Two-mode 2R1T type multi-mode parallel stirring robot with motion redundancy and driving method

Abstract

The two-mode 2R1T type multi-mode parallel stirring robot comprises a base and a movable platform, and a first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base and the movable platform; the first kinematic chain comprises a first branch chain, a fourth connecting rod assembly, an eighteenth sliding pair P18, a seventh connecting rod and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is further connected with the movable platform, and the first branch chain is further connected with the base. The fourth connecting rod assembly is further connected with a second branch chain, and the fourth connecting rod assembly is connected with the base through the second branch chain. The stirring robot has two moving motion modes, can be used for material stirring operation in different scenes through conversion of the motion modes, and is high in rigidity and suitable for material stirring operation with high viscosity and large stirring resistance. The invention further discloses a driving method of the two-mode 2R1T type multi-mode parallel stirring robot with motion redundancy.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a two-mode 2R1T multi-mode parallel stirring robot with motion redundancy, and also relates to a driving method of the two-mode 2R1T multi-mode parallel stirring robot with motion redundancy. Background Art

[0002] When materials are being stirred, the agitator has complex spatial motion, which will improve the uniformity of stirring and the stirring effect. The parallel robot has high rigidity. If its end effector is installed with a corresponding agitator, it can stir materials with high viscosity and stirring resistance. At present, the end of the two-rotation-one-movement parallel robot is accompanied by one rotation and two movements. The motion is relatively complex, with fewer degrees of freedom and high rigidity. It is applied to the stirring operation of materials with high viscosity and large stirring resistance, which has certain application value.

[0003] However, the existing two-rotation-one-movement parallel robot generally cannot change its motion mode, and the scope of its working space is always fixed. Although the motion mode of the multi-mode two-rotation-one-movement parallel robot can be changed, the working range generally does not change much after the motion mode is changed. Summary of the invention

[0004] The first object of the present invention is to provide a two-mode 2R1T multi-mode parallel mixing robot with motion redundancy, which has two mobile motion modes. The mixer robot can be used for material mixing operations in different scenarios by changing the motion mode, and its rigidity is relatively high, so it is suitable for mixing materials with high viscosity and large stirring resistance.

[0005] The second object of the present invention is to provide a driving method of a two-mode 2R1T type multi-mode parallel stirring robot with motion redundancy.

[0006] The first technical solution adopted by the present invention is a two-mode 2R1T multi-mode parallel stirring robot with motion redundancy, comprising a base and a moving platform, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base and the moving platform; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform, and the first branch chain is also connected to the base; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base through the second branch chain.

[0007] The present invention is also characterized in that: The first branch chain includes an eleventh rotation pair R11, a first connecting rod, a twelfth moving pair P12, a second connecting rod, a thirteenth rotation pair R13, a third connecting rod and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base; The second branch chain includes a seventeenth rotation pair R17, a sixth connecting rod, a sixteenth moving pair P16, a fifth connecting rod and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base; The fourth connecting rod assembly includes a first cross bar and a first vertical bar, the first end of the first vertical bar is connected to the rod body of the first cross bar, and the second end of the first vertical bar is connected to the eighteenth movable pair P18; the first end of the first cross bar is connected to the fourteenth rotation pair R14, and the second end of the first cross bar is connected to the fifteenth rotation pair R15.

[0008] The second kinematic chain includes a twenty-first moving pair P21, an eighth connecting rod, a twenty-second moving pair P22, a ninth connecting rod and a twenty-third ball pair S23 which are connected in sequence; the twenty-third ball pair S23 is also connected to the moving platform, and the twenty-first moving pair P21 is also connected to the base; The eighth connecting rod is a broken line connecting rod with a turning point. The first end of the eighth connecting rod is connected to the twenty-first moving pair P21, and the second end of the eighth connecting rod is connected to the twenty-second moving pair P22.

