Three-rotation and one-movement parallel stirring robot with virtual rotation center and locking mode and method

Abstract

The three-rotation and one-movement parallel stirring robot with the virtual rotation center and the locking mode comprises a base and a movable platform, and the base and the movable platform are directly provided with a first kinematic chain, a second kinematic chain and a third kinematic chain; the first kinematic chain comprises a twentieth connecting rod and a U-shaped connecting rod which are sequentially connected, the first end of the twentieth connecting rod is fixedly connected with the movable platform, the second end of the twentieth connecting rod is connected with a rod body of the U-shaped connecting rod, the first end of the U-shaped connecting rod is connected with a first branch chain, and the second end of the U-shaped connecting rod is connected with a second branch chain. The U-shaped connecting rod is connected with the base through the first branch chain and the second branch chain. According to the parallel stirring robot, locking driving is not needed, a four-degree-of-freedom motion mode can be locked, the external impact force is improved through the structural strength of the stirring robot, the position and posture are kept stable, and a certain effect is achieved on improving the safety and reliability of an end executor of the stirring robot during operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode, and also relates to a driving method for the three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode. Background Art

[0002] The three-rotation and one-translation parallel stirring robot with a virtual rotation center has certain application prospects in the material stirring industry. The characteristic of having a virtual rotation center enables the end effector of the stirring robot to have a large space for installing various operating devices. Using such devices to operate the stirring operation has the characteristic of a large operating range. Currently, the existing three-rotation and one-translation parallel stirring robots with a virtual rotation center generally do not have a locking mode. If the end effector needs to be locked at a specific position, the driving motor needs to be locked. When the end effector of the stirring robot is in the locking mode and is subjected to a suddenly applied load, it will impact the driving motor. When a large force is generated during material loading, the suddenly applied load will have an adverse effect on the stability of the position and posture of the motor and the end effector, affecting the normal operation of the stirring equipment. At the same time, installing a complex tool head on the end effector will increase the overall weight of the end effector. Only relying on motor locking to ensure the pose locking of the end effector has a certain impact on the safety and reliability of the operation of the end effector of the stirring robot. Summary of the Invention

[0003] The first object of the present invention is to provide a three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode, which does not require locking the drive, can lock the 4-degree-of-freedom motion mode, utilize the structural strength of the stirring robot to resist external impact forces, maintain the position and posture stability, and can improve the safety and reliability during the operation of the end effector of the stirring robot.

[0004] The second object of the present invention is a driving method for the three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode.

[0005] The first technical solution adopted by the present invention is that a three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode includes a base and a moving platform, and a first motion chain, a second motion chain, and a third motion chain are directly arranged between the base and the moving platform; The first motion chain includes a twentieth connecting rod and a U-shaped connecting rod connected in sequence. The first end of the twentieth connecting rod is fixedly connected to the moving platform, the second end of the twentieth connecting rod is connected to the rod body of the U-shaped connecting rod, a first branch chain is connected to the first end of the U-shaped connecting rod, a second branch chain is connected to the second end of the U-shaped connecting rod, and the U-shaped connecting rod is connected to the base through the first branch chain and the second branch chain respectively.

[0006] The present invention is further characterized in that: The first branch chain includes an eleventh revolute pair R11, a second connecting rod, a twelfth revolute pair R12, a third connecting rod, a thirteenth revolute pair R13, a fourth connecting rod, and a fourteenth prismatic pair P14 connected in sequence. The fourteenth prismatic pair P14 is also connected to the first end of the U-shaped connecting rod, and the eleventh revolute pair R11 is also connected to the base.

[0007] The second branch chain includes a twenty-first revolute pair R21, a ninth connecting rod, a twenty-second revolute pair R22, an eighth connecting rod, a twenty-third revolute pair R23, a seventh connecting rod, a twenty-fourth revolute pair R24, a sixth connecting rod, a twenty-fifth prismatic pair P25, a fifth connecting rod, and a twenty-sixth revolute pair R26 connected in sequence. The twenty-sixth revolute pair R26 is also connected to the second end of the U-shaped connecting rod, and the twenty-first revolute pair R21 is also connected to the base.

[0008] The second kinematic chain includes a thirty-first revolute pair R31, a tenth connecting rod, a thirty-second revolute pair R32, an eleventh connecting rod, a thirty-third revolute pair R33, a twelfth connecting rod, and a thirty-fourth prismatic pair P34 connected in sequence. The thirty-fourth prismatic pair P34 is also connected to the moving platform, and the thirty-first revolute pair R31 is also connected to the base.

[0009] The third kinematic chain includes a forty-first revolute pair R41, a thirteenth connecting rod, a forty-second revolute pair R42, a fourteenth connecting rod, a forty-third revolute pair R43, a fifteenth connecting rod, a forty-fourth revolute pair R44, a sixteenth connecting rod, a forty-fifth prismatic pair P45, a seventeenth connecting rod, a forty-sixth revolute pair R46, and a twenty-first connecting rod; the twenty-first connecting rod is also fixedly connected to the moving platform, and the forty-first revolute pair R41 is also connected to the base.

