Two-mode 2R1T multi-mode parallel mixing robot with motion redundancy and its driving method

Abstract

This invention discloses a two-mode 2R1T multi-mode parallel mixing robot with motion redundancy, comprising a base and a moving platform. A first kinematic chain, a second kinematic chain, and a third kinematic chain are arranged between the base and the moving platform. The first kinematic chain includes a first branch chain, a fourth linkage assembly, an eighteenth prismatic joint P18, a seventh link, and a nineteenth ball joint S19 connected sequentially. The nineteenth ball joint S19 is also connected to the moving platform, and the first branch chain is also connected to the base. A second branch chain is connected to the fourth linkage assembly, which is connected to the base via the second branch chain. This mixing robot has two movement modes, allowing it to be used for material mixing operations in different scenarios by changing the movement mode. It also has high rigidity, making it suitable for mixing materials with high viscosity and high mixing resistance. A driving method for the two-mode 2R1T multi-mode parallel mixing robot with motion redundancy is also disclosed.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy, and also to a driving method for the two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy. Background Technology

[0002] During material mixing, the agitator exhibits complex spatial motion, which enhances the uniformity and mixing effect. Parallel robots possess high rigidity; by installing a corresponding agitator on their end effector, they can perform mixing operations on materials with high viscosity and high mixing resistance. Currently, parallel robots with two rotations and one translation have one rotation and two translation movements at their end effector, resulting in relatively complex motion and fewer degrees of freedom. However, their high rigidity makes them valuable for applications involving mixing materials with high viscosity and high mixing resistance.

[0003] However, the motion patterns of existing parallel robots with two rotational and one kinetic motion modes generally cannot be changed, and their workspace is usually fixed. Although parallel robots with multiple motion modes of two rotational and one kinetic motion modes can change their motion modes, the change in their workspace is generally not significant. Summary of the Invention

[0004] The first objective of this invention is to provide a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy. It has two movement modes. By changing the movement mode, this mixing robot can be used for material mixing operations in different scenarios. It also has high rigidity and is suitable for mixing materials with high viscosity and high mixing resistance.

[0005] The second objective of this invention is to provide a driving method for a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy.

[0006] The first technical solution adopted in this invention is a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy, including a base and a moving platform, and a first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base and the moving platform.

[0007] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform, and the first branch chain is also connected to the base; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base through the second branch chain.

[0008] The invention is further characterized in that:

[0009] The first branch chain includes an eleventh revolute joint R11, a first connecting rod, a twelfth prismatic joint P12, a second connecting rod, a thirteenth revolute joint R13, a third connecting rod, and a fourteenth revolute joint R14 connected in sequence; the eleventh revolute joint R11 is also connected to the base.

[0010] The second branch includes a seventeenth revolute joint R17, a sixth link, a sixteenth prismatic joint P16, a fifth link, and a fifteenth revolute joint R15 connected in sequence; the seventeenth revolute joint R17 is also connected to the base;

[0011] The fourth linkage assembly includes a first horizontal bar and a first vertical bar. The first end of the first vertical bar is connected to the body of the first horizontal bar, and the second end of the first vertical bar is connected to the eighteenth sliding joint P18. The first end of the first horizontal bar is connected to the fourteenth revolute joint R14, and the second end of the first horizontal bar is connected to the fifteenth revolute joint R15.

[0012] The second kinematic chain includes the 21st sliding joint P21, the 8th link, the 22nd sliding joint P22, the 9th link, and the 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the moving platform, and the 21st sliding joint P21 is also connected to the base.

[0013] The eighth link is a broken line link with one inflection point. The first end of the eighth link is connected to the twenty-first sliding joint P21, and the second end of the eighth link is connected to the twenty-second sliding joint P22.

[0014] The third link consists of the thirty-first moving joint P31, the tenth link, the thirty-second moving joint P32, the eleventh link, and the thirty-third ball joint S33, which are connected in sequence.

