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

Abstract

The present invention discloses a parallel robot with a locking mode and a two-dimensional spherical movement mode, comprising a base, to which a first kinematic chain is connected; the first kinematic chain comprises a twenty-first moving pair P21, a second connecting rod assembly, and a fourth connecting rod assembly; and further comprises 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 via the twenty-first moving pair P21, and the ninth connecting rod is connected to the base via the eleventh ball pair S11; the second connecting rod assembly is connected to the fourth connecting rod assembly via a first branch chain and a second branch chain; and the fourth connecting rod assembly is connected to the eighth connecting rod assembly via a third branch chain and a fourth branch chain. When the output component of the robot is in the locking mode, it can be in a stationary state without locking the drive, and resist external forces and impacts 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 locking the drive, the output component remains stationary and can resist the action and impact of external forces. By locking the drive, the output component remains stationary. When the output component is subjected to the impact of sudden loading, it will cause impact or damage to the drive motor. When the output component is subjected to the impact of frequent loading, the motor may be damaged. When the output component is in the working preparation posture, it needs 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 working scenarios where workpieces and goods are frequently loaded. 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 static 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 motion mode includes a base, and a first kinematic chain is connected to the base;

[0005] The first kinematic chain includes a twenty-first moving pair P21, a second connecting rod assembly and a fourth connecting rod assembly; and further includes an eighth connecting rod assembly, a twelfth ball pair S12, a ninth connecting rod and an eleventh ball pair S11 connected in sequence;

[0006] The second connecting rod assembly is connected to the base through the twenty-first moving joint P21, and the ninth connecting rod is connected to the base through the eleventh ball joint S11;

[0007] The second connecting rod assembly is connected to the fourth connecting rod assembly through the first branch chain and the second branch chain;

[0008] The fourth connecting rod assembly is connected to the eighth connecting rod assembly through the third branch chain and the fourth branch chain.

[0009] The present invention is also characterized in that:

[0010] The second connecting rod assembly includes a first vertical rod and a first horizontal 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 horizontal rod;

[0011] The fourth connecting rod assembly includes a second cross bar, a U-shaped connecting rod and a third cross bar connected in sequence, a first end of the U-shaped connecting rod is connected to the rod body of the second cross bar, and a second end of the U-shaped connecting rod is connected to the rod body of the third cross bar;

[0012] The eighth connecting rod assembly includes a fourth crossbar and a broken line connecting rod, wherein the first end of the broken line connecting rod is connected to the ninth connecting rod via a twelfth ball pair S12, and the second end of the broken line connecting rod is connected to the rod body of the fourth crossbar;

[0013] 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;

[0014] 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.

[0015] The first branch chain includes a 23rd rotational pair R23, a third connecting rod and a 24th rotational pair R24 ​​connected in sequence. The 24th rotational pair R24 ​​is also connected to the first end of the second crossbar, and the 23rd rotational pair R23 is also connected to the first end of the first crossbar.

[0016] The second branch chain includes a 22nd rotational pair R22, a fifth connecting rod and a 25th rotational pair R25 connected in sequence. The 25th rotational pair R25 is also connected to the second end of the second crossbar, and the 22nd rotational pair R22 is also connected to the second end of the first crossbar.

[0017] The third branch chain includes a 29th rotational pair R29, a sixth connecting rod and a 28th rotational pair R28 connected in sequence. The 28th rotational pair R28 is also connected to the first end of the third crossbar, and the 29th rotational pair R29 is also connected to the first end of the fourth crossbar.

[0018] The fourth branch chain includes a 26th rotational pair R26, a seventh connecting rod and a 27th rotational pair R27 connected in sequence. The 27th rotational pair R27 is also connected to the second end of the third crossbar, and the 26th rotational pair R26 is also connected to the second end of the fourth crossbar.

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

[0020] The twenty-second rotation pair R22 is connected to the rotation drive motor.

[0021] The twenty-sixth rotation pair R26 is connected to the auxiliary drive motor.

