Fully decoupled parallel mixer robot with three three-movement constant-axis rotational motion modes and method

Abstract

The application discloses a fully decoupled parallel stirring robot with three three-movement certain-axis rotary motion modes, which comprises a base and a moving platform, and is provided with a first motion chain, a second motion chain, a third motion chain and a fourth motion chain between the base and the moving platform. The first motion 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 connected with the base and the moving platform. The rotary motion mode of the stirring robot can be transformed in three axial directions, the rotary motion and movement of the stirring robot in each direction are controlled by one drive when the motion mode is transformed, and the motion mode transformation control method is relatively simple. The application further discloses a driving method of the fully decoupled parallel stirring robot with three three-movement certain-axis rotary motion modes.

Description

Technical Field

[0001] The present invention belongs to the field of robotics, and in particular relates to a fully decoupled parallel stirring robot having three three-movement fixed-axis rotation motion modes, and also relates to a driving method for the fully decoupled parallel stirring robot having three three-movement fixed-axis rotation motion modes. Background Art

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

[0003] Parallel mixing robots with three movement modes and one rotation mode are suitable for mixing operations with different rotation axis directions because their rotation modes can be changed. Multi-mode parallel mixing robots with three movement modes and one rotation mode that have multiple fixed-axis rotation capabilities are relatively rare, and multi-mode parallel mixing robots with fully decoupled motion modes are even rarer. When the motion modes have decoupling characteristics, the output and input of the mixing robot correspond one-to-one, making the motion control of the mixing robot simpler. However, the control difficulty of multi-mode mixing robots during motion mode changes is relatively high, resulting in a relatively complex control algorithm for implementing motion mode changes, which limits the widespread 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 multiple motion modes. Its kinematics and performance 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 fully decoupled three-movement fixed-axis rotation motion modes.

[0006] The first technical solution adopted by the present invention is to completely decouple a parallel mixing 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;

[0007] The first kinematic 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, 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.

[0008] The present invention is also characterized in that:

[0009] The first branch chain includes the eleventh rotational pair R11, the sixth connecting rod, the sixteenth rotational pair R16, the fifth connecting rod, the fifteenth rotational pair R15, the fourth connecting rod, the first-first movable pair P111, the tenth connecting rod, the first-second movable pair P112, the eleventh connecting rod, the first-third movable pair P113, and the twenty-eighth connecting rod, which are connected in sequence; the twenty-eighth connecting rod is also fixedly connected to the moving platform; the eleventh rotational pair R11 is also connected to the base;

[0010] 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;

[0011] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0012] The second branch chain includes a seventeenth movable pair P17, a seventh connecting rod, an eighteenth rotational pair R18, an eighth connecting rod, a nineteenth movable pair P19, a ninth connecting rod, a 110th helical pair H110, a third connecting rod, 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, and the seventeenth movable pair P17 is also connected to the base.

[0013] 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 revolute 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;

[0014] The ninth connecting rod is a V-shaped connecting rod;

[0015] The seventeenth moving pair P17 is connected to a moving drive motor.

[0016] The third branch chain includes a twelfth rotational pair R12, a second connecting rod, and a thirteenth rotational pair R13 connected in sequence; the thirteenth rotational pair R13 is further connected to the third end of the third connecting rod, and the twelfth rotational pair R12 is further connected to the base;

[0017] The twelfth rotation pair R12 is connected to a rotation drive motor.

[0018] The second kinematic chain includes a twenty-first movable pair P21, a twelfth connecting rod, a twenty-second movable pair P22, a thirteenth connecting rod, a twenty-third movable pair P23, a fourteenth connecting rod, a twenty-fourth rotational pair R24, a fifteenth connecting rod, a twenty-fifth rotational pair R25, a sixteenth connecting rod, 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, and the twenty-first movable pair P21 is also connected to the base;

[0019] The twenty-first moving pair P21 is connected to a moving drive motor.