[0015] The tenth link is a polygonal link with one inflection point. The first end of the tenth link is connected to the thirty-first sliding joint P31, and the second end of the tenth link is connected to the thirty-second sliding joint P32.

[0016] The eleventh rotary joint R11, the seventeenth rotary joint R17, the twelfth prismatic joint P12, and the sixteenth prismatic joint P16 are all connected to drive motors.

[0017] The twenty-first moving part P21 is connected to a drive motor.

[0018] The thirty-first moving part P31 is connected to a drive motor.

[0019] The second technical solution adopted in this invention is a driving method for a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy, specifically as follows:

[0020] Lock the drive motors connected to the twelfth sliding joint P12 and the sixteenth sliding joint P16, and control the drive motors connected to the eleventh rotary joint R11, the seventeenth rotary joint R17, the twenty-first sliding joint P21, and the thirty-first sliding joint P31 to move the moving platform to the first two-rotation and one-movement motion mode; control the drive motors connected to the eleventh rotary joint R11, the seventeenth rotary joint R17, the twenty-first sliding joint P21, and the thirty-first sliding joint P31 to make the moving platform perform two-rotation and one-movement motion relative to the base;

[0021] Control the drive motors connected to the twelfth sliding joint P12 and the sixteenth sliding joint P16, lock the motors connected to the eleventh rotary joint R11 and the seventeenth rotary joint R17, control the drive motors connected to the twenty-first sliding joint P21 and the thirty-first sliding joint P31, so that the moving platform moves to the second two-rotation and one-movement motion mode, and then control the drive motors connected to the twelfth sliding joint P12, the sixteenth sliding joint P16, the twenty-first sliding joint P21 and the thirty-first sliding joint P31, so that the moving platform performs two-rotation and one-movement motion relative to the base.

[0022] The beneficial effects of this invention are:

[0023] (1) This invention features a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy. It has two motion modes: two rotations and one movement. In the first motion mode, the mixer can achieve a large range of rotation, suitable for mixing materials in spherical containers. In the second motion mode, the mixer can achieve a large range of one-dimensional movement, suitable for mixing materials in cylindrical containers. By changing the motion mode, this parallel robot mixer can be used for mixing materials in different scenarios. It also has high rigidity and is suitable for mixing materials with high viscosity and high mixing resistance, thus having high industrial application value.

[0024] (2) The present invention is a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy. In the first motion mode, it has the characteristic of motion redundancy. By increasing the degrees of freedom in the motion chain, the working space of the motion chain is increased, thereby improving the working space of the end effector of the parallel robot mixer. In the second motion mode, all its motion chains have the ability to move along one dimension, thereby improving the working space of the end effector of the parallel robot mixer in that dimension.

[0025] (3) The present invention has a two-mode 2R1T type multi-mode parallel stirring robot with motion redundancy. Its end effector can realize a multi-mode robot with a large working range. When connected to a stirrer, it can stir materials in containers of different shapes. It can effectively cope with different working scenarios and can achieve multiple uses in one machine. Attached Figure Description

[0026] Figure 1 Motion mode transformation configuration of a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy.

[0027] Figure 2 The first motion mode of the 2R1T type multi-mode parallel mixing robot with motion redundancy.

[0028] Figure 3 The second motion mode of the 2R1T type multi-mode parallel mixing robot with motion redundancy.

[0029] In the diagram, 1. First link, 2. Second link, 3. Third link, 4. Fourth link assembly, 5. Fifth link, 6. Sixth link, 7. Seventh link, 8. Eighth link, 9. Ninth link, 10. Tenth link, 11. Eleventh link, 12. Moving platform, 13. Base;

[0030] 4-1. First horizontal bar, 4-2. First vertical bar. Detailed Implementation

[0031] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0032] The present invention provides a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy, including 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.

[0033] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link 7, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base 13 through the second branch chain.

[0034] The first branch includes an eleventh rotary joint R11, a first link 1, a twelfth prismatic joint P12, a second link 2, a thirteenth rotary joint R13, a third link 3, and a fourteenth rotary joint R14 connected in sequence; the eleventh rotary joint R11 is also connected to the base 13.

