Completely-decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes and method

Abstract

The completely-decoupled parallel stirring robot with the three three-movement fixed-axis rotation motion modes comprises a base and a movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base and the movable platform; the first kinematic chain comprises a first branch chain, the first branch chain is connected with a second branch chain, the second branch chain is further connected with the base, the second branch chain is further connected with a third branch chain, the third branch chain is further connected with the base, and the first branch chain is simultaneously connected with the base and the movable platform. The rotation motion mode of the stirring robot can be converted in three axial directions, when the motion mode is converted, rotation and movement of the stirring robot in all directions are controlled by one drive, and the motion mode conversion control method is simple. The invention further discloses a driving method of the completely-decoupled parallel stirring robot with the three three-movement fixed-axis rotation motion modes.

Description

Technical Field

[0001] The present invention belongs to the field of robot technology, and specifically relates to a completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, and also relates to a driving method for the completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes. Background Art

[0002] The multi-mode parallel mixing robot has the characteristic of adapting to various types of work requirements. When the motion mode of the multi-mode parallel mixing robot is changed, multiple drives need to work simultaneously to realize the change of the motion mode of the mixing robot. Generally, the control method of the multi-mode mixing robot is relatively complicated when the motion mode is changed, which affects the widespread application of the multi-mode mixing robot.

[0003] The parallel mixing robot with three movement modes and one rotation mode can be changed, so it is suitable for mixing operations with different rotation axis directions. The multi-mode parallel mixing robot with three movement modes and one rotation mode and multiple fixed axis rotation capabilities is relatively rare, and the multi-mode parallel mixing robot with three movement modes and one rotation with complete decoupling characteristics is even rarer. When the motion mode has decoupling characteristics, the output and input of the mixing robot correspond one to one, and the motion control of the mixing robot is simpler. The control difficulty of the multi-mode mixing robot when changing the motion mode is high, so the control algorithm for realizing the motion mode change is relatively complex, which limits the wide application of such mixing robots. Summary of the invention

[0004] The first purpose of the present invention is to provide a parallel mixing robot with three fully decoupled three-moving fixed-axis rotation motion modes, which has three fixed-axis rotation axes. Its rotation motion mode can be transformed in three axes. In its various modes, it has fully decoupled motion characteristics, which provides very favorable conditions for it to realize the transformation of various motion modes. Its kinematics and performance and size optimization are simpler than those of general mixing robots, shortening the time from prototype design to performance optimization application.

[0005] The second object of the present invention is to provide a driving method for a parallel stirring robot having three three-movement fixed-axis rotation motion modes with complete decoupling.

[0006] The first technical solution adopted by the present invention is to completely decouple a parallel stirring robot with three three-movement fixed-axis rotation motion modes, including a base and a moving platform, and a first motion chain, a second motion chain, a third motion chain and a fourth motion chain are arranged between the base and the moving platform; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to a base, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base, and the first branch chain is connected to the base and the moving platform at the same time.

[0007] The present invention is also characterized in that: The first branch chain includes the eleventh rotation pair R11, the sixth connecting rod, the sixteenth rotation pair R16, the fifth connecting rod, the fifteenth rotation pair R15, the fourth connecting rod, the first one one mobile pair P111, the tenth connecting rod, the first one two mobile pair P112, the eleventh connecting rod, the first one thirteen mobile pair P113 and the twenty-eighth connecting rod connected in sequence; the twenty-eighth connecting rod is also fixedly connected to the moving platform; the eleventh rotation pair R11 is also connected to the base; The fourth connecting rod is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod; The eleventh rotating pair R11 is connected to a rotating driving motor.

[0008] The second branch chain includes a seventeenth moving pair P17, a seventh connecting rod, an eighteenth rotating pair R18, an eighth connecting rod, a nineteenth moving pair P19, a ninth connecting rod, a first-zero helical pair H110, a third connecting rod and a fourteenth rotating pair R14 which are connected in sequence; the fourteenth rotating pair R14 is also connected to the rod body of the fourth connecting rod, and the seventeenth moving pair P17 is also connected to the base; The third connecting rod is a Y-shaped connecting rod or a T-shaped connecting rod, the first end of the third connecting rod is connected to the fourteenth rotation pair R14, the second end of the third connecting rod is connected to the first-zero helical pair H110, and the third end of the third connecting rod is connected to the third branch chain; The ninth connecting rod is a V-shaped connecting rod; The seventeenth movable pair P17 is connected to a movable driving motor.

[0009] The third branch chain includes a twelfth rotation pair R12, a second connecting rod and a thirteenth rotation pair R13 connected in sequence; the thirteenth rotation pair R13 is also connected to the third end of the third connecting rod, and the twelfth rotation pair R12 is also connected to the base; The twelfth rotation pair R12 is connected to a rotation driving motor.

[0010] The second kinematic chain includes a twenty-first moving pair P21, a twelfth connecting rod, a twenty-second moving pair P22, a thirteenth connecting rod, a twenty-third moving pair P23, a fourteenth connecting rod, a twenty-fourth rotation pair R24, a fifteenth connecting rod, a twenty-fifth rotation pair R25, a sixteenth connecting rod and a twenty-sixth rotation pair R26 which are connected in sequence; the twenty-sixth rotation pair R26 is also connected to the moving platform, and the twenty-first moving pair P21 is also connected to the base; The twenty-first moving pair P21 is connected to a moving driving motor.

