Parallel robot with locking mode and two-dimensional spherical surface movement mode

Abstract

The invention discloses a parallel robot with a locking mode and a two-dimensional spherical surface moving motion mode. The parallel robot comprises a base, and a first kinematic chain is connected to the base; the first kinematic chain comprises twenty-one moving pairs P21, a second connecting rod assembly and a fourth connecting rod assembly; the eighth connecting rod assembly, the twelfth spherical pair S12, the ninth connecting rod and the eleventh spherical pair S11 are connected in sequence; the second connecting rod assembly is connected with the base through a twenty-one moving pair P21, and a ninth connecting rod is connected with the base through an eleventh ball pair S11; the second connecting rod assembly is connected with the fourth connecting rod assembly through the first branch chain and the second branch chain. The fourth connecting rod assembly is connected with the eighth connecting rod assembly through the third branch chain and the fourth branch chain. When the output component is in the locking mode, the robot can be in a static state without locking drive, and external acting force and impact are resisted through structural strength.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a parallel robot with a locking mode and a two-dimensional spherical movement mode. Background Art

[0002] Generally speaking, the spherical movement motion mode mechanism has a single motion mode, and the drive motor can make the output component move freely in a two-dimensional spherical surface. After the drive is locked, the output component remains stationary and can resist the action and impact of external forces. By locking the drive, the output component can remain stationary. When the output component is impacted by sudden loading, it will cause impact or damage to the drive motor. When the output component is impacted by frequent loading, the motor may be damaged. When the output component is in the work preparation posture, it is necessary to load or load workpieces or goods. At this time, an impact load will be applied to the drive motor, which will cause damage to the drive motor in the working scenario of frequent loading and loading of workpieces and goods. The existing mechanisms with locking and spherical movement motion modes have a complex motion chain structure, high processing and manufacturing costs, and greater difficulty in assembly and debugging. Summary of the invention

[0003] The purpose of the present invention is to provide a parallel robot with a locking mode and a two-dimensional spherical movement mode. In the locking mode, the output component can be in a stationary state without locking the drive, and resist external forces and impacts through structural strength.

[0004] The technical solution adopted by the present invention is that a parallel robot with a locking mode and a two-dimensional spherical movement mode comprises a base, and a first kinematic chain is connected to the base; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly and a fourth connecting rod assembly; and also includes an eighth connecting rod assembly, a twelfth ball pair S12, a ninth connecting rod and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly is connected to the base through the twenty-first translation joint P21, and the ninth connecting rod is connected to the base through the eleventh ball joint S11; The second connecting rod assembly is connected to the fourth connecting rod assembly through the first branch chain and the second branch chain; The fourth connecting rod assembly is connected to the eighth connecting rod assembly through the third branch chain and the fourth branch chain.

[0005] The present invention is also characterized in that: The second connecting rod assembly includes a first vertical rod and a first cross rod, wherein the first end of the first vertical rod is connected to the base through a twenty-one movable pair P21, and the second end of the first vertical rod is connected to the rod body of the first cross rod; The fourth connecting rod assembly includes a second cross rod, a U-shaped connecting rod and a third cross rod which are connected in sequence, wherein the first end of the U-shaped connecting rod is connected to the rod body of the second cross rod, and the second end of the U-shaped connecting rod is connected to the rod body of the third cross rod; The eighth connecting rod assembly includes a fourth cross rod and a broken line connecting rod, wherein the first end of the broken line connecting rod is connected to the ninth connecting rod through a twelfth ball pair S12, and the second end of the broken line connecting rod is connected to the rod body of the fourth cross rod; The first end of the first crossbar is connected to the first end of the second crossbar through a first branch chain, and the second end of the first crossbar is connected to the second end of the second crossbar through a second branch chain; The first end of the fourth crossbar is connected to the first end of the third crossbar through the third branch chain, and the second end of the fourth crossbar is connected to the second end of the third crossbar through the fourth branch chain.

[0006] The first branch chain includes a twenty-third rotation pair R23, a third connecting rod and a twenty-fourth rotation pair R24 ​​which are connected in sequence. The twenty-fourth rotation pair R24 ​​is also connected to the first end of the second crossbar, and the twenty-third rotation pair R23 is also connected to the first end of the first crossbar.