[0020] The third kinematic chain includes a thirty-first movable pair P31, a seventeenth connecting rod, a thirty-second movable pair P32, an eighteenth connecting rod, a thirty-third movable pair P33, a nineteenth connecting rod, a thirty-fourth rotational pair R34, a twentieth connecting rod, a thirty-fifth rotational pair R35, a twenty-first connecting rod, and a thirty-sixth rotational pair R36, which are connected in sequence; the thirty-sixth rotational pair R36 is also connected to the moving platform, and the thirty-first movable pair P31 is also connected to the base.

[0021] The thirty-first moving pair P31 is connected to a moving drive motor.

[0022] The fourth kinematic chain includes a forty-first movable pair P41, a twenty-second connecting rod, a forty-second movable pair P42, a twenty-third connecting rod, a forty-third movable pair P43, a twenty-fourth connecting rod, a forty-fourth rotational pair R44, a twenty-fifth connecting rod, a forty-fifth rotational pair R45, a twenty-sixth connecting rod, and a forty-sixth rotational pair R46, which are connected in sequence; the forty-sixth rotational pair R46 is also connected to the moving platform, and the forty-first movable pair P41 is also connected to the base.

[0023] The forty-first moving pair P41 is connected to a moving drive motor.

[0024] 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: locking the drive motors connected to the eleventh rotation pair R11 and the seventeenth movement pair P17, controlling 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 controlling the rotation of the moving platform around an axis parallel to the X-axis;

[0025] Lock the drive motors connected to the eleventh rotational pair R11 and the twelfth rotational 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;

[0026] Lock the twelfth rotation pair R12 and the seventeenth mobile pair P17 and the connected drive motors, control the drive motors connected to the eleventh rotation pair R11, the twenty-first mobile pair P21, the thirty-first mobile pair P31 and the forty-first mobile pair P41, and control the dynamic platform to rotate around an axis parallel to the Z axis.

[0027] The beneficial effects of the present invention are:

[0028] (1) The present invention has a completely decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes. It 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, it has the ability to complete multiple types of work tasks.

[0029] (2) The present invention has a fully decoupled parallel mixing robot with three modes of motion, three moving motions and one fixed-axis rotation. During operation, the three moving motions and one fixed-axis rotation motion are independently controlled by four drives. The parallel mixing robot has three fixed-axis rotation modes, which makes it more adaptable to work tasks, has a wider working range than the general three-movement and one-rotation parallel mixing robot, and is easier to achieve motion mode conversion than the general multi-mode parallel mixing robot.

[0030] (3) The present invention has a fully 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 facilitates the control of its motion mode conversion and makes the conversion process easier to achieve. In each mode, it has a fully decoupled motion characteristic. Each motion during its motion mode conversion can be controlled by a single drive, thus providing very favorable conditions for its realization of multiple motion mode conversion. 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

[0031] Figure 1 The present invention is a fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes;

[0032] Figure 2 The mixing robot of the present invention is completely decoupled and has a motion mode configuration diagram when rotating three times and rotating once parallel to the X-axis;

[0033] Figure 3 The mixing robot of the present invention is completely decoupled and has a motion mode configuration diagram when rotating three times and rotating once parallel to the Y axis;

[0034] 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.

[0035] 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

[0036] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] The present invention provides a fully 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;

[0038] 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.

[0039] The first branch chain includes the eleventh rotational pair R11, the sixth link 6, the sixteenth rotational pair R16, the fifth link 5, the fifteenth rotational pair R15, the fourth link 4, the first-first translation pair P111, the tenth link 10, the first-second translation pair P112, the eleventh link 11, the first-third translation pair P113, and the twenty-eighth link 28, which are connected in sequence. The twenty-eighth link 28 is also connected to the moving platform 27. The eleventh rotational pair R11 is also connected to the base 1.

[0040] 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;

[0041] The eleventh connecting rod 11 is a V-shaped connecting rod;

[0042] The thirteenth connecting rod 13 is a V-shaped connecting rod;

[0043] The twenty-third connecting rod 23 is a V-shaped connecting rod.

[0044] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0045] The second branch chain includes 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-to-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;

[0046] 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 revolute 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;

[0047] The ninth connecting rod 9 is a V-shaped connecting rod;

[0048] The seventeenth moving pair P17 is connected to a moving drive motor.