[0011] The third kinematic chain includes a thirty-first moving pair P31, a seventeenth connecting rod, a thirty-second moving pair P32, an eighteenth connecting rod, a thirty-third moving pair P33, a nineteenth connecting rod, a thirty-fourth rotation pair R34, a twentieth connecting rod, a thirty-fifth rotation pair R35, a twenty-first connecting rod and a thirty-sixth rotation pair R36 which are connected in sequence; the thirty-sixth rotation pair R36 is also connected to the moving platform, and the thirty-first moving pair P31 is also connected to the base; The thirty-first moving pair P31 is connected to a moving driving motor.

[0012] The fourth kinematic chain includes a 41st moving pair P41, a 22nd connecting rod, a 42nd moving pair P42, a 23rd connecting rod, a 43rd moving pair P43, a 24th connecting rod, a 44th rotation pair R44, a 25th connecting rod, a 45th rotation pair R45, a 26th connecting rod and a 46th rotation pair R46 which are connected in sequence; the 46th rotation pair R46 is also connected to the moving platform, and the 41st moving pair P41 is also connected to the base; The forty-first movable pair P41 is connected to a movable driving motor.

[0013] The second technical solution adopted by the present invention is to completely decouple the driving method of the parallel stirring robot with three three-movement fixed-axis rotation motion modes, specifically: lock the driving motor connected to the eleventh rotation pair R11 and the seventeenth movement pair P17, control the driving motor connected to the twelfth rotation pair R12, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41, and control the moving platform to rotate around an axis parallel to the X-axis; Lock the drive motors connected to the eleventh rotation pair R11 and the twelfth rotation pair R12, control the drive motors connected to the seventeenth movement pair P17, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41, and control the movable platform to rotate around an axis parallel to the Y axis; Lock the twelfth rotation pair R12 and the seventeenth movement pair P17 and the connected driving motors, control the driving motors connected to the eleventh rotation pair R11, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41, and control the moving platform to rotate around an axis parallel to the Z axis.

[0014] The beneficial effects of the present invention are: (1) The present invention has a completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes. The robot has three fixed-axis rotation axes, and its rotation motion mode can be transformed in three axial directions. When the motion mode is transformed, the rotation and movement in each direction of the stirring robot are controlled by one drive, and the motion mode transformation control method is relatively simple; through the motion mode transformation, the robot has the ability to complete multiple types of work tasks.

[0015] (2) The present invention has a completely decoupled parallel mixing robot with three three-movement and one-axis rotation motion modes. During operation, the three movement motions and one fixed-axis rotation motion are respectively driven by four drivers and are independently controlled. The parallel mixing robot has three fixed-axis rotation modes, which makes the parallel mixing robot have greater adaptability to work tasks, a wider working range than the general three-movement and one-rotation parallel mixing robot, and easier to achieve motion mode conversion than the general multi-mode parallel mixing robot.

[0016] (3) The present invention has a completely decoupled parallel mixing robot with three three-movement fixed-axis rotation motion modes. During the three motion mode conversion process, different motions are independently controlled by different drives, which is convenient for controlling its motion mode conversion and the conversion process is relatively easy to achieve. In each mode, it has completely decoupled motion characteristics, and each motion during its motion mode conversion can be controlled by one drive, which provides very favorable conditions for it to realize the conversion of multiple motion modes. Its kinematics, performance and size optimization are simpler than those of general mixing robots, shortening the time from prototype design to performance optimization application. The control during its motion mode conversion is relatively complex. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention has a completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes and a motion mode transformation configuration diagram; Figure 2 The motion mode configuration diagram of the stirring robot of the present invention when it is completely decoupled and has three movements and one rotation parallel to the X-axis; Figure 3 The motion mode configuration diagram of the stirring robot of the present invention when it is completely decoupled and has three movements and one rotation parallel to the Y axis; Figure 4 The stirring robot of the present invention is completely decoupled and has a motion mode configuration diagram of three movements and one rotation parallel to the Z axis.

[0018] 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. eleventh connecting rod, 12. twelfth connecting rod, 13. thirteenth connecting rod, 14. fourteenth connecting rod, 15. fifteenth connecting rod, 16. sixteenth connecting rod, 17. seventeenth connecting rod, 18. eighteenth connecting rod, 19. nineteenth connecting rod, 20. twentieth connecting rod, 21. twenty-first connecting rod, 22. twenty-second connecting rod, 23. twenty-third connecting rod, 24. twenty-fourth connecting rod, 25. twenty-fifth connecting rod, 26. twenty-sixth connecting rod, 27. moving platform, 28. twenty-eighth connecting rod. DETAILED DESCRIPTION

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

[0020] The present invention provides a fully decoupled parallel stirring robot having three three-movement fixed-axis rotation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 27, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base 1 and the moving platform 27; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base 1, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base 1, and the first branch chain is connected to the base 1 and the moving platform 27 at the same time.