[0007] The second branch chain includes a 22nd rotation pair R22, a fifth connecting rod and a 25th rotation pair R25 which are connected in sequence. The 25th rotation pair R25 is also connected to the second end of the second crossbar. The 22nd rotation pair R22 is also connected to the second end of the first crossbar.

[0008] The third branch chain includes a 29th rotation pair R29, a sixth connecting rod and a 28th rotation pair R28 connected in sequence. The 28th rotation pair R28 is also connected to the first end of the third crossbar, and the 29th rotation pair R29 is also connected to the first end of the fourth crossbar.

[0009] The fourth branch chain includes a 26th rotation pair R26, a seventh connecting rod and a 27th rotation pair R27 which are connected in sequence. The 27th rotation pair R27 is also connected to the second end of the third crossbar, and the 26th rotation pair R26 is also connected to the second end of the fourth crossbar.

[0010] The twenty-first moving pair P21 is connected to a moving driving motor.

[0011] The twenty-second rotation pair R22 is connected to the rotation driving motor.

[0012] The twenty-sixth rotation pair R26 is connected to the auxiliary drive motor.

[0013] The beneficial effects of the present invention are: (1) The robot of the present invention proposes a relatively simple kinematic chain structure, and the output component has two motion modes: locking and spherical movement. In the locking mode, the moving platform can remain stationary without driving, and the strength of the material of the structure itself can be used to resist external forces and impacts, thereby reducing the damage to the motor caused by external instantaneous forces.

[0014] (2) The robot of the present invention can be used as the base of a vibrating screen. In the locking mode, the vibrating screen can withstand the impact force during material loading and reduce the impact damage to the driving motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the configuration transformation of the ninth link in the parallel robot of the present invention in the locking mode and the two-dimensional spherical movement mode; Figure 2 This is a schematic diagram of the mechanism configuration of the ninth link of the parallel robot of the present invention in a locking mode; Figure 3 The ninth link of the parallel robot of the present invention is in a 2-dimensional spherical movement mode mechanism configuration.

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

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

[0018] The present invention provides a parallel robot with a locking mode and a two-dimensional spherical movement mode, comprising a base 1, and a first kinematic chain is connected to the base 1; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly 2 and a fourth connecting rod assembly 4; and also includes an eighth connecting rod assembly 8, a twelfth ball pair S12, a ninth connecting rod 9 and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly 2 is connected to the base 1 through the twenty-first translation joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11; The second connecting rod assembly 2 is connected to the fourth connecting rod assembly 4 through the first branch chain and the second branch chain; The fourth connecting rod assembly 4 is connected to the eighth connecting rod assembly 8 through the third branch chain and the fourth branch chain.

[0019] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2, wherein the first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one movable pair P21, and the second end of the first vertical rod 2-1 is connected to the rod body of the first cross rod 2-2; The fourth connecting rod assembly 4 includes a second cross bar 4-1, a U-shaped connecting rod 4-2 and a third cross bar 4-3 which are connected in sequence, wherein the first end of the U-shaped connecting rod 4-2 is connected to the rod body of the second cross bar 4-1, and the second end of the U-shaped connecting rod 4-2 is connected to the rod body of the third cross bar 4-3; The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2, wherein the first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through a twelfth ball pair S12, and the second end of the broken line connecting rod 8-2 is connected to the rod body of the fourth crossbar 8-1; The eighth connecting rod assembly 8 can be used as a moving platform to fix processing tools or operators to perform work.

[0020] The first end of the first crossbar 2-2 is connected to the first end of the second crossbar 4-1 through a first branch chain, and the second end of the first crossbar 2-2 is connected to the second end of the second crossbar 4-1 through a second branch chain; The first end of the fourth crossbar 8-1 is connected to the first end of the third crossbar 4-3 through the third branch chain, and the second end of the fourth crossbar 8-1 is connected to the second end of the third crossbar 4-3 through the fourth branch chain.