[0022] The beneficial effects of the present invention are:

[0023] (1) The kinematic chain structure proposed by the robot of the present invention is relatively simple, 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 resist external forces and impacts, thereby reducing the damage to the motor caused by external instantaneous forces.

[0024] (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, thereby reducing the impact damage to the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the configuration transformation of the ninth link in the parallel robot of the present invention in the locked mode and the two-dimensional spherical movement mode;

[0026] Figure 2 This is a schematic diagram of the configuration of the ninth link of the parallel robot of the present invention in a locking mode;

[0027] Figure 3 The ninth link of the parallel robot of the present invention is in a 2-dimensional spherical movement mode mechanism configuration.

[0028] 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;

[0029] 2-1. First vertical bar, 2-2. First horizontal bar;

[0030] 4-1. Second horizontal bar, 4-2. U-shaped bar, 4-3. Third horizontal bar;

[0031] 8-1. The fourth horizontal bar, 8-2. The broken line connecting rod. DETAILED DESCRIPTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The present invention provides a parallel robot with a locking mode and a two-dimensional spherical movement mode, comprising a base 1, to which a first kinematic chain is connected;

[0034] 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 further 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;

[0035] The second connecting rod assembly 2 is connected to the base 1 through the twenty-first moving joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11;

[0036] 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;

[0037] 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.

[0038] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2. The first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one moving 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.

[0039] 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 connected in sequence, 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;

[0040] The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2. The first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through the 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.

[0041] The eighth connecting rod assembly 8 can be used as a moving platform to fix processing tools or operators to perform work.

[0042] 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;

[0043] 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.

[0044] The first branch chain includes a 23rd rotational pair R23, a third connecting rod 3 and a 24th rotational pair R24 ​​connected in sequence. The 24th rotational pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the 23rd rotational pair R23 is also connected to the first end of the first cross bar 2-1.

[0045] The second branch chain includes a 22nd rotational pair R22, a fifth connecting rod 5 and a 25th rotational pair R25 connected in sequence. The 25th rotational pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotational pair R22 is also connected to the second end of the first cross bar 2-2.

[0046] The third branch chain includes the 29th rotation pair R29, the sixth connecting rod 6 and the 28th rotation pair R28 connected in sequence. The 28th rotation pair R28 is also connected to the first end of the third cross bar 4-3, and the 29th rotation pair R29 is also connected to the first end of the fourth cross bar 8-1.

[0047] The fourth branch chain includes a twenty-sixth rotation pair R26, a seventh connecting rod 7 and a twenty-seventh rotation pair R27 connected in sequence. The twenty-seventh rotation pair R27 is also connected to the second end of the third crossbar 4-3, and the twenty-sixth rotation pair R26 is also connected to the second end of the fourth crossbar 8-1.

[0048] The twenty-first moving pair P21 is connected to a moving drive motor.

[0049] The twenty-second rotation pair R22 is connected to the rotation drive motor.

[0050] The twenty-sixth rotation pair R26 is connected to the auxiliary drive motor.

[0051] like Figure 1 As shown, the second connecting rod assembly 2 is a T-shaped connecting rod, which has a first vertical rod 2-1 and a first horizontal rod 2-2. The first end of the first vertical rod 2-1 is movably connected to the base 1 through the twenty-first moving pair P21; the second end of the first horizontal rod 2-2 is rotationally connected to the fifth connecting rod 5 through the twenty-second rotation pair R22; the fifth connecting rod 5 is rotationally connected to the fourth connecting rod assembly 4 through the twenty-fifth rotation pair R25; the fourth connecting rod assembly 4 includes a second horizontal rod 4-1, a U-shaped connecting rod 4-2 and a third horizontal rod 4-3 connected in sequence, the second end of the second horizontal 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 horizontal 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 horizontal rod 2-2 through the twenty-third rotation pair R23.

[0052] 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.

[0053] The broken line connecting rod 8-2 is connected to the ninth connecting rod 9 by a spherical joint through a twelfth ball pair S12. The ninth connecting rod 9 is connected to the base 1 by a spherical joint through an eleventh ball pair S11.