[0035] The second branch includes a seventeenth rotary joint R17, a sixth link 6, a sixteenth prismatic joint P16, a fifth link 5, and a fifteenth rotary joint R15 connected in sequence; the seventeenth rotary joint R17 is also connected to the base 13.

[0036] The fourth linkage assembly 4 includes a first horizontal bar 4-1 and a first vertical bar 4-2. The first end of the first vertical bar 4-2 is connected to the body of the first horizontal bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth sliding joint P18. The first end of the first horizontal bar 4-1 is connected to the fourteenth rotating joint R14, and the second end of the first horizontal bar 4-1 is connected to the fifteenth rotating joint R15.

[0037] The second kinematic chain includes a 21st sliding joint P21, an 8th link 8, a 22nd sliding joint P22, a 9th link 9, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the moving platform 12, and the 21st sliding joint P21 is also connected to the base 13.

[0038] The eighth link 8 is a broken line link with one inflection point. The first end of the eighth link 8 is connected to the twenty-first sliding joint P21, and the second end of the eighth link 8 is connected to the twenty-second sliding joint P22.

[0039] The third link includes the thirty-first moving joint P31, the tenth link 10, the thirty-second moving joint P32, the eleventh link 11, and the thirty-third ball joint S33, which are connected in sequence.

[0040] The tenth link 10 is a broken line link with one inflection point. The first end of the tenth link 10 is connected to the thirty-first sliding joint P31, and the second end of the tenth link 10 is connected to the thirty-second sliding joint P32.

[0041] The eleventh rotary joint R11, the seventeenth rotary joint R17, the twelfth prismatic joint P12, and the sixteenth prismatic joint P16 are all connected to drive motors.

[0042] The twenty-first moving part P21 is connected to a drive motor.

[0043] The thirty-first moving part P31 is connected to a drive motor.

[0044] This invention also provides a driving method for a two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy, specifically:

[0045] Lock the drive motors connected to the twelfth sliding joint P12 and the sixteenth sliding joint P16, and control the drive motors connected to the eleventh rotary joint R11, the seventeenth rotary joint R17, the twenty-first sliding joint P21 and the thirty-first sliding joint P31 to move the moving platform 12 to the first two-rotation and one-movement motion mode; control the drive motors connected to the eleventh rotary joint R11, the seventeenth rotary joint R17, the twenty-first sliding joint P21 and the thirty-first sliding joint P31 to make the moving platform 12 perform two-rotation and one-movement motion relative to the base 13;

[0046] Control the drive motors connected to the twelfth sliding joint P12 and the sixteenth sliding joint P16, lock the motors connected to the eleventh rotary joint R11 and the seventeenth rotary joint R17, control the drive motors connected to the twenty-first sliding joint P21 and the thirty-first sliding joint P31, so that the moving platform 12 moves to the second two-rotation and one-movement motion mode, and then control the drive motors connected to the twelfth sliding joint P12, the sixteenth sliding joint P16, the twenty-first sliding joint P21 and the thirty-first sliding joint P31, so that the moving platform 12 performs two-rotation and one-movement motion relative to the base 13.

[0047] like Figure 1 As shown, the first link 1 is rotatably connected to the base 13 via the eleventh revolute joint R11. The first link 1 is movably connected to the second link 2 via the twelfth prismatic joint P12. The second link 2 is rotatably connected to the third link 3 via the thirteenth revolute joint R13. The third link 3 is rotatably connected to the first end of the first crossbar 4-1 in the fourth link assembly 4 via the fourteenth revolute joint R14. The second end of the first crossbar 4-1 is rotatably connected to the fifth link 5 via the fifteenth revolute joint R15. The fifth link 5 is rotatably connected to the sixth link 6 via the sixteenth prismatic joint P16. The sixth link 6 is rotatably connected to the base 13 via the seventeenth revolute joint R17. The second end of the first vertical bar 4-2 in the fourth link assembly 4 is movably connected to the seventh link 7 via the eighteenth prismatic joint P18. The seventh link 7 is connected to the ball joint of the moving platform 12 via the nineteenth ball joint S19.