[0009] The third connecting rod includes a thirty-first moving pair P31, a tenth connecting rod, a thirty-second moving pair P32, an eleventh connecting rod and a thirty-third ball pair S33 which are connected in sequence; The tenth connecting rod is a broken line connecting rod with a turning point. The first end of the tenth connecting rod is connected to the thirty-first moving pair P31, and the second end of the tenth connecting rod is connected to the thirty-second moving pair P32.

[0010] The eleventh rotation pair R11, the seventeenth rotation pair R17, the twelfth motion pair P12 and the sixteenth motion pair P16 are all connected to driving motors.

[0011] The twenty-first movable pair P21 is connected to a driving motor.

[0012] The thirty-first movable pair P31 is connected to a driving motor.

[0013] The second technical solution adopted by the present invention is a driving method of a two-mode 2R1T multi-mode parallel stirring robot with motion redundancy, specifically: Lock the driving motors connected to the twelfth moving pair P12 and the sixteenth moving pair P16, control the driving motors connected to the eleventh rotating pair R11, the seventeenth rotating pair R17, the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform moves to the first two-rotation and one-movement motion mode; control the driving motors connected to the eleventh rotating pair R11, the seventeenth rotating pair R17, the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform performs two-rotation and one-movement motion relative to the base; Control the driving motors connected to the twelfth moving pair P12 and the sixteenth moving pair P16, lock the motors connected to the eleventh rotating pair R11 and the seventeenth rotating pair R17, control the driving motors connected to the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform moves to the second two rotations and one movement mode, and then control the driving motors connected to the twelfth moving pair P12, the sixteenth moving pair P16, the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform performs two rotations and one movement relative to the base.

[0014] The beneficial effects of the present invention are: (1) The present invention has a two-mode 2R1T multi-mode parallel stirring robot with motion redundancy, and has two two-rotation and one-movement motion modes. In the first motion mode, the stirrer can achieve a larger range of rotation, which is suitable for stirring spherical container materials. In the second motion mode, the stirrer can achieve a larger range of one-dimensional movement, which is suitable for stirring cylindrical container materials. The parallel robot stirrer can be used for material stirring operations in different scenarios through the transformation of motion modes, and its rigidity is relatively high, which is suitable for stirring operations of materials with high viscosity and large stirring resistance, and it has high industrial application value.

[0015] (2) The present invention has a two-mode 2R1T multi-mode parallel mixing robot with motion redundancy. In the first motion mode, it has the characteristics of motion redundancy. By increasing the degree of freedom in the motion chain, the motion chain workspace is increased, thereby improving the workspace of the parallel robot mixer end effector. In the second motion mode, all its motion chains have the ability to move along one dimension, thereby improving the workspace of the parallel robot mixer end effector in this dimension.

[0016] (3) The present invention has a two-mode 2R1T multi-mode parallel mixing robot with motion redundancy. Its end effector can realize a multi-mode robot with a large working range. The connected agitator can stir materials in containers of different shapes, which can effectively cope with different working scenarios and realize multiple uses of one machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1Motion mode transformation configuration of a two-mode 2R1T multi-mode parallel mixing robot with motion redundancy.

[0018] Figure 2 The first motion mode of the two-mode 2R1T multi-mode parallel mixing robot with motion redundancy.

[0019] Figure 3 The second motion mode of the two-mode 2R1T multi-mode parallel mixing robot with motion redundancy.

[0020] In the figure, 1. first connecting rod, 2. second connecting rod, 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, 9. ninth connecting rod, 10. tenth connecting rod, 11. eleventh connecting rod, 12. moving platform, 13. base; 4-1. The first horizontal bar, 4-2. The first vertical bar. DETAILED DESCRIPTION

[0021] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] The present invention provides a two-mode 2R1T multi-mode parallel stirring robot with motion redundancy, comprising a base 13 and a moving platform 12, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base 13 and the moving platform 12; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod 7 and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base 13 via the second branch chain.