[0021] The first branch chain includes a twenty-third rotation pair R23, a third connecting rod 3 and a twenty-fourth rotation pair R24 ​​which are connected in sequence. The twenty-fourth rotation pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the twenty-third rotation pair R23 is also connected to the first end of the first cross bar 2-1.

[0022] The second branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5 and a 25th rotation pair R25 which are connected in sequence. The 25th rotation pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotation pair R22 is also connected to the second end of the first cross bar 2-2.

[0023] The third branch chain includes a twenty-ninth rotation pair R29, a sixth connecting rod 6 and a twenty-eighth rotation pair R28 connected in sequence. The twenty-eighth rotation pair R28 is also connected to the first end of the third cross bar 4-3, and the twenty-ninth rotation pair R29 is also connected to the first end of the fourth cross bar 8-1.

[0024] The fourth branch chain includes a twenty-sixth rotation pair R26, a seventh connecting rod 7 and a twenty-seventh rotation pair R27 which are connected in sequence. The twenty-seventh rotation pair R27 is also connected to the second end of the third cross bar 4-3, and the twenty-sixth rotation pair R26 is also connected to the second end of the fourth cross bar 8-1.

[0025] The twenty-first moving pair P21 is connected to a moving driving motor.

[0026] The twenty-second rotation pair R22 is connected to the rotation driving motor.

[0027] The twenty-sixth rotation pair R26 is connected to the auxiliary drive motor.

[0028] like Figure 1 As shown, the second connecting rod assembly 2 is a T-shaped connecting rod, having a first vertical rod 2-1 and a first cross rod 2-2, the first end of the first vertical rod 2-1 is movably connected to the base 1 through a twenty-first movable pair P21; the second end of the first cross rod 2-2 is rotationally connected to the fifth connecting rod 5 through a twenty-second rotation pair R22; the fifth connecting rod 5 is rotationally connected to the fourth connecting rod assembly 4 through a twenty-fifth rotation pair R25; the fourth connecting rod assembly 4 includes a second cross rod 4-1, a U-shaped connecting rod 4-2 and a third cross rod 4-3 connected in sequence, the second end of the second cross rod 4-1 is rotationally connected to the fifth connecting rod 5 through the twenty-fifth rotation pair R25, the first end of the second cross rod 4-1 is rotationally connected to the third connecting rod 3 through the twenty-fourth rotation pair R24, and the third connecting rod 3 is rotationally connected to the first end of the first cross rod 2-2 through the twenty-third rotation pair R23.

[0029] The second end of the third cross bar 4-3 is rotationally connected to the seventh connecting rod 7 through the twenty-seventh rotation pair R27, the seventh connecting rod 7 is connected to the second end of the fourth cross bar 8-1 through the twenty-sixth rotation pair R26, the first end of the connecting rod 8-1 is rotationally connected to the sixth connecting rod 6 through the twenty-ninth rotation pair R29, and the sixth connecting rod 6 is rotationally connected to the first end of the third cross bar 4-3 through the twenty-eighth rotation pair R28.

[0030] The broken line connecting rod 8-2 is connected to the ninth connecting rod 9 by a ball joint through the twelfth ball pair S12. The ninth connecting rod 9 is connected to the base 1 by a ball joint through the eleventh ball pair S11. Figure 1 In the shown mechanism configuration, the moving direction of the twenty-first movable pair P21 is parallel to the X-axis direction.

[0031] Figure 1 In the shown mechanism configuration, the axes of the twenty-second rotation pair R22, the twenty-third rotation pair R23, the twenty-fourth rotation pair R24, the twenty-fifth rotation pair R25, the twenty-sixth rotation pair R26, the twenty-seventh rotation pair R27, the twenty-eighth rotation pair R28 and the twenty-ninth rotation pair R29 are all parallel to the X-axis. The twenty-second rotational pair R22, the fifth connecting rod 5, the twenty-fifth rotational pair R25, the second crossbar 4-1, the twenty-fourth rotational pair R24, the third connecting rod 3, the twenty-third rotational pair R23 and the first crossbar 2-2 form a parallelogram four-bar mechanism loop.