[0048] like Figure 1 As shown, the first end of the eighth link 8 is movably connected to the base 13 through the twenty-first sliding joint P21, the second end of the eighth link 8 is movably connected to the ninth link 9 through the twenty-second sliding joint P22, and the ninth link 9 is connected to the moving platform 12 through the twenty-third ball joint S23.

[0049] like Figure 1 As shown, the tenth link 10 is movably connected to the base 13 via the thirty-first sliding joint P31. The tenth link 10 is movably connected to the eleventh link 11 via the thirty-second sliding joint P32, and the eleventh link 11 is connected to the ball joint of the moving platform 12 via the thirty-third ball joint S33.

[0050] like Figure 1 As shown, the axes of the eleventh revolute joint R11, the thirteenth revolute joint R13, the fourteenth revolute joint R14, the fifteenth revolute joint R15, and the seventeenth revolute joint R17 intersect at point O2.

[0051] like Figure 1 As shown, the twelfth prismatic joint P12, the sixteenth prismatic joint P16, the twenty-first prismatic joint P21, and the thirty-first prismatic joint P31 move along the Z-axis.

[0052] like Figure 1 As shown, the eighteenth prismatic joint P18, the twenty-second prismatic joint P22 and the thirty-second prismatic joint P32 move in the general direction of space, and the moving direction of the eighteenth prismatic joint P18 is parallel to the line connecting point O2 and the center of the nineteenth spherical joint S19.

[0053] The eleventh rotary joint R11, the seventeenth rotary joint R17, the twelfth prismatic joint P12, the sixteenth prismatic joint P16, the twenty-first prismatic joint P21, and the thirty-first prismatic joint P31 are all connected to drive motors.

[0054] like Figure 1 In the configuration shown, the axes of the eleventh revolute joint R11, the thirteenth revolute joint R13, the fourteenth revolute joint R14, the fifteenth revolute joint R15, and the seventeenth revolute joint R17 intersect at point O2. The movement direction of the twelfth prismatic joint P12 is parallel to the movement direction of the sixteenth prismatic joint P16 and is parallel to the Z-axis.

[0055] like Figure 1 The mechanism configuration shown locks the drive motors connected to the twelfth sliding joint P12 and the sixteenth sliding joint P16, and controls the drive motors connected to the eleventh rotary joint R11, the seventeenth rotary joint R17, the twenty-first sliding joint P21, and the thirty-first sliding joint P31, thus controlling... Figure 1 The robot configuration shown moves to... Figure 2 The configuration shown.

[0056] Figure 2 In the robot configuration shown, the moving platform 12 has a first type of two-rotation and one-translation motion mode. Since the fourth link assembly 4 has two degrees of freedom of rotational motion about the axes of the seventeenth revolute joint R17 and the fifteenth revolute joint R15 relative to the base 13, the direction of movement of the eighteenth translating joint 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 needed to control the two-rotation-one-movement motion mode of the moving platform. In this mode, the robot has motion redundancy and its rotation capability is stronger than that of a non-motion-redundant two-rotation-one-movement robot.

[0057] Figure 2 In the robot configuration shown, drive motors connected to the eleventh revolute joint R11, the seventeenth revolute joint R17, the twenty-first prismatic joint P21, and the thirty-first prismatic joint P31 are controlled. This allows the controllable platform 12 to perform two rotations and one translation relative to the base 13. This two-rotation-one-translation motion is accompanied by two additional dimensions of translation and one dimension of rotation, with relatively small amplitudes of the accompanying movements. Figure 2 In the motion mode of the mechanism shown, the rotating platform 12 has good rotation capability.

[0058] like Figure 1The mechanism configuration shown controls the drive motors connected to the twelfth sliding joint P12 and the sixteenth sliding joint P16, locks the motors connected to the eleventh rotary joint R11 and the seventeenth rotary joint R17, and controls the drive motors connected to the twenty-first sliding joint P21 and the thirty-first sliding joint P31. Figure 1 The robot configuration shown moves to... Figure 3 The configuration shown.