[0023] The first branch chain includes an eleventh rotation pair R11, a first link 1, a twelfth motion pair P12, a second link 2, a thirteenth rotation pair R13, a third link 3 and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base 13; The second branch chain includes a seventeenth rotation pair R17, a sixth connecting rod 6, a sixteenth moving pair P16, a fifth connecting rod 5 and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base 13; The fourth connecting rod assembly 4 includes a first cross bar 4-1 and a first vertical bar 4-2, the first end of the first vertical bar 4-2 is connected to the rod body of the first cross bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth movable pair P18; the first end of the first cross bar 4-1 is connected to the fourteenth rotation pair R14, and the second end of the first cross bar 4-1 is connected to the fifteenth rotation pair R15.

[0024] The second kinematic chain includes a twenty-first moving pair P21, an eighth connecting rod 8, a twenty-second moving pair P22, a ninth connecting rod 9 and a twenty-third ball pair S23 which are connected in sequence; the twenty-third ball pair S23 is also connected to the moving platform 12, and the twenty-first moving pair P21 is also connected to the base 13; The eighth connecting rod 8 is a broken line connecting rod with a turning point. The first end of the eighth connecting rod 8 is connected to the twenty-first moving pair P21, and the second end of the eighth connecting rod 8 is connected to the twenty-second moving pair P22.

[0025] The third connecting rod includes a thirty-first moving pair P31, a tenth connecting rod 10, a thirty-second moving pair P32, an eleventh connecting rod 11 and a thirty-third ball pair S33 which are connected in sequence; The tenth connecting rod 10 is a broken line connecting rod with a turning point. The first end of the tenth connecting rod 10 is connected to the thirty-first movable pair P31, and the second end of the tenth connecting rod 10 is connected to the thirty-second movable pair P32.

[0026] The eleventh rotation pair R11, the seventeenth rotation pair R17, the twelfth motion pair P12 and the sixteenth motion pair P16 are all connected to driving motors.

[0027] The twenty-first movable pair P21 is connected to a driving motor.

[0028] The thirty-first movable pair P31 is connected to a driving motor.

[0029] The present invention also provides a driving method for a two-mode 2R1T multi-mode parallel stirring robot with motion redundancy, specifically: Lock the driving motors connected to the twelfth moving pair P12 and the sixteenth moving pair P16, control the driving motors connected to the eleventh rotating pair R11, the seventeenth rotating pair R17, the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform 12 moves to the first two-rotation and one-movement motion mode; control the driving motors connected to the eleventh rotating pair R11, the seventeenth rotating pair R17, the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform 12 performs two-rotation and one-movement motion relative to the base 13; Control the driving motors connected to the twelfth moving pair P12 and the sixteenth moving pair P16, lock the motors connected to the eleventh rotating pair R11 and the seventeenth rotating pair R17, control the driving motors connected to the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform 12 moves to the second two rotations and one movement mode, and then control the driving motors connected to the twelfth moving pair P12, the sixteenth moving pair P16, the twenty-first moving pair P21 and the thirty-first moving pair P31, so that the moving platform 12 performs two rotations and one movement relative to the base 13.

[0030] like Figure 1As shown, the first connecting rod 1 is rotatably connected to the base 13 through the eleventh rotational pair R11. The first connecting rod 1 is rotatably connected to the second connecting rod 2 through the twelfth movement pair P12, the second connecting rod 2 is rotatably connected to the third connecting rod 3 through the thirteenth rotational pair R13, the third connecting rod 3 is rotatably connected to the first end of the first crossbar 4-1 in the fourth connecting rod assembly 4 through the fourteenth rotational pair R14, the second end of the first crossbar 4-1 is rotatably connected to the fifth connecting rod 5 through the fifteenth rotational pair R15, the fifth connecting rod 5 is rotatably connected to the sixth connecting rod 6 through the sixteenth movement pair P16, and the sixth connecting rod 6 is rotatably connected to the base 13 through the seventeenth rotational pair R17. The second end of the first vertical rod 4-2 in the fourth connecting rod assembly 4 is rotatably connected to the seventh connecting rod 7 through the eighteenth movement pair P18. The seventh connecting rod 7 is connected to the moving platform 12 ball pair through the nineteenth ball pair S19.