[0049] The third branch chain includes a twelfth rotational pair R12, a second connecting rod 2, and a thirteenth rotational pair R13 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;

[0050] The twelfth rotation pair R12 is connected to a rotation drive motor.

[0051] The second kinematic chain includes 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 movable platform 27, and the twenty-first movable pair P21 is also connected to the base 1;

[0052] The twenty-first moving pair P21 is connected to a moving drive motor.

[0053] The third kinematic chain includes a thirty-first movable pair P31, a seventeenth connecting rod 17, a thirty-second movable pair P32, an eighteenth connecting rod 18, a thirty-third movable pair P33, a nineteenth connecting rod 19, a thirty-fourth rotational pair R34, a twentieth connecting rod 20, a thirty-fifth rotational pair R35, a twenty-first connecting rod 21, and a thirty-sixth rotational pair R36, which are connected in sequence; the thirty-sixth rotational pair R36 is also connected to the movable platform 27, and the thirty-first movable pair P31 is also connected to the base 1.

[0054] The thirty-first moving pair P31 is connected to a moving drive motor.

[0055] The fourth kinematic chain includes 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 rotational pair R44, a twenty-fifth connecting rod 25, a forty-fifth rotational pair R45, a twenty-sixth connecting rod 26, and a forty-sixth rotational pair R46, which are connected in sequence; the forty-sixth rotational pair R46 is also connected to the movable platform 27, and the forty-first movable pair P41 is also connected to the base 1.

[0056] The forty-first moving pair P41 is connected to a moving drive motor.

[0057] The driving method of the fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes is as follows:

[0058] Lock the drive motors connected to the eleventh rotational pair R11 and the seventeenth mobile pair P17, control the drive motors connected to the twelfth rotational pair R12, the twenty-first mobile pair P21, the thirty-first mobile pair P31, and the forty-first mobile pair P41, and control the movable platform 27 to rotate around an axis parallel to the X-axis;

[0059] Lock the drive motors connected to the eleventh rotational pair R11 and the twelfth rotational 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;

[0060] Lock the twelfth rotation pair R12 and the seventeenth movement pair P17 and the connected drive motors, control the drive 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.

[0061] like Figure 1 As shown, the base 1 is rotationally connected to the sixth link 6 via the eleventh rotational joint R11, the sixth link 6 is rotationally connected to the fifth link 5 via the sixteenth rotational joint R16, and the fifth link 5 is rotationally connected to the fourth link 4 via the fifteenth rotational joint R15. The rod body of the fourth link 4 is rotationally connected to the first end of the third link 3 via the fourteenth rotational joint R14, the third end of the third link 3 is rotationally connected to the second link 2 via the thirteenth rotational joint R13, and the second link 2 is rotationally connected to the base 1 via the twelfth rotational joint R12.

[0062] The base 1 is movably connected to the seventh link 7 through the seventeenth moving pair P17, the seventh link 7 is rotationally connected to the eighth link 8 through the eighteenth rotating pair R18, the eighth link 8 is rotationally connected to the ninth link 9 through the nineteenth moving pair P19, and the ninth link 9 is spirally connected to the second end of the third link 3 through the first-to-zero spiral pair H110.

[0063] The fourth link 4 is movably connected to the tenth link 10 via the first-to-first moving pair P111. The tenth link 10 is movably connected to the eleventh link 11 via the first-to-second moving pair P112. The eleventh link 11 and the first-to-third moving pair are movably connected to the twenty-eighth link 28. The twenty-eighth link 28 is fixed to the movable platform 27.

[0064] The base 1 is movably connected to the twelfth connecting rod 12 via a twenty-first movable joint P21. The twelfth connecting rod 12 is movably connected to the thirteenth connecting rod 13 via a twenty-second movable joint P22. The thirteenth connecting rod 13 is movably connected to the fourteenth connecting rod 14 via a twenty-third movable joint P23. The fourteenth connecting rod 14 is rotationally connected to the fifteenth connecting rod 15 via a twenty-fourth rotational joint R24. The fifteenth connecting rod 15 is rotationally connected to the sixteenth connecting rod 16 via a twenty-fifth rotational joint R25. The sixteenth connecting rod 16 is rotationally connected to the movable platform 27 via a twenty-sixth rotational joint R26.