[0059] Figure 3 In the configuration shown, the axes of the eleventh revolute joint R11 and the seventeenth revolute joint R17 intersect at point O2, the axes of the thirteenth revolute joint R13, the fourteenth revolute joint R14 and the fifteenth revolute joint R15 intersect at point O3, and the twelfth prismatic joint P12 and the sixteenth prismatic joint P16 move in parallel directions and are parallel to the Z-axis.

[0060] Figure 3 In the robot configuration shown, the moving platform 12 has a second type of two-rotation and one-movement motion mode. Since the fourth link 4, the eighth link 8, and the tenth link 10 all have a movement relative to the base parallel to the Z-axis, the movement range of the twelfth prismatic joint P12, the sixteenth prismatic joint P16, the twenty-first prismatic joint P21, and the thirty-first prismatic joint P31 are set. In the two-rotation and one-movement motion of the moving platform 12, the movement along the Z-axis will have a large range of movement.

[0061] Figure 3 In the robot configuration shown, drive motors connected to the twelfth prismatic joint P12, the sixteenth prismatic joint P16, the twenty-first prismatic joint P21, and the thirty-first prismatic joint P31 are controlled. The moving platform 12 can be controlled to perform two rotations and one translation relative to the base 13. This two-rotation-one-translation motion is accompanied by two additional dimensions of translation and one dimension of rotation. The amplitude of the accompanying motion is relatively small, and the range of motion of the moving platform 12 relative to the base 13 along the direction of the twelfth prismatic joint P12 is relatively large.

[0062] Example 1

[0063] A two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy includes a base 13 and a moving platform 12. A first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base 13 and the moving platform 12.

[0064] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link 7, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base 13 through the second branch chain.

[0065] Example 2

[0066] A two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy includes a base 13 and a moving platform 12. A first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base 13 and the moving platform 12.

[0067] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link 7, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base 13 through the second branch chain.

[0068] The first branch includes an eleventh rotary joint R11, a first link 1, a twelfth prismatic joint P12, a second link 2, a thirteenth rotary joint R13, a third link 3, and a fourteenth rotary joint R14 connected in sequence; the eleventh rotary joint R11 is also connected to the base 13.

[0069] The second branch includes a seventeenth rotary joint R17, a sixth link 6, a sixteenth prismatic joint P16, a fifth link 5, and a fifteenth rotary joint R15 connected in sequence; the seventeenth rotary joint R17 is also connected to the base 13.

[0070] The fourth linkage assembly 4 includes a first horizontal bar 4-1 and a first vertical bar 4-2. The first end of the first vertical bar 4-2 is connected to the body of the first horizontal bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth sliding joint P18. The first end of the first horizontal bar 4-1 is connected to the fourteenth rotating joint R14, and the second end of the first horizontal bar 4-1 is connected to the fifteenth rotating joint R15.

[0071] Example 3

[0072] A two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy includes a base 13 and a moving platform 12. A first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base 13 and the moving platform 12.

[0073] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link 7, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base 13 through the second branch chain.

[0074] The first branch includes an eleventh rotary joint R11, a first link 1, a twelfth prismatic joint P12, a second link 2, a thirteenth rotary joint R13, a third link 3, and a fourteenth rotary joint R14 connected in sequence; the eleventh rotary joint R11 is also connected to the base 13.

[0075] The second branch includes a seventeenth rotary joint R17, a sixth link 6, a sixteenth prismatic joint P16, a fifth link 5, and a fifteenth rotary joint R15 connected in sequence; the seventeenth rotary joint R17 is also connected to the base 13.

[0076] The fourth linkage assembly 4 includes a first horizontal bar 4-1 and a first vertical bar 4-2. The first end of the first vertical bar 4-2 is connected to the body of the first horizontal bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth sliding joint P18. The first end of the first horizontal bar 4-1 is connected to the fourteenth rotating joint R14, and the second end of the first horizontal bar 4-1 is connected to the fifteenth rotating joint R15.