[0032] The twenty-sixth rotational pair R26, the seventh connecting rod 7, the twenty-seventh rotational pair R27, the third crossbar 4-3, the twenty-eighth rotational pair R28, the sixth connecting rod 6, the twenty-ninth rotational pair R29 and the fourth crossbar 8-1 form a parallelogram four-bar mechanism loop.

[0033] The twenty-first moving pair P21 is connected to the moving driving motor. The twenty-second rotating pair R22 is connected to the rotating driving motor. The twenty-sixth rotating pair R26 is connected to the auxiliary driving motor.

[0034] Figure 1 The configuration of the mechanism shown in the figure shows that the eighth connecting rod assembly 8 is in a transformation configuration between the spherical motion mode and the locking mode. The drive connected to the twenty-first moving pair P21, the drive connected to the drive connected to the twenty-second rotating pair R22, and the auxiliary drive connected to the twenty-sixth rotating pair R26 can make Figure 1 The mechanism shown moves to Figure 2 The configuration shown.

[0035] Figure 2 In the shown mechanism configuration, the eighth connecting rod assembly 8 is in a locking mode. Figure 2 In the shown mechanism configuration, the moving speed direction of the fourth link 4 in the 4R parallelogram mechanism loop composed of the 26th rotation pair R26, the 27th rotation pair R27, the 28th rotation pair R28, and the 29th rotation pair R29 relative to the eighth link assembly 8 is the same as the moving speed direction of the link 4 in the 4R parallelogram mechanism loop composed of the 22nd rotation pair R22, the 23rd rotation pair R23, the 24th rotation pair R24, and the 25th rotation pair R25 relative to the second link assembly 2. And the plane parallel to the moving speed direction and the moving direction of the 21st moving pair P21 does not coincide with the XOY plane, and only has an intersection line parallel to the X-axis.

[0036] Figure 2 In the shown mechanism configuration, the eighth connecting rod assembly 8 can remain locked when it is not locked in the drive connected to the twenty-first movable pair P21, when it is not locked in the drive connected to the twenty-second rotating pair R22, and when it is not locked in the auxiliary drive connected to the twenty-sixth rotating pair R26.

[0037] Figure 1 In the shown mechanism configuration, the eighth connecting rod assembly 8 is in a transformation configuration between a spherical motion mode and a locking mode. The drive connected to the drive on the twenty-first mobile pair P21, the drive connected to the drive on the twenty-second rotation pair R22, and the auxiliary drive connected to the twenty-sixth rotation pair R26 can make Figure 1 The mechanism shown moves to Figure 3 The configuration shown.

[0038] Figure 3Under the shown mechanism configuration, the moving speed direction of the eighth connecting rod assembly 8 relative to the fourth connecting rod assembly 4 in the 4R parallelogram mechanism loop composed of the twenty-sixth rotating pair R26, the twenty-seventh rotating pair R27, the twenty-eighth rotating pair R28, and the twenty-ninth rotating pair R29 is different from the moving speed direction of the fourth connecting rod assembly 4 relative to the second connecting rod assembly 2 in the 4R parallelogram mechanism loop composed of the twenty-second rotating pair R22, the twenty-third rotating pair R23, the twenty-fourth rotating pair R24, and the twenty-fifth rotating pair R25.

[0039] Figure 3 In the shown mechanism configuration, the ninth connecting rod 9 has a motion mode of moving on a spherical surface with the center of the eleventh ball pair S11 as the center and the distance from the center of the eleventh ball pair S11 to the center of the twelfth ball pair S12 as the radius. The motor connected to the twenty-first moving pair P21 and the twenty-second rotating pair R22 can control the two-dimensional spherical movement of the ninth connecting rod 9.

[0040] Advantages of the present invention: (1) The robot of the present invention proposes a relatively simple kinematic chain structure, and the output component has two motion modes: locking and spherical movement. In the locking mode, the moving platform can remain stationary without driving, and the strength of the material of the structure itself can be used to resist external forces and impacts, thereby reducing the damage to the motor caused by external instantaneous forces.

[0041] (2) The robot of the present invention can be used as the base of a vibrating screen. In the locking mode, the vibrating screen can withstand the impact force during material loading and reduce the impact damage to the driving motor.