[0065] The base 1 is movably connected to the 17th connecting rod 17 via a 31st movable joint P31. The 17th connecting rod 17 is movably connected to the 18th connecting rod 18 via a 32nd movable joint P32. The 18th connecting rod 18 is movably connected to the 19th connecting rod 19 via a 33rd movable joint P33. The 19th connecting rod 19 is rotationally connected to the 20th connecting rod 20 via a 34th rotational joint R34. The 20th connecting rod 20 is rotationally connected to the 21st connecting rod 21 via a 35th rotational joint R35. The 21st connecting rod 21 is rotationally connected to the movable platform 27 via a 36th rotational joint R36.

[0066] 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.

[0067] Figure 1 In the shown configuration of the mechanism, the axes of the eleventh rotation pair R11 and the fourteenth rotation pair R14 coincide with the Z axis.

[0068] Figure 1 In the shown configuration of the mechanism, the axes of the twelfth rotation pair R12 and the fifteenth rotation pair R15 coincide with the X-axis.

[0069] Figure 1 In the shown configuration of the mechanism, the axes of the thirteenth rotational pair R13 and the sixteenth rotational pair R16 coincide with each other, are parallel to the Y axis, and do not coincide with the Y axis.

[0070] Figure 1 In the illustrated configuration, the movement direction of the seventeenth movable pair P17 is parallel to the X-axis, and the axis of the eighteenth rotational pair R18 coincides with the X-axis. The movement direction of the nineteenth movable 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 rotational pair R13.

[0071] 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.

[0072] Figure 1 In 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.

[0073] 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.

[0074] 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.

[0075] Figure 1 In the shown mechanism configuration, the axes of the twenty-fourth rotational pair R24, the twenty-fifth rotational pair R25, the twenty-sixth rotational pair R26, the thirty-fourth rotational pair R34, the thirty-fifth rotational pair R35, the thirty-sixth rotational pair R36, the forty-fourth rotational pair R44, the forty-fifth rotational pair R45 and the forty-sixth rotational pair R46 intersect at point Q.

[0076] Figure 1In 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.

[0077] Figure 1 In the shown configuration, the drive motors connected to the eleventh rotational pair R11 and the seventeenth mobile pair P17 are locked, and the drive motors connected to the twelfth rotational pair R12, the twenty-first mobile pair P21, the thirty-first mobile pair P31, and the forty-first mobile pair P41 are controlled to control the platform 27 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.

[0078] Figure 1 In the shown configuration, the drive motors connected to the eleventh rotation pair R11 and the twelfth rotation pair R12 are locked, and 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 are controlled to control the platform 27 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.

[0079] Figure 1 In the shown configuration, the twelfth rotational pair R12 and the seventeenth mobile pair P17 and the connected drive motors are locked, and the drive motors connected to the eleventh rotational pair R11, the twenty-first mobile pair P21, the thirty-first mobile pair P31 and the forty-first mobile pair P41 are controlled to control the platform 27 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.

[0080] Figure 2 In the illustrated configuration, the movable platform 27 has three-dimensional movement and rotation parallel to the X-axis. The motor connected to the twelfth rotational pair R12 controls the rotation of the movable platform 27 parallel to the X-axis. The motor connected to the 21st motion pair P21 controls the movement of the movable platform parallel to the X-axis. The motor connected to the 31st motion pair P31 controls the movement of the movable platform parallel to the Y-axis. The motor connected to the 41st motion pair P31 controls the movement of the movable platform parallel to the Z-axis.

[0081] Figure 3In the illustrated configuration, the movable platform 27 has three-dimensional movement and rotation parallel to the Y-axis. The motor connected to the seventeenth movable pair P17 controls the rotation of the movable platform 27 parallel to the Y-axis. The motor connected to the twenty-first movable pair P21 controls the movement of the movable platform parallel to the X-axis. The motor connected to the thirty-first movable pair P31 controls the movement of the movable platform parallel to the Y-axis. The motor connected to the forty-first movable pair P31 controls the movement of the movable platform parallel to the Z-axis.