[0077] The second kinematic chain includes a 21st sliding joint P21, an 8th link 8, a 22nd sliding joint P22, a 9th link 9, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the moving platform 12, and the 21st sliding joint P21 is also connected to the base 13.

[0078] The eighth link 8 is a broken line link with one inflection point. The first end of the eighth link 8 is connected to the twenty-first sliding joint P21, and the second end of the eighth link 8 is connected to the twenty-second sliding joint P22.

[0079] Example 4

[0080] A two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy includes a base 13 and a moving platform 12. A first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base 13 and the moving platform 12.

[0081] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link 7, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base 13 through the second branch chain.

[0082] The first branch includes an eleventh rotary joint R11, a first link 1, a twelfth prismatic joint P12, a second link 2, a thirteenth rotary joint R13, a third link 3, and a fourteenth rotary joint R14 connected in sequence; the eleventh rotary joint R11 is also connected to the base 13.

[0083] The second branch includes a seventeenth rotary joint R17, a sixth link 6, a sixteenth prismatic joint P16, a fifth link 5, and a fifteenth rotary joint R15 connected in sequence; the seventeenth rotary joint R17 is also connected to the base 13.

[0084] The fourth linkage assembly 4 includes a first horizontal bar 4-1 and a first vertical bar 4-2. The first end of the first vertical bar 4-2 is connected to the body of the first horizontal bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth sliding joint P18. The first end of the first horizontal bar 4-1 is connected to the fourteenth rotating joint R14, and the second end of the first horizontal bar 4-1 is connected to the fifteenth rotating joint R15.

[0085] The second kinematic chain includes a 21st sliding joint P21, an 8th link 8, a 22nd sliding joint P22, a 9th link 9, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the moving platform 12, and the 21st sliding joint P21 is also connected to the base 13.

[0086] The eighth link 8 is a broken line link with one inflection point. The first end of the eighth link 8 is connected to the twenty-first sliding joint P21, and the second end of the eighth link 8 is connected to the twenty-second sliding joint P22.

[0087] The third link includes the thirty-first moving joint P31, the tenth link 10, the thirty-second moving joint P32, the eleventh link 11, and the thirty-third ball joint S33, which are connected in sequence.

[0088] The tenth link 10 is a broken line link with one inflection point. The first end of the tenth link 10 is connected to the thirty-first sliding joint P31, and the second end of the tenth link 10 is connected to the thirty-second sliding joint P32.

[0089] Example 5

[0090] A two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy includes a base 13 and a moving platform 12. A first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base 13 and the moving platform 12.

[0091] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link 7, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base 13 through the second branch chain.

[0092] The first branch includes an eleventh rotary joint R11, a first link 1, a twelfth prismatic joint P12, a second link 2, a thirteenth rotary joint R13, a third link 3, and a fourteenth rotary joint R14 connected in sequence; the eleventh rotary joint R11 is also connected to the base 13.

[0093] The second branch includes a seventeenth rotary joint R17, a sixth link 6, a sixteenth prismatic joint P16, a fifth link 5, and a fifteenth rotary joint R15 connected in sequence; the seventeenth rotary joint R17 is also connected to the base 13.

[0094] The fourth linkage assembly 4 includes a first horizontal bar 4-1 and a first vertical bar 4-2. The first end of the first vertical bar 4-2 is connected to the body of the first horizontal bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth sliding joint P18. The first end of the first horizontal bar 4-1 is connected to the fourteenth rotating joint R14, and the second end of the first horizontal bar 4-1 is connected to the fifteenth rotating joint R15.

[0095] The second kinematic chain includes a 21st sliding joint P21, an 8th link 8, a 22nd sliding joint P22, a 9th link 9, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the moving platform 12, and the 21st sliding joint P21 is also connected to the base 13.