[0054] Figure 1 In the shown configuration of the mechanism, the moving direction of the twenty-first movable pair P21 is parallel to the X-axis direction.

[0055] Figure 1In the shown mechanism configuration, the axes of the twenty-second rotational pair R22, the twenty-third rotational pair R23, the twenty-fourth rotational pair R24, the twenty-fifth rotational pair R25, the twenty-sixth rotational pair R26, the twenty-seventh rotational pair R27, the twenty-eighth rotational pair R28 and the twenty-ninth rotational pair R29 are all parallel to the X-axis.

[0056] The 22nd rotational pair R22, the fifth connecting rod 5, the 25th rotational pair R25, the second crossbar 4-1, the 24th rotational pair R24, the third connecting rod 3, the 23rd rotational pair R23 and the first crossbar 2-2 form a parallelogram four-bar mechanism loop.

[0057] 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.

[0058] The twenty-first movable pair P21 is connected to the movable drive motor, the twenty-second rotational pair R22 is connected to the rotational drive motor, and the twenty-sixth rotational pair R26 is connected to the auxiliary drive motor.

[0059] Figure 1 The configuration of the mechanism shown is that 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 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 2 The configuration shown.

[0060] Figure 2 In the shown mechanism configuration, the eighth connecting rod assembly 8 is in a locked mode. Figure 2 In the illustrated configuration, the fourth link 4's velocity direction relative to the eighth link assembly 8 within the 4R parallelogram mechanism loop formed by the 26th, 27th, 28th, and 29th rotational pairs R26, R27, R28, and R29 is the same as its velocity direction relative to the second link assembly 2 within the 4R parallelogram mechanism loop formed by the 22nd, 23rd, 24th, and 25th rotational pairs R25. Furthermore, the plane parallel to the common velocity direction and the direction of motion of the 21st rotational pair P21 does not coincide with the XOY plane, but only intersects with a line parallel to the X-axis.

[0061] Figure 2In 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 mobile pair P21, the drive connected to the twenty-second rotation pair R22, and the auxiliary drive connected to the twenty-sixth rotation pair R26.

[0062] Figure 1 The configuration of the mechanism shown is that the eighth connecting rod assembly 8 is in a transformed configuration between the spherical motion mode and the 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.

[0063] Figure 3 Under 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.

[0064] Figure 3 In the illustrated configuration, the ninth connecting rod 9 moves on a spherical surface with the center of the eleventh ball pair S11 as its center and the distance between the center of the eleventh ball pair S11 and the center of the twelfth ball pair S12 as its radius. The motors connected to the twenty-first movable pair P21 and the twenty-second revolving pair R22 control the two-dimensional spherical movement of the ninth connecting rod 9.

[0065] Advantages of the present invention:

[0066] (1) The kinematic chain structure proposed by the robot of the present invention is relatively simple, 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 resist external forces and impacts, thereby reducing the damage to the motor caused by external instantaneous forces.

[0067] (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, thereby reducing the impact damage to the drive motor.

[0068] Example 1

[0069] A parallel robot with a locking mode and a two-dimensional spherical movement mode includes a base 1, and a first kinematic chain is connected to the base 1;

[0070] 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 further 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;

[0071] The second connecting rod assembly 2 is connected to the base 1 through the twenty-first moving joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11;

[0072] 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;

[0073] 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.

[0074] Example 2

[0075] A parallel robot with a locking mode and a two-dimensional spherical movement mode includes a base 1, and a first kinematic chain is connected to the base 1;

[0076] 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 further 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;

[0077] The second connecting rod assembly 2 is connected to the base 1 through the twenty-first moving joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11;

[0078] 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;

[0079] 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.

[0080] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2. The first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one moving 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.

[0081] 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 connected in sequence, 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;

[0082] The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2. The first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through the 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.

[0083] 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;

[0084] 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.

[0085] Example 3

[0086] A parallel robot with a locking mode and a two-dimensional spherical movement mode includes a base 1, and a first kinematic chain is connected to the base 1;

[0087] 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 further 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;

[0088] The second connecting rod assembly 2 is connected to the base 1 through the twenty-first moving joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11;

[0089] 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;

[0090] 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.