[0031] like Figure 1 As shown, the first end of the eighth connecting rod 8 is movably connected to the base 13 through the twenty-first moving pair P21, the second end of the eighth connecting rod 8 is movably connected to the ninth connecting rod 9 through the twenty-second moving pair P22, and the ninth connecting rod 9 is connected to the moving platform 12 through the twenty-third ball pair S23.

[0032] like Figure 1 As shown, the tenth connecting rod 10 is movably connected to the base 13 through the thirty-first moving joint P31. The tenth connecting rod 10 is movably connected to the eleventh connecting rod 11 through the thirty-second moving joint P32, and the eleventh connecting rod 11 is spherically connected to the moving platform 12 through the thirty-third ball joint S33.

[0033] like Figure 1 As shown, the axes of the eleventh rotational pair R11, the thirteenth rotational pair R13, the fourteenth rotational pair R14, the fifteenth rotational pair R15 and the seventeenth rotational pair R17 intersect at point O2.

[0034] like Figure 1 As shown, the moving directions of the twelfth moving pair P12, the sixteenth moving pair P16, the twenty-first moving pair P21 and the thirty-first moving pair P31 are along the Z-axis direction.

[0035] like Figure 1 As shown, the moving directions of the eighteenth moving pair P18, the twenty-second moving pair P22 and the thirty-second moving pair P32 are along the general direction of space, and the moving direction of the eighteenth moving pair P18 is parallel to the line between the point O2 and the center of the nineteenth spherical pair S19.

[0036] The eleventh rotation pair R11, the seventeenth rotation pair R17, the twelfth motion pair P12, the sixteenth motion pair P16, the twenty-first motion pair P21 and the thirty-first motion pair P31 are all connected to driving motors.

[0037] like Figure 1In the mechanism configuration shown, the axes of the eleventh rotation pair R11, the thirteenth rotation pair R13, the fourteenth rotation pair R14, the fifteenth rotation pair R15 and the seventeenth rotation pair R17 intersect at point O2, and the moving direction of the twelfth rotation pair P12 is parallel to the moving direction of the sixteenth rotation pair P16, and is parallel to the Z axis.

[0038] like Figure 1 The mechanism configuration shown in the figure locks the drive motors connected to the twelfth moving pair P12 and the sixteenth moving pair P16, controls the drive motors connected to the eleventh rotation pair R11, the seventeenth rotation pair R17, the twenty-first moving pair P21 and the thirty-first moving pair P31, and can control Figure 1 The robot configuration shown moves to Figure 2 The configuration shown.

[0039] Figure 2 In the robot configuration shown, the moving platform 12 has a first two rotational and one translational motion mode. Since the fourth link assembly 4 has two degrees of freedom rotational motion around the axes of the seventeenth rotational pair R17 and the fifteenth rotational pair R15 relative to the base 13, the movement direction of the eighteenth translation pair P18 is more flexible, thereby increasing the rotational motion space of the moving platform 12. Figure 2 In the robot configuration shown, four drive motors are required to control the two-rotation-one-movement motion mode of the moving platform. In this mode, the robot has the characteristics of motion redundancy, and its rotation ability is stronger than that of the non-motion redundant two-rotation-one-movement robot.

[0040] Figure 2 In the robot configuration shown, the driving motors connected to the eleventh rotation pair R11, the seventeenth rotation pair R17, the twenty-first movement pair P21 and the thirty-first movement pair P31 are controlled. The controllable braking platform 12 performs two rotations and one movement relative to the base 13. The two rotations and one movement are accompanied by movement in two other dimensions and rotation in one dimension, and the amplitude of the accompanying movement is small. Figure 2 In the shown mechanism motion mode, the movable platform 12 has good rotation capability.

[0041] like Figure 1 The mechanism configuration shown controls the drive motor connected to the twelfth moving pair P12 and the sixteenth moving pair P16, locks the motor connected to the eleventh rotating pair R11 and the seventeenth rotating pair R17, controls the drive motor connected to the twenty-first moving pair P21 and the thirty-first moving pair P31, and can control Figure 1 The robot configuration shown moves to Figure 3 The configuration shown.