[0042] Example 1 A parallel robot with a locking mode and a two-dimensional spherical movement mode comprises a base 1, and a first kinematic chain is connected to the base 1; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly 2 and a fourth connecting rod assembly 4; and also includes an eighth connecting rod assembly 8, a twelfth ball pair S12, a ninth connecting rod 9 and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly 2 is connected to the base 1 through the twenty-first translation joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11; The second connecting rod assembly 2 is connected to the fourth connecting rod assembly 4 through the first branch chain and the second branch chain; The fourth connecting rod assembly 4 is connected to the eighth connecting rod assembly 8 through the third branch chain and the fourth branch chain.

[0043] Example 2 A parallel robot with a locking mode and a two-dimensional spherical movement mode comprises a base 1, and a first kinematic chain is connected to the base 1; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly 2 and a fourth connecting rod assembly 4; and also includes an eighth connecting rod assembly 8, a twelfth ball pair S12, a ninth connecting rod 9 and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly 2 is connected to the base 1 through the twenty-first translation joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11; The second connecting rod assembly 2 is connected to the fourth connecting rod assembly 4 through the first branch chain and the second branch chain; The fourth connecting rod assembly 4 is connected to the eighth connecting rod assembly 8 through the third branch chain and the fourth branch chain.

[0044] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2, wherein the first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one movable pair P21, and the second end of the first vertical rod 2-1 is connected to the rod body of the first cross rod 2-2; The fourth connecting rod assembly 4 includes a second cross bar 4-1, a U-shaped connecting rod 4-2 and a third cross bar 4-3 which are connected in sequence, wherein the first end of the U-shaped connecting rod 4-2 is connected to the rod body of the second cross bar 4-1, and the second end of the U-shaped connecting rod 4-2 is connected to the rod body of the third cross bar 4-3; The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2, wherein the first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through a twelfth ball pair S12, and the second end of the broken line connecting rod 8-2 is connected to the rod body of the fourth crossbar 8-1; The first end of the first crossbar 2-2 is connected to the first end of the second crossbar 4-1 through a first branch chain, and the second end of the first crossbar 2-2 is connected to the second end of the second crossbar 4-1 through a second branch chain; The first end of the fourth crossbar 8-1 is connected to the first end of the third crossbar 4-3 through the third branch chain, and the second end of the fourth crossbar 8-1 is connected to the second end of the third crossbar 4-3 through the fourth branch chain.

[0045] Example 3 A parallel robot with a locking mode and a two-dimensional spherical movement mode comprises a base 1, and a first kinematic chain is connected to the base 1; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly 2 and a fourth connecting rod assembly 4; and also includes an eighth connecting rod assembly 8, a twelfth ball pair S12, a ninth connecting rod 9 and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly 2 is connected to the base 1 through the twenty-first translation joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11; The second connecting rod assembly 2 is connected to the fourth connecting rod assembly 4 through the first branch chain and the second branch chain; The fourth connecting rod assembly 4 is connected to the eighth connecting rod assembly 8 through the third branch chain and the fourth branch chain.

[0046] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2, wherein the first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one movable pair P21, and the second end of the first vertical rod 2-1 is connected to the rod body of the first cross rod 2-2; The fourth connecting rod assembly 4 includes a second cross bar 4-1, a U-shaped connecting rod 4-2 and a third cross bar 4-3 which are connected in sequence, wherein the first end of the U-shaped connecting rod 4-2 is connected to the rod body of the second cross bar 4-1, and the second end of the U-shaped connecting rod 4-2 is connected to the rod body of the third cross bar 4-3; The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2, wherein the first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through a twelfth ball pair S12, and the second end of the broken line connecting rod 8-2 is connected to the rod body of the fourth crossbar 8-1; The first end of the first crossbar 2-2 is connected to the first end of the second crossbar 4-1 through a first branch chain, and the second end of the first crossbar 2-2 is connected to the second end of the second crossbar 4-1 through a second branch chain; The first end of the fourth crossbar 8-1 is connected to the first end of the third crossbar 4-3 through the third branch chain, and the second end of the fourth crossbar 8-1 is connected to the second end of the third crossbar 4-3 through the fourth branch chain.