[0021] The first branch chain includes the eleventh rotation pair R11, the sixth link 6, the sixteenth rotation pair R16, the fifth link 5, the fifteenth rotation pair R15, the fourth link 4, the first one one movement pair P111, the tenth link 10, the first one two movement pair P112, the eleventh link 11, the first one thirteen movement pair P113 and the twenty-eighth link 28 connected in sequence; the twenty-eighth link 28 is also connected to the moving platform 27; the eleventh rotation pair R11 is also connected to the base 1; The fourth connecting rod 4 is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod 4; The eleventh connecting rod 11 is a V-shaped connecting rod; The thirteenth connecting rod 13 is a V-shaped connecting rod; The twenty-third connecting rod 23 is a V-shaped connecting rod.

[0022] The eleventh rotating pair R11 is connected to a rotating driving motor.

[0023] The second branch chain includes a seventeenth movable pair P17, a seventh connecting rod 7, an eighteenth rotation pair R18, an eighth connecting rod 8, a nineteenth movable pair P19, a ninth connecting rod 9, a first-zero helical pair H110, a third connecting rod 3 and a fourteenth rotation pair R14 which are connected in sequence; the fourteenth rotation pair R14 is also connected to the rod body of the fourth connecting rod 4, and the seventeenth movable pair P17 is also connected to the base 1; The third connecting rod 3 is a Y-shaped connecting rod or a T-shaped connecting rod, the first end of the third connecting rod 3 is connected to the fourteenth rotation pair R14, the second end of the third connecting rod 3 is connected to the first-zero helical pair H110, and the third end of the third connecting rod 3 is connected to the third branch chain; The ninth connecting rod 9 is a V-shaped connecting rod; The seventeenth movable pair P17 is connected to a movable driving motor.

[0024] The third branch chain includes a twelfth rotation pair R12, a second connecting rod 2 and a thirteenth rotation pair R13 which are connected in sequence; the thirteenth rotation pair R13 is also connected to the third end of the third connecting rod 3, and the twelfth rotation pair R12 is also connected to the base 1; The twelfth rotation pair R12 is connected to a rotation driving motor.

[0025] The second kinematic chain includes a twenty-first moving pair P21, a twelfth connecting rod 12, a twenty-second moving pair P22, a thirteenth connecting rod 13, a twenty-third moving pair P23, a fourteenth connecting rod 14, a twenty-fourth rotation pair R24, a fifteenth connecting rod 15, a twenty-fifth rotation pair R25, a sixteenth connecting rod 16 and a twenty-sixth rotation pair R26 which are connected in sequence; the twenty-sixth rotation pair R26 is also connected to the moving platform 27, and the twenty-first moving pair P21 is also connected to the base 1; The twenty-first moving pair P21 is connected to a moving driving motor.

[0026] The third kinematic chain includes a thirty-first moving pair P31, a seventeenth connecting rod 17, a thirty-second moving pair P32, an eighteenth connecting rod 18, a thirty-third moving pair P33, a nineteenth connecting rod 19, a thirty-fourth rotation pair R34, a twentieth connecting rod 20, a thirty-fifth rotation pair R35, a twenty-first connecting rod 21 and a thirty-sixth rotation pair R36 which are connected in sequence; the thirty-sixth rotation pair R36 is also connected to the moving platform 27, and the thirty-first moving pair P31 is also connected to the base 1; The thirty-first moving pair P31 is connected to a moving driving motor.

[0027] The fourth kinematic chain includes a forty-first moving pair P41, a twenty-second connecting rod 22, a forty-second moving pair P42, a twenty-third connecting rod 23, a forty-third moving pair P43, a twenty-fourth connecting rod 24, a forty-fourth rotation pair R44, a twenty-fifth connecting rod 25, a forty-fifth rotation pair R45, a twenty-sixth connecting rod 26 and a forty-sixth rotation pair R46 which are connected in sequence; the forty-sixth rotation pair R46 is also connected to the moving platform 27, and the forty-first moving pair P41 is also connected to the base 1; The forty-first movable pair P41 is connected to a movable driving motor.

[0028] The driving method of the fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes is as follows: Lock the drive motors connected to the eleventh rotation pair R11 and the seventeenth movement pair P17, control the drive motors connected to the twelfth rotation pair R12, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41, and control the movable platform 27 to rotate around an axis parallel to the X-axis; Lock the drive motors connected to the eleventh rotation pair R11 and the twelfth rotation pair R12, control the drive motors connected to the seventeenth movement pair P17, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41, and control the movable platform 27 to rotate around an axis parallel to the Y axis; Lock the twelfth rotation pair R12 and the seventeenth movement pair P17 and the connected driving motors, control the driving motors connected to the eleventh rotation pair R11, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41, and control the movable platform 27 to rotate around an axis parallel to the Z axis.

[0029] like Figure 1 As shown, the base 1 is rotationally connected to the sixth connecting rod 6 through the eleventh rotational pair R11, the sixth connecting rod 6 is rotationally connected to the fifth connecting rod 5 through the sixteenth rotational pair R16, and the fifth connecting rod 5 is rotationally connected to the fourth connecting rod 4 through the fifteenth rotational pair R15. The rod body of the fourth connecting rod 4 is rotationally connected to the first end of the third connecting rod 3 through the fourteenth rotational pair R14, the third end of the third connecting rod 3 is rotationally connected to the second connecting rod 2 through the thirteenth rotational pair R13, and the second connecting rod 2 is rotationally connected to the base 1 through the twelfth rotational pair R12.