[0096] The eighth link 8 is a broken line link with one inflection point. The first end of the eighth link 8 is connected to the twenty-first sliding joint P21, and the second end of the eighth link 8 is connected to the twenty-second sliding joint P22.

[0097] The third link includes the thirty-first moving joint P31, the tenth link 10, the thirty-second moving joint P32, the eleventh link 11, and the thirty-third ball joint S33, which are connected in sequence.

[0098] The tenth link 10 is a broken line link with one inflection point. The first end of the tenth link 10 is connected to the thirty-first sliding joint P31, and the second end of the tenth link 10 is connected to the thirty-second sliding joint P32.

[0099] The eleventh rotary joint R11, the seventeenth rotary joint R17, the twelfth prismatic joint P12, and the sixteenth prismatic joint P16 are all connected to drive motors.

[0100] Example 6

[0101] A two-mode 2R1T type multi-mode parallel mixing robot with motion redundancy includes a base 13 and a moving platform 12. A first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the base 13 and the moving platform 12.

[0102] The first kinematic chain includes a first branch chain, a fourth link assembly, an eighteenth sliding joint P18, a seventh link 7, and a nineteenth ball joint S19 connected in sequence; the nineteenth ball joint S19 is also connected to the moving platform 12, and the first branch chain is also connected to the base 13; a second branch chain is also connected to the fourth link assembly, and the fourth link assembly is connected to the base 13 through the second branch chain.

[0103] The first branch includes an eleventh rotary joint R11, a first link 1, a twelfth prismatic joint P12, a second link 2, a thirteenth rotary joint R13, a third link 3, and a fourteenth rotary joint R14 connected in sequence; the eleventh rotary joint R11 is also connected to the base 13.

[0104] The second branch includes a seventeenth rotary joint R17, a sixth link 6, a sixteenth prismatic joint P16, a fifth link 5, and a fifteenth rotary joint R15 connected in sequence; the seventeenth rotary joint R17 is also connected to the base 13.

[0105] The fourth linkage assembly 4 includes a first horizontal bar 4-1 and a first vertical bar 4-2. The first end of the first vertical bar 4-2 is connected to the body of the first horizontal bar 4-1, and the second end of the first vertical bar 4-2 is connected to the eighteenth sliding joint P18. The first end of the first horizontal bar 4-1 is connected to the fourteenth rotating joint R14, and the second end of the first horizontal bar 4-1 is connected to the fifteenth rotating joint R15.

[0106] The second kinematic chain includes a 21st sliding joint P21, an 8th link 8, a 22nd sliding joint P22, a 9th link 9, and a 23rd ball joint S23 connected in sequence; the 23rd ball joint S23 is also connected to the moving platform 12, and the 21st sliding joint P21 is also connected to the base 13.

[0107] The eighth link 8 is a broken line link with one inflection point. The first end of the eighth link 8 is connected to the twenty-first sliding joint P21, and the second end of the eighth link 8 is connected to the twenty-second sliding joint P22.

[0108] The third link includes the thirty-first moving joint P31, the tenth link 10, the thirty-second moving joint P32, the eleventh link 11, and the thirty-third ball joint S33, which are connected in sequence.

[0109] The tenth link 10 is a broken line link with one inflection point. The first end of the tenth link 10 is connected to the thirty-first sliding joint P31, and the second end of the tenth link 10 is connected to the thirty-second sliding joint P32.

[0110] The eleventh rotary joint R11, the seventeenth rotary joint R17, the twelfth prismatic joint P12, and the sixteenth prismatic joint P16 are all connected to drive motors.

[0111] The twenty-first moving part P21 is connected to a drive motor.