[0091] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2. The first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one moving 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.

[0092] 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 connected in sequence, 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;

[0093] The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2. The first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through the 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.

[0094] 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;

[0095] 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.

[0096] The first branch chain includes a 23rd rotational pair R23, a third connecting rod 3 and a 24th rotational pair R24 ​​connected in sequence. The 24th rotational pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the 23rd rotational pair R23 is also connected to the first end of the first cross bar 2-1.

[0097] Example 4

[0098] A parallel robot with a locking mode and a two-dimensional spherical movement mode includes a base 1, and a first kinematic chain is connected to the base 1;

[0099] 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 further 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;

[0100] The second connecting rod assembly 2 is connected to the base 1 through the twenty-first moving joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11;

[0101] 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;

[0102] 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.

[0103] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2. The first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one moving 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.

[0104] 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 connected in sequence, 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;

[0105] The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2. The first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through the 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.

[0106] 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;

[0107] 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.

[0108] The first branch chain includes a 23rd rotational pair R23, a third connecting rod 3 and a 24th rotational pair R24 ​​connected in sequence. The 24th rotational pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the 23rd rotational pair R23 is also connected to the first end of the first cross bar 2-1.

[0109] The second branch chain includes a 22nd rotational pair R22, a fifth connecting rod 5 and a 25th rotational pair R25 connected in sequence. The 25th rotational pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotational pair R22 is also connected to the second end of the first cross bar 2-2.

[0110] Example 5

[0111] A parallel robot with a locking mode and a two-dimensional spherical movement mode includes a base 1, and a first kinematic chain is connected to the base 1;

[0112] 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 further 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;

[0113] The second connecting rod assembly 2 is connected to the base 1 through the twenty-first moving joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11;

[0114] 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;

[0115] 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.

[0116] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2. The first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one moving 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.

[0117] 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 connected in sequence, 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;

[0118] The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2. The first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through the 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.

[0119] 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;

[0120] 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.

[0121] The first branch chain includes a 23rd rotational pair R23, a third connecting rod 3 and a 24th rotational pair R24 ​​connected in sequence. The 24th rotational pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the 23rd rotational pair R23 is also connected to the first end of the first cross bar 2-1.

[0122] The second branch chain includes a 22nd rotational pair R22, a fifth connecting rod 5 and a 25th rotational pair R25 connected in sequence. The 25th rotational pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotational pair R22 is also connected to the second end of the first cross bar 2-2.

[0123] The third branch chain includes the 29th rotation pair R29, the sixth connecting rod 6 and the 28th rotation pair R28 connected in sequence. The 28th rotation pair R28 is also connected to the first end of the third cross bar 4-3, and the 29th rotation pair R29 is also connected to the first end of the fourth cross bar 8-1.

[0124] Example 6

[0125] A parallel robot with a locking mode and a two-dimensional spherical movement mode includes a base 1, and a first kinematic chain is connected to the base 1;

[0126] 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 further 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;

[0127] The second connecting rod assembly 2 is connected to the base 1 through the twenty-first moving joint P21, and the ninth connecting rod 9 is connected to the base 1 through the eleventh ball joint S11;

[0128] 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;

[0129] 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.

[0130] The second connecting rod assembly 2 includes a first vertical rod 2-1 and a first cross rod 2-2. The first end of the first vertical rod 2-1 is connected to the base 1 through a twenty-one moving 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.

[0131] 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 connected in sequence, 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;

[0132] The eighth connecting rod assembly 8 includes a fourth crossbar 8-1 and a broken line connecting rod 8-2. The first end of the broken line connecting rod 8-2 is connected to the ninth connecting rod 9 through the 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.

[0133] 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;

[0134] 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.

[0135] The first branch chain includes a 23rd rotational pair R23, a third connecting rod 3 and a 24th rotational pair R24 ​​connected in sequence. The 24th rotational pair R24 ​​is also connected to the first end of the second cross bar 4-1, and the 23rd rotational pair R23 is also connected to the first end of the first cross bar 2-1.