[0030] The base 1 is movably connected to the seventh connecting rod 7 through the seventeenth movable pair P17, the seventh connecting rod 7 is rotationally connected to the eighth connecting rod 8 through the eighteenth rotation pair R18, the eighth connecting rod 8 is rotationally connected to the ninth connecting rod 9 through the nineteenth movable pair P19, and the ninth connecting rod 9 is spirally connected to the second end of the third connecting rod 3 through the first-zero spiral pair H110.

[0031] The fourth connecting rod 4 is movably connected to the tenth connecting rod 10 through the first-one moving pair P111. The tenth connecting rod 10 is movably connected to the eleventh connecting rod 11 through the first-two moving pair P112. The eleventh connecting rod 11 and the first-three moving pair are movably connected to the twenty-eighth connecting rod 28. The twenty-eighth connecting rod 28 is fixedly connected to the moving platform 27.

[0032] The base 1 is movably connected to the twelfth connecting rod 12 through the twenty-first moving pair P21. The twelfth connecting rod 12 is movably connected to the thirteenth connecting rod 13 through the twenty-second moving pair P22, the thirteenth connecting rod 13 is movably connected to the fourteenth connecting rod 14 through the twenty-third moving pair P23, the fourteenth connecting rod 14 is rotationally connected to the fifteenth connecting rod 15 through the twenty-fourth rotation pair R24, the fifteenth connecting rod 15 is rotationally connected to the sixteenth connecting rod 16 through the twenty-fifth rotation pair R25, and the sixteenth connecting rod 16 is rotationally connected to the moving platform 27 through the twenty-sixth rotation pair R26.

[0033] The base 1 is movably connected to the 17th connecting rod 17 through the 31st moving joint P31, the 17th connecting rod 17 is movably connected to the 18th connecting rod 18 through the 32nd moving joint P32, the 18th connecting rod 18 is movably connected to the 19th connecting rod 19 through the 33rd moving joint P33, and the 19th connecting rod 19 is rotatably connected to the 20th connecting rod 20 through the 34th rotating joint R34. The 20th connecting rod 20 is rotatably connected to the 21st connecting rod 21 through the 35th rotating joint R35. The 21st connecting rod 21 is rotatably connected to the moving platform 27 through the 36th rotating joint R36.

[0034] The base 1 is movably connected to the twenty-second connecting rod 22 through the forty-first moving pair P41, the twenty-second connecting rod 22 is movably connected to the twenty-third connecting rod 23 through the forty-second moving pair P42, the twenty-third connecting rod 23 is movably connected to the twenty-fourth connecting rod 24 through the forty-third moving pair P43, the twenty-fourth connecting rod 24 is rotationally connected to the twenty-fifth connecting rod 25 through the forty-fourth rotation pair R44, the twenty-fifth connecting rod 25 is rotationally connected to the twenty-sixth connecting rod 26 through the forty-fifth rotation pair R45, and the twenty-sixth connecting rod 26 is rotationally connected to the moving platform 27 through the forty-sixth rotation pair R46.

[0035] Figure 1 In the shown mechanism configuration, the axes of the eleventh rotation pair R11 and the fourteenth rotation pair R14 coincide with the Z axis.

[0036] Figure 1 In the shown mechanism configuration, the axes of the twelfth rotation pair R12 and the fifteenth rotation pair R15 coincide with the X-axis.

[0037] Figure 1 In the shown mechanism configuration, the axes of the thirteenth rotation pair R13 and the sixteenth rotation pair R16 coincide with each other, are parallel to the Y axis, and do not coincide with the Y axis.

[0038] Figure 1 In the shown configuration, the moving direction of the seventeenth moving pair P17 is parallel to the X-axis, and the axis of the eighteenth rotation pair R18 coincides with the X-axis. The moving direction of the nineteenth moving pair P19 is parallel to the XOY plane, and the axis of the first zero helical pair H110 is parallel to the Y-axis and coincides with the axis of the thirteenth rotation pair R13.

[0039] Figure 1 In the shown mechanism configuration, the moving direction of the first-first moving pair P111 is parallel to the Z axis, the moving direction of the first-second moving pair P112 is parallel to the X axis, and the moving direction of the first-third moving pair P113 is parallel to the Y axis.

[0040] Figure 1In the shown mechanism configuration, the moving direction of the twenty-first moving pair P21 is parallel to the Z axis, the moving direction of the twenty-second moving pair P22 is parallel to the X axis, and the moving direction of the twenty-third moving pair P23 is parallel to the Y axis.

[0041] Figure 1 In the shown mechanism configuration, the moving direction of the thirty-first moving pair P31 is parallel to the Y-axis, the moving direction of the thirty-second moving pair P32 is parallel to the X-axis, and the moving direction of the thirty-third moving pair P33 is parallel to the Z-axis.