[0047] The first branch chain includes a twenty-third rotation pair R23, a third connecting rod 3 and a twenty-fourth rotation pair R24 ​​which are connected in sequence. The twenty-fourth rotation pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the twenty-third rotation pair R23 is also connected to the first end of the first cross bar 2-1.

[0048] Example 4 A parallel robot with a locking mode and a two-dimensional spherical movement mode comprises a base 1, and a first kinematic chain is connected to the base 1; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly 2 and a fourth connecting rod assembly 4; and also includes an eighth connecting rod assembly 8, a twelfth ball pair S12, a ninth connecting rod 9 and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly 2 is connected to the base 1 through the twenty-first translation joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11; The second connecting rod assembly 2 is connected to the fourth connecting rod assembly 4 through the first branch chain and the second branch chain; The fourth connecting rod assembly 4 is connected to the eighth connecting rod assembly 8 through the third branch chain and the fourth branch chain.

[0049] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2, wherein the first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one movable pair P21, and the second end of the first vertical rod 2-1 is connected to the rod body of the first cross rod 2-2; The fourth connecting rod assembly 4 includes a second cross bar 4-1, a U-shaped connecting rod 4-2 and a third cross bar 4-3 which are connected in sequence, wherein the first end of the U-shaped connecting rod 4-2 is connected to the rod body of the second cross bar 4-1, and the second end of the U-shaped connecting rod 4-2 is connected to the rod body of the third cross bar 4-3; The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2, wherein the first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through a twelfth ball pair S12, and the second end of the broken line connecting rod 8-2 is connected to the rod body of the fourth crossbar 8-1; The first end of the first crossbar 2-2 is connected to the first end of the second crossbar 4-1 through a first branch chain, and the second end of the first crossbar 2-2 is connected to the second end of the second crossbar 4-1 through a second branch chain; The first end of the fourth crossbar 8-1 is connected to the first end of the third crossbar 4-3 through the third branch chain, and the second end of the fourth crossbar 8-1 is connected to the second end of the third crossbar 4-3 through the fourth branch chain.

[0050] The first branch chain includes a twenty-third rotation pair R23, a third connecting rod 3 and a twenty-fourth rotation pair R24 ​​which are connected in sequence. The twenty-fourth rotation pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the twenty-third rotation pair R23 is also connected to the first end of the first cross bar 2-1.

[0051] The second branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5 and a 25th rotation pair R25 which are connected in sequence. The 25th rotation pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotation pair R22 is also connected to the second end of the first cross bar 2-2.

[0052] Example 5 A parallel robot with a locking mode and a two-dimensional spherical movement mode comprises a base 1, and a first kinematic chain is connected to the base 1; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly 2 and a fourth connecting rod assembly 4; and also includes an eighth connecting rod assembly 8, a twelfth ball pair S12, a ninth connecting rod 9 and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly 2 is connected to the base 1 through the twenty-first translation joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11; The second connecting rod assembly 2 is connected to the fourth connecting rod assembly 4 through the first branch chain and the second branch chain; The fourth connecting rod assembly 4 is connected to the eighth connecting rod assembly 8 through the third branch chain and the fourth branch chain.

[0053] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2, wherein the first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one movable pair P21, and the second end of the first vertical rod 2-1 is connected to the rod body of the first cross rod 2-2; The fourth connecting rod assembly 4 includes a second cross bar 4-1, a U-shaped connecting rod 4-2 and a third cross bar 4-3 which are connected in sequence, wherein the first end of the U-shaped connecting rod 4-2 is connected to the rod body of the second cross bar 4-1, and the second end of the U-shaped connecting rod 4-2 is connected to the rod body of the third cross bar 4-3; The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2, wherein the first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through a twelfth ball pair S12, and the second end of the broken line connecting rod 8-2 is connected to the rod body of the fourth crossbar 8-1; The first end of the first crossbar 2-2 is connected to the first end of the second crossbar 4-1 through a first branch chain, and the second end of the first crossbar 2-2 is connected to the second end of the second crossbar 4-1 through a second branch chain; The first end of the fourth crossbar 8-1 is connected to the first end of the third crossbar 4-3 through the third branch chain, and the second end of the fourth crossbar 8-1 is connected to the second end of the third crossbar 4-3 through the fourth branch chain.