Claims

1. A two-mode 2R1T type multi-mode parallel stirring robot with kinematic redundancy, characterized by, It comprises a base (13) and a moving platform (12), and 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 comprises a first branch chain, a fourth connecting rod assembly, an eighteenth moving pair P18, a seventh connecting rod (7) and a nineteenth spherical pair S19 which are sequentially connected; the nineteenth spherical pair S19 is further connected with the moving platform (12), and the first branch chain is further connected with the base (13); the fourth connecting rod assembly is further connected with a second branch chain, and is connected with the base (13) through the second branch chain; The first branch chain comprises an eleventh rotating pair R11, a first connecting rod (1), a twelfth moving pair P12, a second connecting rod (2), a thirteenth rotating pair R13, a third connecting rod (3) and a fourteenth rotating pair R14 which are sequentially connected; the eleventh rotating pair R11 is further connected with the base (13); The second branch chain comprises a seventeenth rotating pair R17, a sixth connecting rod (6), a sixteenth moving pair P16, a fifth connecting rod (5) and a fifteenth rotating pair R15 which are sequentially connected; the seventeenth rotating pair R17 is further connected with the base (13); The fourth connecting rod assembly (4) comprises a first horizontal rod (4-1) and a first vertical rod (4-2), a first end of the first vertical rod (4-2) is connected with a rod body of the first horizontal rod (4-1), and a second end of the first vertical rod (4-2) is connected with the eighteenth moving pair P18; a first end of the first horizontal rod (4-1) is connected with the fourteenth rotating pair R14, and a second end of the first horizontal rod (4-1) is connected with the fifteenth rotating pair R15; 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 spherical pair S23 which are sequentially connected; the twenty-third spherical pair S23 is further connected with the moving platform (12), and the twenty-first moving pair P21 is further connected with the base (13); The eighth connecting rod (8) is a folded line-shaped connecting rod with one folding point, a first end of the eighth connecting rod (8) is connected with the twenty-first moving pair P21, and a second end of the eighth connecting rod (8) is connected with the twenty-second moving pair P22.

2. The dual-mode 2R1T type multi-mode parallel stirring robot with kinematic redundancy according to claim 1, characterized in that, The third kinematic chain 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 spherical pair S33 which are sequentially connected; The tenth connecting rod (10) is a folded line-shaped connecting rod with one folding point, a first end of the tenth connecting rod (10) is connected with the thirty-first moving pair P31, and a second end of the tenth connecting rod (10) is connected with the thirty-second moving pair P32.

3. The dual-mode 2R1T type multi-mode parallel stirring robot with kinematic redundancy according to claim 1, characterized in that, The eleventh rotating pair R11, the seventeenth rotating pair R17, the twelfth moving pair P12 and the sixteenth moving pair P16 are all connected with driving motors.

4. The dual-mode 2R1T type multi-mode parallel stirring robot with motion redundancy according to claim 1, characterized in that, The twenty-first moving pair P21 is connected with a driving motor.

5. The dual-mode 2R1T type multi-mode parallel stirring robot with kinematic redundancy according to claim 2, characterized in that, The thirty-first moving pair P31 is connected with a driving motor.

6. The driving method of a two-mode 2R1T type multi-mode parallel mixer robot with motion redundancy according to any one of claims 1-5, characterized in that, Specifically: lock the drive motor connected with the twelfth moving pair P12 and the sixteenth moving pair P16, control the drive motor connected with the eleventh rotary pair R11, the seventeenth rotary pair R17, the twenty first moving pair P21 and the thirty first moving pair P31, make the motion platform (12) move to the first two rotary and one moving mode; control the drive motor connected with the eleventh rotary pair R11, the seventeenth rotary pair R17, the twenty first moving pair P21 and the thirty first moving pair P31, make the motion platform (12) move relative to the base (13) to perform two rotary and one moving motion; Control the drive motor connected with the twelfth moving pair P12 and the sixteenth moving pair P16, lock the motor connected with the eleventh rotary pair R11 and the seventeenth rotary pair R17, control the drive motor connected with the twenty first moving pair P21 and the thirty first moving pair P31, make the motion platform (12) move to the second two rotary and one moving mode, and then control the drive motor connected with the twelfth moving pair P12, the sixteenth moving pair P16, the twenty first moving pair P21 and the thirty first moving pair P31, make the motion platform (12) move relative to the base (13) to perform two rotary and one moving motion.

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