[0042] Figure 1 In the shown mechanism configuration, the moving direction of the forty-first moving pair P41 is parallel to the X-axis, the moving direction of the forty-second moving pair P42 is parallel to the Y-axis, and the moving direction of the forty-third moving pair P43 is parallel to the Z-axis.

[0043] Figure 1 In the shown mechanism configuration, the axes of the twenty-fourth rotation pair R24, the twenty-fifth rotation pair R25, the twenty-sixth rotation pair R26, the thirty-fourth rotation pair R34, the thirty-fifth rotation pair R35, the thirty-sixth rotation pair R36, the forty-fourth rotation pair R44, the forty-fifth rotation pair R45 and the forty-sixth rotation pair R46 intersect at point Q.

[0044] Figure 1 In the shown mechanism configuration, the eleventh rotating pair R11 is connected to the rotating drive motor, the twelfth rotating pair R12 is connected to the rotating drive motor, the seventeenth moving pair P17 is connected to the moving drive motor, the twenty-first moving pair P21 is connected to the moving drive motor, the thirty-first moving pair P31 is connected to the moving drive motor, and the forty-first moving pair P41 is connected to the moving drive motor.

[0045] Figure 1 In the shown configuration, the driving motors connected to the eleventh rotation pair R11 and the seventeenth movement pair P17 are locked, and the driving motors connected to the twelfth rotation pair R12, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41 are controlled, so that the braking platform 27 can be controlled to rotate around an axis parallel to the X-axis. Figure 1 The shown mechanism can move to Figure 2 The configuration of the mechanism shown.

[0046] Figure 1 In the shown configuration, the driving motors connected to the eleventh rotation pair R11 and the twelfth rotation pair R12 are locked, and the driving motors connected to the seventeenth movement pair P17, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41 are controlled, so that the braking platform 27 can be controlled to rotate around an axis parallel to the Y axis. Figure 1 The shown mechanism can move to Figure 3 The configuration of the mechanism shown.

[0047] Figure 1 In the shown configuration, the twelfth rotation pair R12 and the seventeenth movement pair P17 and the connected driving motors are locked, and the driving motors connected to the eleventh rotation pair R11, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41 are controlled, so that the movable platform 27 can be controlled to rotate around an axis parallel to the Z axis. Figure 1 The shown mechanism can move to Figure 4 The configuration of the mechanism shown.

[0048] Figure 2 In the shown mechanism configuration, the moving platform 27 has three-dimensional movement and rotation around the X-axis. The motor connected to the twelfth rotation pair R12 controls the rotation of the moving platform 27 around the X-axis, the motor connected to the 21st moving pair P21 controls the movement of the moving platform parallel to the X-axis, the motor connected to the 31st moving pair P31 controls the movement of the moving platform parallel to the Y-axis, and the motor connected to the 41st moving pair P31 controls the movement of the moving platform parallel to the Z-axis.

[0049] Figure 3 In the shown mechanism configuration, the moving platform 27 has three-dimensional movement and rotation around the Y axis. The motor connected to the seventeenth moving pair P17 controls the rotation of the moving platform 27 around the Y axis, the motor connected to the twenty-first moving pair P21 controls the movement of the moving platform parallel to the X axis, the motor connected to the thirty-first moving pair P31 controls the movement of the moving platform parallel to the Y axis, and the motor connected to the forty-first moving pair P31 controls the movement of the moving platform parallel to the Z axis.

[0050] Figure 4 In the shown mechanism configuration, the moving platform 27 has three-dimensional movement and rotation around the Z axis. The motor connected to the eleventh rotation pair R11 controls the rotation of the moving platform 27 around the Z axis, the motor connected to the twenty-first movement pair P21 controls the movement of the moving platform parallel to the X axis, the motor connected to the thirty-first movement pair P31 controls the movement of the moving platform parallel to the Y axis, and the motor connected to the forty-first movement pair P31 controls the movement of the moving platform parallel to the Z axis.

[0051] Example 1 Completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 27, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base 1 and the moving platform 27; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base 1, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base 1, and the first branch chain is connected to the base 1 and the moving platform 27 at the same time.

[0052] Example 2 Completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 27, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base 1 and the moving platform 27; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base 1, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base 1, and the first branch chain is connected to the base 1 and the moving platform 27 at the same time.

[0053] The first branch chain includes the eleventh rotation pair R11, the sixth link 6, the sixteenth rotation pair R16, the fifth link 5, the fifteenth rotation pair R15, the fourth link 4, the first one one movement pair P111, the tenth link 10, the first one two movement pair P112, the eleventh link 11, the first one thirteen movement pair P113 and the twenty-eighth link 28 connected in sequence; the twenty-eighth link 28 is also connected to the moving platform 27; the eleventh rotation pair R11 is also connected to the base 1; The fourth connecting rod 4 is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod 4; The eleventh rotating pair R11 is connected to a rotating driving motor.

[0054] Example 3 Completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 27, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base 1 and the moving platform 27; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base 1, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base 1, and the first branch chain is connected to the base 1 and the moving platform 27 at the same time.