[0054] The first branch chain includes a twenty-third rotation pair R23, a third connecting rod 3 and a twenty-fourth rotation pair R24 ​​which are connected in sequence. The twenty-fourth rotation pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the twenty-third rotation pair R23 is also connected to the first end of the first cross bar 2-1.

[0055] The second branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5 and a 25th rotation pair R25 which are connected in sequence. The 25th rotation pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotation pair R22 is also connected to the second end of the first cross bar 2-2.

[0056] The third branch chain includes a twenty-ninth rotation pair R29, a sixth connecting rod 6 and a twenty-eighth rotation pair R28 connected in sequence. The twenty-eighth rotation pair R28 is also connected to the first end of the third cross bar 4-3, and the twenty-ninth rotation pair R29 is also connected to the first end of the fourth cross bar 8-1.

[0057] Example 6 A parallel robot with a locking mode and a two-dimensional spherical movement mode comprises a base 1, and a first kinematic chain is connected to the base 1; The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly 2 and a fourth connecting rod assembly 4; and also includes an eighth connecting rod assembly 8, a twelfth ball pair S12, a ninth connecting rod 9 and an eleventh ball pair S11 connected in sequence; The second connecting rod assembly 2 is connected to the base 1 through the twenty-first translation joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11; The second connecting rod assembly 2 is connected to the fourth connecting rod assembly 4 through the first branch chain and the second branch chain; The fourth connecting rod assembly 4 is connected to the eighth connecting rod assembly 8 through the third branch chain and the fourth branch chain.

[0058] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2, wherein the first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one movable pair P21, and the second end of the first vertical rod 2-1 is connected to the rod body of the first cross rod 2-2; The fourth connecting rod assembly 4 includes a second cross bar 4-1, a U-shaped connecting rod 4-2 and a third cross bar 4-3 which are connected in sequence, wherein the first end of the U-shaped connecting rod 4-2 is connected to the rod body of the second cross bar 4-1, and the second end of the U-shaped connecting rod 4-2 is connected to the rod body of the third cross bar 4-3; The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2, wherein the first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through a twelfth ball pair S12, and the second end of the broken line connecting rod 8-2 is connected to the rod body of the fourth crossbar 8-1; The first end of the first crossbar 2-2 is connected to the first end of the second crossbar 4-1 through a first branch chain, and the second end of the first crossbar 2-2 is connected to the second end of the second crossbar 4-1 through a second branch chain; The first end of the fourth crossbar 8-1 is connected to the first end of the third crossbar 4-3 through the third branch chain, and the second end of the fourth crossbar 8-1 is connected to the second end of the third crossbar 4-3 through the fourth branch chain.

[0059] The first branch chain includes a twenty-third rotation pair R23, a third connecting rod 3 and a twenty-fourth rotation pair R24 ​​which are connected in sequence. The twenty-fourth rotation pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the twenty-third rotation pair R23 is also connected to the first end of the first cross bar 2-1.

[0060] The second branch chain includes a 22nd rotation pair R22, a fifth connecting rod 5 and a 25th rotation pair R25 which are connected in sequence. The 25th rotation pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotation pair R22 is also connected to the second end of the first cross bar 2-2.

[0061] The third branch chain includes a twenty-ninth rotation pair R29, a sixth connecting rod 6 and a twenty-eighth rotation pair R28 connected in sequence. The twenty-eighth rotation pair R28 is also connected to the first end of the third cross bar 4-3, and the twenty-ninth rotation pair R29 is also connected to the first end of the fourth cross bar 8-1.

[0062] The fourth branch chain includes a twenty-sixth rotation pair R26, a seventh connecting rod 7 and a twenty-seventh rotation pair R27 which are connected in sequence. The twenty-seventh rotation pair R27 is also connected to the second end of the third cross bar 4-3, and the twenty-sixth rotation pair R26 is also connected to the second end of the fourth cross bar 8-1.