[0010] A rotational drive motor is connected to the eleventh revolute pair R11.

[0011] A rotational drive motor is connected to the twenty-second revolute pair R22; an auxiliary drive motor is connected to the twenty-first revolute pair R21.

[0012] A hydraulic drive motor is connected to the thirty-fourth prismatic pair P34.

[0013] A rotational drive motor is connected to the forty-second revolute pair R42; An auxiliary drive motor is connected to the forty-first revolute pair R41.

[0014] The second technical solution adopted by the present invention is a driving method for a three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode, specifically: when the moving platform has a three-rotation and one-translation motion mode configuration, drive the rotation drive motors connected to the eleventh rotation pair R11, the twenty-second rotation pair R22, and the forty-second rotation pair R42, and drive the hydraulic drive motor connected to the thirty-fourth translation pair P34 to control the three-rotation and one-translation motion mode of the moving platform.

[0015] The beneficial effects of the present invention are as follows: (1) The end effector of the three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode of the present invention can be installed with complex tools of larger sizes and has a relatively large installation space.

[0016] (2) For the three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode of the present invention, its end effector can be in a locked configuration, and there is no need for a locking drive. It can lock the four-degree-of-freedom motion mode, utilize the structural strength of the stirring robot to resist external impact forces, maintain the position and posture stability, and can improve the safety and reliability during the operation of the end effector of the stirring robot. When subjected to external environmental impact forces, it can resist uncertain external acting forces through the structural strength of the entire stirring robot. This solves the problem that for the current three-rotation and one-translation parallel stirring robot, to lock the posture of the end effector, all motors need to be locked, which is likely to cause damage to the motors when resisting suddenly applied external forces and reduces the safety and reliability of the operation. Description of the Drawings

[0017] Figure 1 is the mode transformation configuration diagram of the three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode of the present invention; Figure 2 is the three-rotation and one-translation mode configuration diagram of the three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode of the present invention; Figure 3 is the locking mode configuration diagram of the three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode of the present invention.

[0018] 1. Base, 2. Second connecting rod, 3. Third connecting rod, 4. Fourth connecting rod, 5. Fifth connecting rod, 6. Sixth connecting rod, 7. Seventh connecting rod, 8. Eighth connecting rod, 9. Ninth connecting rod, 10. Tenth connecting rod, 11. Eleventh connecting rod, 12. Twelfth connecting rod, 13. Thirteenth connecting rod, 14. Fourteenth connecting rod, 15. Fifteenth connecting rod, 16. Sixteenth connecting rod, 17. Seventeenth connecting rod, 18. Moving platform, 19. U-shaped connecting rod, 20. Twentieth connecting rod, 21. Twenty-first connecting rod. Detailed Embodiments

[0019] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0020] The present invention provides a three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode, as Figure 1 shown, which includes a base 1 and a moving platform 18. A first motion chain, a second motion chain, and a third motion chain are directly provided between the base 1 and the moving platform 18; The first motion chain includes a twentieth link 20 and a U-shaped link 19 connected in sequence. The first end of the twentieth link 20 is fixedly connected to the moving platform 18, the second end of the twentieth link 20 is connected to the rod body of the U-shaped link 19. A first branch chain is connected to the first end of the U-shaped link 19, and a second branch chain is connected to the second end of the U-shaped link 19. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain respectively.

[0021] The first branch chain includes an eleventh revolute pair R11, a second link 2, a twelfth revolute pair R12, a third link 3, a thirteenth revolute pair R13, a fourth link 4, and a fourteenth prismatic pair P14 connected in sequence. The fourteenth prismatic pair P14 is also connected to the first end of the U-shaped link 19, and the eleventh revolute pair R11 is also connected to the base 1.

[0022] The second branch chain includes a twenty-first revolute pair R21, a ninth link 9, a twenty-second revolute pair R22, an eighth link 8, a twenty-third revolute pair R23, a seventh link 7, a twenty-fourth revolute pair R24, a sixth link 6, a twenty-fifth prismatic pair P25, a fifth link 5, and a twenty-sixth revolute pair R26 connected in sequence. The twenty-sixth revolute pair R26 is also connected to the second end of the U-shaped link 19, and the twenty-first revolute pair R21 is also connected to the base 1.

[0023] The second motion chain includes a thirty-first revolute pair R31, a tenth link 10, a thirty-second revolute pair R32, an eleventh link 11, a thirty-third revolute pair R33, a twelfth link 12, and a thirty-fourth prismatic pair P34 connected in sequence. The thirty-fourth prismatic pair P34 is also connected to the moving platform 18, and the thirty-first revolute pair R31 is also connected to the base 1.