[0055] The first branch chain includes the eleventh rotation pair R11, the sixth link 6, the sixteenth rotation pair R16, the fifth link 5, the fifteenth rotation pair R15, the fourth link 4, the first one one movement pair P111, the tenth link 10, the first one two movement pair P112, the eleventh link 11, the first one thirteen movement pair P113 and the twenty-eighth link 28 connected in sequence; the twenty-eighth link 28 is also connected to the moving platform 27; the eleventh rotation pair R11 is also connected to the base 1; The fourth connecting rod 4 is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod 4; The eleventh rotating pair R11 is connected to a rotating driving motor.

[0056] The second branch chain includes a seventeenth movable pair P17, a seventh connecting rod 7, an eighteenth rotation pair R18, an eighth connecting rod 8, a nineteenth movable pair P19, a ninth connecting rod 9, a first-zero helical pair H110, a third connecting rod 3 and a fourteenth rotation pair R14 which are connected in sequence; the fourteenth rotation pair R14 is also connected to the rod body of the fourth connecting rod 4, and the seventeenth movable pair P17 is also connected to the base 1; The third connecting rod 3 is a Y-shaped connecting rod or a T-shaped connecting rod, the first end of the third connecting rod 3 is connected to the fourteenth rotation pair R14, the second end of the third connecting rod 3 is connected to the first-zero helical pair H110, and the third end of the third connecting rod 3 is connected to the third branch chain; The ninth connecting rod 9 is a V-shaped connecting rod; The seventeenth movable pair P17 is connected to a movable driving motor.

[0057] Example 4 Completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 27, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base 1 and the moving platform 27; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base 1, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base 1, and the first branch chain is connected to the base 1 and the moving platform 27 at the same time.

[0058] The first branch chain includes the eleventh rotation pair R11, the sixth link 6, the sixteenth rotation pair R16, the fifth link 5, the fifteenth rotation pair R15, the fourth link 4, the first one one movement pair P111, the tenth link 10, the first one two movement pair P112, the eleventh link 11, the first one thirteen movement pair P113 and the twenty-eighth link 28 connected in sequence; the twenty-eighth link 28 is also connected to the moving platform 27; the eleventh rotation pair R11 is also connected to the base 1; The fourth connecting rod 4 is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod 4; The eleventh rotating pair R11 is connected to a rotating driving motor.

[0059] The second branch chain includes a seventeenth movable pair P17, a seventh connecting rod 7, an eighteenth rotation pair R18, an eighth connecting rod 8, a nineteenth movable pair P19, a ninth connecting rod 9, a first-zero helical pair H110, a third connecting rod 3 and a fourteenth rotation pair R14 which are connected in sequence; the fourteenth rotation pair R14 is also connected to the rod body of the fourth connecting rod 4, and the seventeenth movable pair P17 is also connected to the base 1; The third connecting rod 3 is a Y-shaped connecting rod or a T-shaped connecting rod, the first end of the third connecting rod 3 is connected to the fourteenth rotation pair R14, the second end of the third connecting rod 3 is connected to the first-zero helical pair H110, and the third end of the third connecting rod 3 is connected to the third branch chain; The ninth connecting rod 9 is a V-shaped connecting rod; The seventeenth movable pair P17 is connected to a movable driving motor.

[0060] The third branch chain includes a twelfth rotation pair R12, a second connecting rod 2 and a thirteenth rotation pair R13 which are connected in sequence; the thirteenth rotation pair R13 is also connected to the third end of the third connecting rod 3, and the twelfth rotation pair R12 is also connected to the base 1; The twelfth rotation pair R12 is connected to a rotation driving motor.

[0061] Example 5 Completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 27, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base 1 and the moving platform 27; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base 1, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base 1, and the first branch chain is connected to the base 1 and the moving platform 27 at the same time.

[0062] The first branch chain includes the eleventh rotation pair R11, the sixth link 6, the sixteenth rotation pair R16, the fifth link 5, the fifteenth rotation pair R15, the fourth link 4, the first one one movement pair P111, the tenth link 10, the first one two movement pair P112, the eleventh link 11, the first one thirteen movement pair P113 and the twenty-eighth link 28 connected in sequence; the twenty-eighth link 28 is also connected to the moving platform 27; the eleventh rotation pair R11 is also connected to the base 1; The fourth connecting rod 4 is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod 4; The eleventh rotating pair R11 is connected to a rotating driving motor.

[0063] The second branch chain includes a seventeenth movable pair P17, a seventh connecting rod 7, an eighteenth rotation pair R18, an eighth connecting rod 8, a nineteenth movable pair P19, a ninth connecting rod 9, a first-zero helical pair H110, a third connecting rod 3 and a fourteenth rotation pair R14 which are connected in sequence; the fourteenth rotation pair R14 is also connected to the rod body of the fourth connecting rod 4, and the seventeenth movable pair P17 is also connected to the base 1; The third connecting rod 3 is a Y-shaped connecting rod or a T-shaped connecting rod, the first end of the third connecting rod 3 is connected to the fourteenth rotation pair R14, the second end of the third connecting rod 3 is connected to the first-zero helical pair H110, and the third end of the third connecting rod 3 is connected to the third branch chain; The ninth connecting rod 9 is a V-shaped connecting rod; The seventeenth movable pair P17 is connected to a movable driving motor.