[0042] Figure 3In the shown mechanism configuration, the axis of the eleventh rotation pair R11 and the axis of the seventeenth rotation pair R17 intersect at point O2, the axes of the thirteenth rotation pair R13, the fourteenth rotation pair R14 and the fifteenth rotation pair R15 intersect at point O3, and the moving directions of the twelfth motion pair P12 and the sixteenth motion pair P16 are parallel and parallel to the Z axis.

[0043] Figure 3 In the robot configuration shown, the moving platform 12 has a second two rotation and one movement mode. Since the fourth link 4, the eighth link 8, and the tenth link 10 all have movement parallel to the Z-axis relative to the base, the movement ranges of the twelfth moving pair P12, the sixteenth moving pair P16, the twenty-first moving pair P21 and the thirty-first moving pair P31 are set. In the two rotations and one movement of the moving platform 12, the movement along the Z-axis will have a larger movement range.

[0044] Figure 3 In the robot configuration shown, the driving motors connected to the twelfth moving pair P12, the sixteenth moving pair P16, the twenty-first moving pair P21 and the thirty-first moving pair P31 are controlled. The movable platform 12 can be controlled to perform two rotations and one movement relative to the base 13. The two rotations and one movement are accompanied by movement in two other dimensions and rotation in one dimension, and the amplitude of the accompanying movement is small, and the movable platform 12 has a large movement range relative to the base 13 along the movement direction of the twelfth moving pair P12.

[0045] Example 1 A two-mode 2R1T multi-mode parallel stirring robot with motion redundancy includes a base 13 and a moving platform 12, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base 13 and the moving platform 12; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod 7 and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base 13 via the second branch chain.

[0046] Example 2 A two-mode 2R1T multi-mode parallel stirring robot with motion redundancy includes a base 13 and a moving platform 12, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base 13 and the moving platform 12; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod 7 and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base 13 via the second branch chain.

[0047] The first branch chain includes an eleventh rotation pair R11, a first link 1, a twelfth motion pair P12, a second link 2, a thirteenth rotation pair R13, a third link 3 and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base 13; The second branch chain includes a seventeenth rotation pair R17, a sixth connecting rod 6, a sixteenth moving pair P16, a fifth connecting rod 5 and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base 13; The fourth connecting rod assembly 4 includes a first cross bar 4-1 and a first vertical bar 4-2, the first end of the first vertical bar 4-2 is connected to the rod body of the first cross bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth movable pair P18; the first end of the first cross bar 4-1 is connected to the fourteenth rotation pair R14, and the second end of the first cross bar 4-1 is connected to the fifteenth rotation pair R15.

[0048] Example 3 A two-mode 2R1T multi-mode parallel stirring robot with motion redundancy includes a base 13 and a moving platform 12, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base 13 and the moving platform 12; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod 7 and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base 13 via the second branch chain.

[0049] The first branch chain includes an eleventh rotation pair R11, a first link 1, a twelfth motion pair P12, a second link 2, a thirteenth rotation pair R13, a third link 3 and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base 13; The second branch chain includes a seventeenth rotation pair R17, a sixth connecting rod 6, a sixteenth moving pair P16, a fifth connecting rod 5 and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base 13; The fourth connecting rod assembly 4 includes a first cross bar 4-1 and a first vertical bar 4-2, the first end of the first vertical bar 4-2 is connected to the rod body of the first cross bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth movable pair P18; the first end of the first cross bar 4-1 is connected to the fourteenth rotation pair R14, and the second end of the first cross bar 4-1 is connected to the fifteenth rotation pair R15.