[0082] Figure 4 In the illustrated configuration, the movable platform 27 has three-dimensional movement and rotation parallel to the Z axis. The motor connected to the eleventh rotational pair R11 controls the rotation of the movable platform 27 parallel to the Z axis. The motor connected to the twenty-first motion pair P21 controls the movement of the movable platform parallel to the X axis. The motor connected to the thirty-first motion pair P31 controls the movement of the movable platform parallel to the Y axis. The motor connected to the forty-first motion pair P31 controls the movement of the movable platform parallel to the Z axis.

[0083] Example 1

[0084] Completely decoupled parallel mixing 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;

[0085] 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.

[0086] Example 2

[0087] Completely decoupled parallel mixing 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;

[0088] 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.

[0089] The first branch chain includes the eleventh rotational pair R11, the sixth link 6, the sixteenth rotational pair R16, the fifth link 5, the fifteenth rotational pair R15, the fourth link 4, the first-first translation pair P111, the tenth link 10, the first-second translation pair P112, the eleventh link 11, the first-third translation pair P113, and the twenty-eighth link 28, which are connected in sequence. The twenty-eighth link 28 is also connected to the moving platform 27. The eleventh rotational pair R11 is also connected to the base 1.

[0090] 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;

[0091] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0092] Example 3

[0093] Completely decoupled parallel mixing 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;

[0094] 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.

[0095] The first branch chain includes the eleventh rotational pair R11, the sixth link 6, the sixteenth rotational pair R16, the fifth link 5, the fifteenth rotational pair R15, the fourth link 4, the first-first translation pair P111, the tenth link 10, the first-second translation pair P112, the eleventh link 11, the first-third translation pair P113, and the twenty-eighth link 28, which are connected in sequence. The twenty-eighth link 28 is also connected to the moving platform 27. The eleventh rotational pair R11 is also connected to the base 1.

[0096] 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;

[0097] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0098] The second branch chain includes 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-to-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;

[0099] 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 revolute 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;

[0100] The ninth connecting rod 9 is a V-shaped connecting rod;

[0101] The seventeenth moving pair P17 is connected to a moving drive motor.

[0102] Example 4

[0103] Completely decoupled parallel mixing 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;

[0104] 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.

[0105] The first branch chain includes the eleventh rotational pair R11, the sixth link 6, the sixteenth rotational pair R16, the fifth link 5, the fifteenth rotational pair R15, the fourth link 4, the first-first translation pair P111, the tenth link 10, the first-second translation pair P112, the eleventh link 11, the first-third translation pair P113, and the twenty-eighth link 28, which are connected in sequence. The twenty-eighth link 28 is also connected to the moving platform 27. The eleventh rotational pair R11 is also connected to the base 1.

[0106] 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;

[0107] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0108] The second branch chain includes 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-to-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;

[0109] 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 revolute 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;

[0110] The ninth connecting rod 9 is a V-shaped connecting rod;

[0111] The seventeenth moving pair P17 is connected to a moving drive motor.

[0112] The third branch chain includes a twelfth rotational pair R12, a second connecting rod 2, and a thirteenth rotational pair R13 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;

[0113] The twelfth rotation pair R12 is connected to a rotation drive motor.

[0114] Example 5

[0115] Completely decoupled parallel mixing 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;

[0116] 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.

[0117] The first branch chain includes the eleventh rotational pair R11, the sixth link 6, the sixteenth rotational pair R16, the fifth link 5, the fifteenth rotational pair R15, the fourth link 4, the first-first translation pair P111, the tenth link 10, the first-second translation pair P112, the eleventh link 11, the first-third translation pair P113, and the twenty-eighth link 28, which are connected in sequence. The twenty-eighth link 28 is also connected to the moving platform 27. The eleventh rotational pair R11 is also connected to the base 1.

[0118] 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;

[0119] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0120] The second branch chain includes 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-to-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;

[0121] 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 revolute 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;

[0122] The ninth connecting rod 9 is a V-shaped connecting rod;

[0123] The seventeenth moving pair P17 is connected to a moving drive motor.

[0124] The third branch chain includes a twelfth rotational pair R12, a second connecting rod 2, and a thirteenth rotational pair R13 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;

[0125] The twelfth rotation pair R12 is connected to a rotation drive motor.