[0064] The third branch chain includes a twelfth rotation pair R12, a second connecting rod 2 and a thirteenth rotation pair R13 which are connected in sequence; the thirteenth rotation pair R13 is also connected to the third end of the third connecting rod 3, and the twelfth rotation pair R12 is also connected to the base 1; The twelfth rotation pair R12 is connected to a rotation driving motor.

[0065] The second kinematic chain includes a twenty-first moving pair P21, a twelfth connecting rod 12, a twenty-second moving pair P22, a thirteenth connecting rod 13, a twenty-third moving pair P23, a fourteenth connecting rod 14, a twenty-fourth rotation pair R24, a fifteenth connecting rod 15, a twenty-fifth rotation pair R25, a sixteenth connecting rod 16 and a twenty-sixth rotation pair R26 which are connected in sequence; the twenty-sixth rotation pair R26 is also connected to the moving platform 27, and the twenty-first moving pair P21 is also connected to the base 1; The twenty-first moving pair P21 is connected to a moving driving motor.

[0066] Example 6 Completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, such as Figure 1 As shown, it includes a base 1 and a moving platform 27, and a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base 1 and the moving platform 27; The first motion chain includes a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base 1, the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base 1, and the first branch chain is connected to the base 1 and the moving platform 27 at the same time.

[0067] The first branch chain includes the eleventh rotation pair R11, the sixth link 6, the sixteenth rotation pair R16, the fifth link 5, the fifteenth rotation pair R15, the fourth link 4, the first one one movement pair P111, the tenth link 10, the first one two movement pair P112, the eleventh link 11, the first one thirteen movement pair P113 and the twenty-eighth link 28 connected in sequence; the twenty-eighth link 28 is also connected to the moving platform 27; the eleventh rotation pair R11 is also connected to the base 1; The fourth connecting rod 4 is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod 4; The eleventh rotating pair R11 is connected to a rotating driving motor.

[0068] The second branch chain includes a seventeenth movable pair P17, a seventh connecting rod 7, an eighteenth rotation pair R18, an eighth connecting rod 8, a nineteenth movable pair P19, a ninth connecting rod 9, a first-zero helical pair H110, a third connecting rod 3 and a fourteenth rotation pair R14 which are connected in sequence; the fourteenth rotation pair R14 is also connected to the rod body of the fourth connecting rod 4, and the seventeenth movable pair P17 is also connected to the base 1; The third connecting rod 3 is a Y-shaped connecting rod or a T-shaped connecting rod, the first end of the third connecting rod 3 is connected to the fourteenth rotation pair R14, the second end of the third connecting rod 3 is connected to the first-zero helical pair H110, and the third end of the third connecting rod 3 is connected to the third branch chain; The ninth connecting rod 9 is a V-shaped connecting rod; The seventeenth movable pair P17 is connected to a movable driving motor.

[0069] The third branch chain includes a twelfth rotation pair R12, a second connecting rod 2 and a thirteenth rotation pair R13 which are connected in sequence; the thirteenth rotation pair R13 is also connected to the third end of the third connecting rod 3, and the twelfth rotation pair R12 is also connected to the base 1; The twelfth rotation pair R12 is connected to a rotation driving motor.

[0070] The second kinematic chain includes a twenty-first moving pair P21, a twelfth connecting rod 12, a twenty-second moving pair P22, a thirteenth connecting rod 13, a twenty-third moving pair P23, a fourteenth connecting rod 14, a twenty-fourth rotation pair R24, a fifteenth connecting rod 15, a twenty-fifth rotation pair R25, a sixteenth connecting rod 16 and a twenty-sixth rotation pair R26 which are connected in sequence; the twenty-sixth rotation pair R26 is also connected to the moving platform 27, and the twenty-first moving pair P21 is also connected to the base 1; The twenty-first moving pair P21 is connected to a moving driving motor.

[0071] The third kinematic chain includes a thirty-first moving pair P31, a seventeenth connecting rod 17, a thirty-second moving pair P32, an eighteenth connecting rod 18, a thirty-third moving pair P33, a nineteenth connecting rod 19, a thirty-fourth rotation pair R34, a twentieth connecting rod 20, a thirty-fifth rotation pair R35, a twenty-first connecting rod 21 and a thirty-sixth rotation pair R36 which are connected in sequence; the thirty-sixth rotation pair R36 is also connected to the moving platform 27, and the thirty-first moving pair P31 is also connected to the base 1; The thirty-first moving pair P31 is connected to a moving driving motor.

Claims

1. Completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes, characterized in that: It comprises a base (1) and a moving platform (27), wherein a first kinematic chain, a second kinematic chain, a third kinematic chain and a fourth kinematic chain are arranged between the base (1) and the moving platform (27); The first kinematic chain comprises a first branch chain, the first branch chain is connected to a second branch chain, the second branch chain is also connected to the base (1), the second branch chain is also connected to a third branch chain, the third branch chain is also connected to the base (1), and the first branch chain is simultaneously connected to the base (1) and the moving platform (27).