[0050] The second kinematic chain includes a twenty-first moving pair P21, an eighth connecting rod 8, a twenty-second moving pair P22, a ninth connecting rod 9 and a twenty-third ball pair S23 which are connected in sequence; the twenty-third ball pair S23 is also connected to the moving platform 12, and the twenty-first moving pair P21 is also connected to the base 13; The eighth connecting rod 8 is a broken line connecting rod with a turning point. The first end of the eighth connecting rod 8 is connected to the twenty-first moving pair P21, and the second end of the eighth connecting rod 8 is connected to the twenty-second moving pair P22.

[0051] Example 4 A two-mode 2R1T multi-mode parallel stirring robot with motion redundancy includes a base 13 and a moving platform 12, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base 13 and the moving platform 12; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod 7 and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base 13 via the second branch chain.

[0052] The first branch chain includes an eleventh rotation pair R11, a first link 1, a twelfth motion pair P12, a second link 2, a thirteenth rotation pair R13, a third link 3 and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base 13; The second branch chain includes a seventeenth rotation pair R17, a sixth connecting rod 6, a sixteenth moving pair P16, a fifth connecting rod 5 and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base 13; The fourth connecting rod assembly 4 includes a first cross bar 4-1 and a first vertical bar 4-2, the first end of the first vertical bar 4-2 is connected to the rod body of the first cross bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth movable pair P18; the first end of the first cross bar 4-1 is connected to the fourteenth rotation pair R14, and the second end of the first cross bar 4-1 is connected to the fifteenth rotation pair R15.

[0053] The second kinematic chain includes a twenty-first moving pair P21, an eighth connecting rod 8, a twenty-second moving pair P22, a ninth connecting rod 9 and a twenty-third ball pair S23 which are connected in sequence; the twenty-third ball pair S23 is also connected to the moving platform 12, and the twenty-first moving pair P21 is also connected to the base 13; The eighth connecting rod 8 is a broken line connecting rod with a turning point. The first end of the eighth connecting rod 8 is connected to the twenty-first moving pair P21, and the second end of the eighth connecting rod 8 is connected to the twenty-second moving pair P22.

[0054] The third connecting rod includes a thirty-first moving pair P31, a tenth connecting rod 10, a thirty-second moving pair P32, an eleventh connecting rod 11 and a thirty-third ball pair S33 which are connected in sequence; The tenth connecting rod 10 is a broken line connecting rod with a turning point. The first end of the tenth connecting rod 10 is connected to the thirty-first movable pair P31, and the second end of the tenth connecting rod 10 is connected to the thirty-second movable pair P32.

[0055] Example 5 A two-mode 2R1T multi-mode parallel stirring robot with motion redundancy includes a base 13 and a moving platform 12, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base 13 and the moving platform 12; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod 7 and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base 13 via the second branch chain.

[0056] The first branch chain includes an eleventh rotation pair R11, a first link 1, a twelfth motion pair P12, a second link 2, a thirteenth rotation pair R13, a third link 3 and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base 13; The second branch chain includes a seventeenth rotation pair R17, a sixth connecting rod 6, a sixteenth moving pair P16, a fifth connecting rod 5 and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base 13; The fourth connecting rod assembly 4 includes a first cross bar 4-1 and a first vertical bar 4-2, the first end of the first vertical bar 4-2 is connected to the rod body of the first cross bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth movable pair P18; the first end of the first cross bar 4-1 is connected to the fourteenth rotation pair R14, and the second end of the first cross bar 4-1 is connected to the fifteenth rotation pair R15.

[0057] The second kinematic chain includes a twenty-first moving pair P21, an eighth connecting rod 8, a twenty-second moving pair P22, a ninth connecting rod 9 and a twenty-third ball pair S23 which are connected in sequence; the twenty-third ball pair S23 is also connected to the moving platform 12, and the twenty-first moving pair P21 is also connected to the base 13; The eighth connecting rod 8 is a broken line connecting rod with a turning point. The first end of the eighth connecting rod 8 is connected to the twenty-first moving pair P21, and the second end of the eighth connecting rod 8 is connected to the twenty-second moving pair P22.