[0136] The second branch chain includes a 22nd rotational pair R22, a fifth connecting rod 5 and a 25th rotational pair R25 connected in sequence. The 25th rotational pair R25 is also connected to the second end of the second cross bar 4-1, and the 22nd rotational pair R22 is also connected to the second end of the first cross bar 2-2.

[0137] The third branch chain includes the 29th rotation pair R29, the sixth connecting rod 6 and the 28th rotation pair R28 connected in sequence. The 28th rotation pair R28 is also connected to the first end of the third cross bar 4-3, and the 29th rotation pair R29 is also connected to the first end of the fourth cross bar 8-1.

[0138] The fourth branch chain includes a twenty-sixth rotation pair R26, a seventh connecting rod 7 and a twenty-seventh rotation pair R27 connected in sequence. The twenty-seventh rotation pair R27 is also connected to the second end of the third crossbar 4-3, and the twenty-sixth rotation pair R26 is also connected to the second end of the fourth crossbar 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 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) via a twenty-first moving pair P21, and the ninth connecting rod (9) is connected to the base (1) via an eleventh ball pair 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; The second connecting rod assembly (2) comprises a first vertical rod (2-1) and a first horizontal rod (2-2); the first end of the first vertical rod (2-1) is connected to the base (1) via 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 horizontal rod (2-2); The fourth connecting rod assembly (4) comprises a second crossbar (4-1), a U-shaped connecting rod (4-2) and a third crossbar (4-3) connected in sequence, the first end of the U-shaped connecting rod (4-2) being connected to the rod body of the second crossbar (4-1), and the second end of the U-shaped connecting rod (4-2) being connected to the rod body of the third crossbar (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) 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 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; The first branch chain includes a twenty-third rotation pair R23, a third connecting rod (3), and a twenty-fourth rotation pair R24 ​​connected in sequence, the twenty-fourth rotation pair R24 ​​is also connected to the first end of the second crossbar (4-1), and the twenty-third rotation pair R23 is also connected to the first end of the first crossbar (2-2); The second branch chain includes a twenty-second rotation pair R22, a fifth connecting rod (5), and a twenty-fifth rotation pair R25 connected in sequence, the twenty-fifth rotation pair R25 is also connected to the second end of the second crossbar (4-1), and the twenty-second rotation pair R22 is also connected to the second end of the first crossbar (2-2); 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 crossbar (4-3), and the twenty-ninth rotation pair R29 is also connected to the first end of the fourth crossbar (8-1); The fourth branch chain includes a twenty-sixth rotation pair R26, a seventh connecting rod (7), and a twenty-seventh rotation pair R27 connected in sequence, the twenty-seventh rotation pair R27 is also connected to the second end of the third crossbar (4-3), and the twenty-sixth rotation pair R26 is also connected to the second end of the fourth crossbar (8-1); The direction of the movement speed of the fourth link assembly (4) relative to the eighth link assembly (8) in the 4R parallelogram mechanism loop composed of 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 is the same as the direction of the movement speed of the fourth link assembly (4) relative to the second link assembly (2) in the 4R parallelogram mechanism loop composed of the twenty-second rotation pair R22, the twenty-third rotation pair R23, the twenty-fourth rotation pair R24 ​​and the twenty-fifth rotation pair R25, and the plane parallel to the common movement speed direction and the movement direction of the twenty-first rotation pair P21 does not coincide with the XOY plane and is only parallel to the intersection line of the X axis.

2. The parallel robot with a locking mode and a two-dimensional spherical movement mode according to claim 1, characterized in that: The twenty-first moving pair P21 is connected to a moving drive motor.

3. The parallel robot with a locking mode and a two-dimensional spherical movement mode according to claim 1, characterized in that: The twenty-second rotation pair R22 is connected to the rotation drive motor.

4. The parallel robot with a locking mode and a two-dimensional spherical movement mode according to claim 1, characterized in that: The twenty-sixth rotation pair R26 is connected to the auxiliary drive motor.

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