Claims

1. A parallel robot with a locking mode and a two-dimensional spherical movement mode, characterized in that: It comprises a base (1), to which a first kinematic chain is connected; The first kinematic chain comprises a twenty-first movable pair P21, a second connecting rod assembly (2) and a fourth connecting rod assembly (4); and further comprises an eighth connecting rod assembly (8), a twelfth ball pair S12, a ninth connecting rod (9) and an eleventh ball pair S11 which are connected in sequence; The second connecting rod assembly (2) is connected to the base (1) via a twenty-first movable joint P21, and the ninth connecting rod (9) is connected to the base (1) via an eleventh ball joint S11; The second connecting rod assembly (2) is connected to the fourth connecting rod assembly (4) via the first branch chain and the second branch chain; The fourth connecting rod assembly (4) is connected to the eighth connecting rod assembly (8) via the third branch chain and the fourth branch chain.

2. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 1, characterized in that: The second connecting rod assembly (2) comprises a first vertical rod (2-1) and a first cross rod (2-2), the first end of the first vertical rod (2-1) being connected to the base (1) via a twenty-one movable pair P21, and the second end of the first vertical rod (2-1) being connected to the rod body of the first cross rod (2-2); The fourth connecting rod assembly (4) comprises a second cross rod (4-1), a U-shaped connecting rod (4-2) and a third cross rod (4-3) which are connected in sequence, the first end of the U-shaped connecting rod (4-2) being connected to the rod body of the second cross rod (4-1), and the second end of the U-shaped connecting rod (4-2) being connected to the rod body of the third cross rod (4-3); The eighth connecting rod assembly (8) comprises a fourth cross rod (8-1) and a broken line connecting rod (8-2), wherein the first end of the broken line connecting rod (8-2) is connected to the ninth connecting rod (9) via a twelfth ball pair S12, and the second end of the broken line connecting rod (8-2) is connected to the rod body of the fourth cross rod (8-1); The first end of the first crossbar (2-2) is connected to the first end of the second crossbar (4-1) via a first branch chain, and the second end of the first crossbar (2-2) is connected to the second end of the second crossbar (4-1) via a second branch chain; The first end of the fourth crossbar (8-1) is connected to the first end of the third crossbar (4-3) via a third branch chain, and the second end of the fourth crossbar (8-1) is connected to the second end of the third crossbar (4-3) via a fourth branch chain.

3. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 2, characterized in that: The first branch chain comprises a twenty-third rotational pair R23, a third connecting rod (3) and a twenty-fourth rotational pair R24 ​​which are connected in sequence; the twenty-fourth rotational pair R24 ​​is also connected to the first end of the second crossbar (4-1); and the twenty-third rotational pair R23 is also connected to the first end of the first crossbar (2-1).

4. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 3, characterized in that: The second branch chain comprises a twenty-second rotational pair R22, a fifth connecting rod (5) and a twenty-fifth rotational pair R25 which are connected in sequence; the twenty-fifth rotational pair R25 is also connected to the second end of the second crossbar (4-1); and the twenty-second rotational pair R22 is also connected to the second end of the first crossbar (2-2).

5. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 4, characterized in that: The third branch chain comprises a twenty-ninth rotation pair R29, a sixth connecting rod (6) and a twenty-eighth rotation pair R28 which are connected in sequence. The twenty-eighth rotation pair R28 is also connected to the first end of the third crossbar (4-3), and the twenty-ninth rotation pair R29 is also connected to the first end of the fourth crossbar (8-1).

6. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 5, characterized in that: The fourth branch chain comprises a twenty-sixth rotational pair R26, a seventh connecting rod (7) and a twenty-seventh rotational pair R27 which are connected in sequence. The twenty-seventh rotational pair R27 is also connected to the second end of the third crossbar (4-3), and the twenty-sixth rotational pair R26 is also connected to the second end of the fourth crossbar (8-1).

7. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 6, characterized in that: The twenty-first moving pair P21 is connected to a moving driving motor.

8. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 6, characterized in that: The twenty-second rotation pair R22 is connected to the rotation driving motor.

9. The parallel robot with locking mode and two-dimensional spherical movement mode according to claim 6, characterized in that: The twenty-sixth rotation pair R26 is connected to the auxiliary drive motor.

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