[0058] The third connecting rod includes a thirty-first moving pair P31, a tenth connecting rod 10, a thirty-second moving pair P32, an eleventh connecting rod 11 and a thirty-third ball pair S33 which are connected in sequence; The tenth connecting rod 10 is a broken line connecting rod with a turning point. The first end of the tenth connecting rod 10 is connected to the thirty-first movable pair P31, and the second end of the tenth connecting rod 10 is connected to the thirty-second movable pair P32.

[0059] The eleventh rotation pair R11, the seventeenth rotation pair R17, the twelfth motion pair P12 and the sixteenth motion pair P16 are all connected to driving motors.

[0060] Example 6 A two-mode 2R1T multi-mode parallel stirring robot with motion redundancy includes a base 13 and a moving platform 12, wherein a first motion chain, a second motion chain and a third motion chain are arranged between the base 13 and the moving platform 12; The first motion chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth mobile pair P18, a seventh connecting rod 7 and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base 13 via the second branch chain.

[0061] The first branch chain includes an eleventh rotation pair R11, a first link 1, a twelfth motion pair P12, a second link 2, a thirteenth rotation pair R13, a third link 3 and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base 13; The second branch chain includes a seventeenth rotation pair R17, a sixth connecting rod 6, a sixteenth moving pair P16, a fifth connecting rod 5 and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base 13; The fourth connecting rod assembly 4 includes a first cross bar 4-1 and a first vertical bar 4-2, the first end of the first vertical bar 4-2 is connected to the rod body of the first cross bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth movable pair P18; the first end of the first cross bar 4-1 is connected to the fourteenth rotation pair R14, and the second end of the first cross bar 4-1 is connected to the fifteenth rotation pair R15.

[0062] The second kinematic chain includes a twenty-first moving pair P21, an eighth connecting rod 8, a twenty-second moving pair P22, a ninth connecting rod 9 and a twenty-third ball pair S23 which are connected in sequence; the twenty-third ball pair S23 is also connected to the moving platform 12, and the twenty-first moving pair P21 is also connected to the base 13; The eighth connecting rod 8 is a broken line connecting rod with a turning point. The first end of the eighth connecting rod 8 is connected to the twenty-first moving pair P21, and the second end of the eighth connecting rod 8 is connected to the twenty-second moving pair P22.

[0063] The third connecting rod includes a thirty-first moving pair P31, a tenth connecting rod 10, a thirty-second moving pair P32, an eleventh connecting rod 11 and a thirty-third ball pair S33 which are connected in sequence; The tenth connecting rod 10 is a broken line connecting rod with a turning point. The first end of the tenth connecting rod 10 is connected to the thirty-first movable pair P31, and the second end of the tenth connecting rod 10 is connected to the thirty-second movable pair P32.

[0064] The eleventh rotation pair R11, the seventeenth rotation pair R17, the twelfth motion pair P12 and the sixteenth motion pair P16 are all connected to driving motors.

[0065] The twenty-first movable pair P21 is connected to a driving motor.

Claims

1. A two-mode 2R1T multi-mode parallel stirring robot with motion redundancy, characterized in that: It comprises a base (13) and a moving platform (12), wherein a first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base (13) and the moving platform (12); The first kinematic chain includes a first branch chain, a fourth connecting rod assembly, an eighteenth movable pair P18, a seventh connecting rod (7) and a nineteenth ball pair S19 which are connected in sequence; the nineteenth ball pair S19 is also connected to the moving platform (12), and the first branch chain is also connected to the base (13); the fourth connecting rod assembly is also connected to the second branch chain, and the fourth connecting rod assembly is connected to the base (13) via the second branch chain.

