising a second cross rod (5-1) and a second vertical rod (5-2); the first end of the second vertical rod (5-2) is connected to the rod body of the second cross rod (5-1), and the second end of the second vertical rod (5-2) is connected to the second kinematic chain; the first end of the second cross rod (5-1) is connected to the second end of the eighth connecting rod (8) via a twenty-second rotation pair R22, and the second end of the second cross rod (5-1) is connected to the base (1) via a twenty-first rotation pair R21.

3. The 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to claim 2, characterized in that: The third kinematic chain comprises a thirty-first ball pair S31, a tenth connecting rod (10) and a thirty-second movable pair P32 which are connected in sequence, and the thirty-first ball pair S31 is also connected to the base (1).

4. The 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to claim 2, characterized in that: The second kinematic chain comprises a thirteenth movable pair P13, a third connecting rod (3), a fourteenth movable pair P14, a fourth connecting rod (4), a fifteenth rotational pair R15, a ninth connecting rod (9), a twenty-fifth rotational pair R25, a seventh connecting rod (7), a twenty-fourth movable pair P24, a sixth connecting rod (6) and a twenty-third movable pair P23 which are connected in sequence; The twenty-third movable pair P23 is also connected to the second end of the second vertical rod (5-1); The fourteenth movable pair P14 is also connected to the second end of the first vertical rod (2-2); The ninth connecting rod (9) is a cross-shaped connecting rod having four turning points, and the rod body at the second turning point on the side of the ninth connecting rod (9) close to the twenty-fifth rotation pair R25 is connected to the fourth kinematic chain.

5. The 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to claim 4, characterized in that: The third connecting rod (3) and the sixth connecting rod (6) are both V-shaped connecting rods.

6. The 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to claim 4, characterized in that: The fourth kinematic chain comprises a thirty-third rotation pair R33, a twelfth connecting rod (12) and a thirty-fourth rotation pair R34 which are connected in sequence; The thirty-fourth rotational pair R34 is also connected to the rod body at the second turning point on the ninth connecting rod (9) close to the side of the twenty-fifth rotational pair R25; The thirty-third rotation pair R33 is also connected to the moving platform (11).

7. The 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to claim 2, characterized in that: The eleventh rotation pair R11 is connected to a driving rotation motor.

8. The 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to claim 3, characterized in that: The thirty-second moving pair P32 is connected to a driving moving motor.

9. The driving method of a 1R1T parallel mixer with completely decoupled instantaneous rotation axis parallel to the moving direction according to any one of claims 1 to 8, characterized in that: Specifically, by controlling the driving rotating motor connected to the eleventh rotating pair R11, the movable platform (11) is controlled to rotate along the instantaneous rotating axis of the spherical surface 4R mechanism; by controlling the driving moving motor connected to the thirty-second moving pair P32, the movable platform (11) is controlled to move along the instantaneous rotating axis of the spherical surface 4R mechanism.

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