2. The fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes according to claim 1 is characterized in that: The first branch chain comprises an eleventh rotation pair R11, a sixth connecting rod (6), a sixteenth rotation pair R16, a fifth connecting rod (5), a fifteenth rotation pair R15, a fourth connecting rod (4), a first-first moving pair P111, a tenth connecting rod (10), a first-second moving pair P112, an eleventh connecting rod (11), a first-third moving pair P113 and a twenty-eighth connecting rod (28) which are connected in sequence; the twenty-eighth connecting rod (28) is also connected to the moving platform (27); the eleventh rotation pair R11 is also connected to the base (1); The fourth connecting rod (4) is a V-shaped connecting rod, and the second branch chain is connected to the rod body of the fourth connecting rod (4); The eleventh rotating pair R11 is connected to a rotating driving motor.

3. The fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes according to claim 2 is characterized in that: The second branch chain comprises a seventeenth movable pair P17, a seventh connecting rod (7), an eighteenth rotational pair R18, an eighth connecting rod (8), a nineteenth movable pair P19, a ninth connecting rod (9), a first-zero helical pair H110, a third connecting rod (3) and a fourteenth rotational pair R14 which are connected in sequence; the fourteenth rotational pair R14 is also connected to the rod body of the fourth connecting rod (4), and the seventeenth movable pair P17 is also connected to the base (1); The third connecting rod (3) is a Y-shaped connecting rod or a T-shaped connecting rod, the first end of the third connecting rod (3) is connected to the fourteenth rotation pair R14, the second end of the third connecting rod (3) is connected to the first-zero helical pair H110, and the third end of the third connecting rod (3) is connected to the third branch chain; The ninth connecting rod (9) is a V-shaped connecting rod; The seventeenth movable pair P17 is connected to a movable driving motor.

4. The fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes according to claim 3 is characterized in that: The third branch chain comprises a twelfth rotational pair R12, a second connecting rod (2) and a thirteenth rotational pair R13 which are connected in sequence; the thirteenth rotational pair R13 is also connected to the third end of the third connecting rod (3), and the twelfth rotational pair R12 is also connected to the base (1); The twelfth rotation pair R12 is connected to a rotation driving motor.

5. The fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes according to claim 1 is characterized in that: The second kinematic chain comprises a twenty-first movable pair P21, a twelfth connecting rod (12), a twenty-second movable pair P22, a thirteenth connecting rod (13), a twenty-third movable pair P23, a fourteenth connecting rod (14), a twenty-fourth rotational pair R24, a fifteenth connecting rod (15), a twenty-fifth rotational pair R25, a sixteenth connecting rod (16) and a twenty-sixth rotational pair R26 which are connected in sequence; the twenty-sixth rotational pair R26 is also connected to the moving platform (27), and the twenty-first movable pair P21 is also connected to the base (1); The twenty-first moving pair P21 is connected to a moving driving motor.

6. The fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes according to claim 1 is characterized in that: The third kinematic chain comprises a thirty-first moving pair P31, a seventeenth connecting rod (17), a thirty-second moving pair P32, an eighteenth connecting rod (18), a thirty-third moving pair P33, a nineteenth connecting rod (19), a thirty-fourth rotation pair R34, a twentieth connecting rod (20), a thirty-fifth rotation pair R35, a twenty-first connecting rod (21) and a thirty-sixth rotation pair R36 which are connected in sequence; the thirty-sixth rotation pair R36 is also connected to the moving platform (27), and the thirty-first moving pair P31 is also connected to the base (1); The thirty-first moving pair P31 is connected to a moving driving motor.

7. The fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes according to claim 1 is characterized in that: The fourth kinematic chain comprises a forty-first movable pair P41, a twenty-second connecting rod (22), a forty-second movable pair P42, a twenty-third connecting rod (23), a forty-third movable pair P43, a twenty-fourth connecting rod (24), a forty-fourth rotation pair R44, a twenty-fifth connecting rod (25), a forty-fifth rotation pair R45, a twenty-sixth connecting rod (26) and a forty-sixth rotation pair R46 which are connected in sequence; the forty-sixth rotation pair R46 is also connected to the moving platform (27), and the forty-first movable pair P41 is also connected to the base (1); The forty-first movable pair P41 is connected to a movable driving motor.

8. The driving method of a fully decoupled parallel stirring robot having three three-movement fixed-axis rotation motion modes according to any one of claims 1 to 7, characterized in that: Specifically, the drive motors connected to the eleventh rotation pair R11 and the seventeenth movement pair P17 are locked, the drive motors connected to the twelfth rotation pair R12, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41 are controlled, and the movable platform (27) is controlled to rotate around an axis parallel to the X-axis; Lock the drive motors connected to the eleventh rotation pair R11 and the twelfth rotation pair R12, control the drive motors connected to the seventeenth movement pair P17, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41, and control the movable platform (27) to rotate around an axis parallel to the Y axis; The twelfth rotation pair R12 and the seventeenth movement pair P17 and the connected driving motors are locked, and the driving motors connected to the eleventh rotation pair R11, the twenty-first movement pair P21, the thirty-first movement pair P31 and the forty-first movement pair P41 are controlled to control the moving platform (27) to rotate around an axis parallel to the Z axis.

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