2. The two-mode 2R1T multi-mode parallel stirring robot with motion redundancy according to claim 1 is characterized in that: The first branch chain comprises an eleventh rotation pair R11, a first connecting rod (1), a twelfth moving pair P12, a second connecting rod (2), a thirteenth rotation pair R13, a third connecting rod (3) and a fourteenth rotation pair R14 which are connected in sequence; the eleventh rotation pair R11 is also connected to the base (13); The second branch chain comprises a seventeenth rotation pair R17, a sixth connecting rod (6), a sixteenth movement pair P16, a fifth connecting rod (5) and a fifteenth rotation pair R15 which are connected in sequence; the seventeenth rotation pair R17 is also connected to the base (13); The fourth connecting rod assembly (4) comprises a first cross bar (4-1) and a first vertical bar (4-2), wherein the first end of the first vertical bar (4-2) is connected to the rod body of the first cross bar (4-1), and the second end of the first vertical bar (4-2) is connected to the eighteenth movable pair P18; the first end of the first cross bar (4-1) is connected to the fourteenth rotation pair R14, and the second end of the first cross bar (4-1) is connected to the fifteenth rotation pair R15.

3. The two-mode 2R1T multi-mode parallel stirring robot with motion redundancy according to claim 1, characterized in that: The second kinematic chain comprises a twenty-first moving pair P21, an eighth connecting rod (8), a twenty-second moving pair P22, a ninth connecting rod (9) and a twenty-third ball pair S23 which are connected in sequence; the twenty-third ball pair S23 is also connected to the moving platform (12), and the twenty-first moving pair P21 is also connected to the base (13); The eighth connecting rod (8) is a broken line connecting rod having a turning point, the first end of the eighth connecting rod (8) is connected to the twenty-first moving pair P21, and the second end of the eighth connecting rod (8) is connected to the twenty-second moving pair P22.

4. The two-mode 2R1T multi-mode parallel stirring robot with motion redundancy according to claim 1, characterized in that: The third connecting rod comprises a thirty-first moving pair P31, a tenth connecting rod (10), a thirty-second moving pair P32, an eleventh connecting rod (11) and a thirty-third ball pair S33 which are connected in sequence; The tenth connecting rod (10) is a broken line connecting rod having a turning point, the first end of the tenth connecting rod (10) is connected to the thirty-first moving pair P31, and the second end of the tenth connecting rod (10) is connected to the thirty-second moving pair P32.

5. The two-mode 2R1T multi-mode parallel stirring robot with motion redundancy according to claim 2, characterized in that: The eleventh rotation pair R11, the seventeenth rotation pair R17, the twelfth motion pair P12 and the sixteenth motion pair P16 are all connected to a driving motor.

6. The two-mode 2R1T multi-mode parallel stirring robot with motion redundancy according to claim 3, characterized in that: The twenty-first movable pair P21 is connected to a driving motor.

7. The two-mode 2R1T multi-mode parallel stirring robot with motion redundancy according to claim 4, characterized in that: The thirty-first movable pair P31 is connected to a driving motor.

8. The driving method of the two-mode 2R1T multi-mode parallel stirring robot with motion redundancy according to any one of claims 1 to 7, characterized in that: Specifically, the drive motors connected to the twelfth moving pair P12 and the sixteenth moving pair P16 are locked, and the drive motors connected to the eleventh rotating pair R11, the seventeenth rotating pair R17, the twenty-first moving pair P21, and the thirty-first moving pair P31 are controlled to move the moving platform (12) to a first two-rotation and one-movement motion mode; and the drive motors connected to the eleventh rotating pair R11, the seventeenth rotating pair R17, the twenty-first moving pair P21, and the thirty-first moving pair P31 are controlled to cause the moving platform (12) to perform two-rotation and one-movement motion relative to the base (13); The driving motors connected to the twelfth moving pair P12 and the sixteenth moving pair P16 are controlled, the motors connected to the eleventh rotating pair R11 and the seventeenth rotating pair R17 are locked, and the driving motors connected to the twenty-first moving pair P21 and the thirty-first moving pair P31 are controlled to move the moving platform (12) to a second two-rotation and one-movement motion mode, and then the driving motors connected to the twelfth moving pair P12, the sixteenth moving pair P16, the twenty-first moving pair P21 and the thirty-first moving pair P31 are controlled to cause the moving platform (12) to perform two-rotation and one-movement motion relative to the base (13).

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