[0126] The second kinematic chain includes 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 movable platform 27, and the twenty-first movable pair P21 is also connected to the base 1;

[0127] The twenty-first moving pair P21 is connected to a moving drive motor.

[0128] Example 6

[0129] Completely decoupled parallel mixing 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;

[0130] 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.

[0131] The first branch chain includes the eleventh rotational pair R11, the sixth link 6, the sixteenth rotational pair R16, the fifth link 5, the fifteenth rotational pair R15, the fourth link 4, the first-first translation pair P111, the tenth link 10, the first-second translation pair P112, the eleventh link 11, the first-third translation pair P113, and the twenty-eighth link 28, which are connected in sequence. The twenty-eighth link 28 is also connected to the moving platform 27. The eleventh rotational pair R11 is also connected to the base 1.

[0132] 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;

[0133] The eleventh rotating pair R11 is connected to a rotation driving motor.

[0134] The second branch chain includes 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-to-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;

[0135] 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 revolute 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;

[0136] The ninth connecting rod 9 is a V-shaped connecting rod;

[0137] The seventeenth moving pair P17 is connected to a moving drive motor.

[0138] The third branch chain includes a twelfth rotational pair R12, a second connecting rod 2, and a thirteenth rotational pair R13 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;

[0139] The twelfth rotation pair R12 is connected to a rotation drive motor.

[0140] The second kinematic chain includes 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 movable platform 27, and the twenty-first movable pair P21 is also connected to the base 1;

[0141] The twenty-first moving pair P21 is connected to a moving drive motor.

[0142] The third kinematic chain includes a thirty-first movable pair P31, a seventeenth connecting rod 17, a thirty-second movable pair P32, an eighteenth connecting rod 18, a thirty-third movable pair P33, a nineteenth connecting rod 19, a thirty-fourth rotational pair R34, a twentieth connecting rod 20, a thirty-fifth rotational pair R35, a twenty-first connecting rod 21, and a thirty-sixth rotational pair R36, which are connected in sequence; the thirty-sixth rotational pair R36 is also connected to the movable platform 27, and the thirty-first movable pair P31 is also connected to the base 1.

[0143] The thirty-first moving pair P31 is connected to a moving drive motor.

Claims

1. Completely decoupled parallel mixing robot with three three-movement fixed-axis rotation motion modes, characterized by: 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 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 simultaneously connected to the base (1) and the moving platform (27); The first branch chain includes an eleventh rotating pair R11, a sixth connecting rod (6), a sixteenth rotating pair R16, a fifth connecting rod (5), a fifteenth rotating 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) connected in sequence; the twenty-eighth connecting rod (28) is also connected to the moving platform (27); the eleventh rotating 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 rotation driving motor; The second branch chain includes 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-to-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; The third branch chain includes a twelfth rotation pair R12, a second connecting rod (2), 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 (3), and the twelfth rotation pair R12 is also connected to the base (1); The twelfth rotation pair R12 is connected to a rotation drive motor.

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 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 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 moving pair P21 is also connected to the base (1); The twenty-first moving pair P21 is connected to a moving drive 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 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 rotational pair R34, a twentieth connecting rod (20), a thirty-fifth rotational pair R35, a twenty-first connecting rod (21) and a thirty-sixth rotational pair R36, which are connected in sequence; the thirty-sixth rotational 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 drive 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 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 rotational pair R44, a twenty-fifth connecting rod (25), a forty-fifth rotational pair R45, a twenty-sixth connecting rod (26) and a forty-sixth rotational pair R46, which are connected in sequence; the forty-sixth rotational 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 moving pair P41 is connected to a moving drive motor.

5. The driving method of a fully decoupled parallel stirring robot with three three-movement fixed-axis rotation motion modes according to claim 4 is characterized in that: Specifically, the driving motors connected to the eleventh rotation pair R11 and the seventeenth movement pair P17 are locked, 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, 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 driving motors connected to the twelfth rotation pair R12 and the seventeenth movement pair P17 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 movable platform (27) to rotate around an axis parallel to the Z axis.

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