[0024] The third motion chain includes a forty-first revolute pair R41, a thirteenth link 13, a forty-second revolute pair R42, a fourteenth link 14, a forty-third revolute pair R43, a fifteenth link 15, a forty-fourth revolute pair R44, a sixteenth link 16, a forty-fifth prismatic pair P45, a seventeenth link 17, a forty-sixth revolute pair R46, and a twenty-first link 21; The twenty-first link 21 is also fixedly connected to the moving platform 18, and the forty-first revolute pair R41 is also connected to the base 1.

[0025] The eleventh revolute pair R11 is connected with a rotational drive motor.

[0026] The twenty-second revolute pair R22 is connected with a rotational driving motor; the twenty-first revolute pair R21 is connected with an auxiliary driving motor.

[0027] The thirty-fourth prismatic pair P34 is connected with a hydraulic driving motor.

[0028] The forty-second revolute pair R42 is connected with a rotational driving motor; The forty-first revolute pair R41 is connected with an auxiliary driving motor.

[0029] The present invention also provides a driving method for a three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode, specifically: when the moving platform 18 has a three-rotation and one-translation motion mode configuration, driving the rotational driving motors connected to the eleventh revolute pair R11, the twenty-second revolute pair R22, and the forty-second revolute pair R42, and driving the hydraulic driving motor connected to the thirty-fourth prismatic pair P34, the three-rotation and one-translation motion mode of the moving platform 18 can be controlled.

[0030] When the parallel mixer is in a three-rotation and one-translation motion mode, the driving motors connected to the eleventh revolute pair R11, the twenty-second revolute pair R22, the forty-second revolute pair 42, and the hydraulic driving motor connected to the thirty-fourth prismatic pair P34 are not on the moving linkages, reducing the inertia of the moving components.

[0031] As Figure 1 shown, the second link 2 is rotationally connected to the base 1 through the eleventh revolute pair R11, the third link 3 is rotationally connected to the second link 2 through the twelfth revolute pair R12, the fourth link 4 is rotationally connected to the third link 3 through the thirteenth revolute pair R13, the first end of the U-shaped link 19 is movably connected to the fourth link 4 through the fourteenth prismatic pair P14, and the rod body of the U-shaped link 19 is fixedly connected to the moving platform through the twentieth link 20. The moving platform 18 is fixedly connected to the rod body of the U-shaped link 19 through the twentieth link 20, the second end of the U-shaped link 19 is rotationally connected to the fifth link 5 through the twenty-sixth revolute pair R26, the fifth link 5 is movably connected to the sixth link 6 through the twenty-fifth prismatic pair P25, the sixth link 6 is rotationally connected to the seventh link 7 through the twenty-fourth revolute pair R24, the seventh link 7 is rotationally connected to the eighth link 8 through the twenty-third revolute pair R23, the eighth link 8 is rotationally connected to the ninth link 9 through the twenty-second revolute pair R22, and the ninth link 9 is rotationally connected to the base 1 through the twenty-first revolute pair R21.

[0032] As Figure 1As shown in the figure, the tenth link 10 is rotatably connected to the base 1 through the thirty-first revolute pair R31, the eleventh link 11 is rotatably connected to the tenth link 10 through the thirty-second revolute pair R32, and the twelfth link 12 is rotatably connected to the eleventh link 11 through the thirty-third revolute pair R33. The moving platform 18 is movably connected to the twelfth link 12 through the thirty-fourth prismatic pair P34. The twenty-first link 21 is fixedly connected to the moving platform 18. The twenty-first link 21 is rotatably connected to the seventeenth link 17 through the forty-sixth revolute pair R46. The seventeenth link 17 is movably connected to the sixteenth link 16 through the forty-fifth prismatic pair P45. The sixteenth link 16 is rotatably connected to the fifteenth link 15 through the forty-fourth revolute pair R44. The fifteenth link 15 is rotatably connected to the fourteenth link 14 through the forty-third revolute pair R43. The fourteenth link 14 is rotatably connected to the thirteenth link 13 through the forty-second revolute pair R42. The thirteenth link 13 is rotatably connected to the base 1 through the forty-first revolute pair R41.

[0033] Figure 1 In the configuration of the mechanism shown, the axes of the eleventh revolute pair R11, the twelfth revolute pair R12, the thirteenth revolute pair R13, the twenty-second revolute pair R22, the twenty-third revolute pair R23, the twenty-fourth revolute pair R24, the thirty-first revolute pair R31, the thirty-second revolute pair R32, the thirty-third revolute pair R33, the forty-second revolute pair R42, the forty-third revolute pair R43 and the forty-fourth revolute pair R44 intersect at point O.

[0034] Figure 1 In the configuration of the mechanism shown, the axis of the twenty-first revolute pair R21 is collinear with the axis of the twenty-sixth revolute pair R26, and this axis is not perpendicular to the moving direction of the twenty-fifth prismatic pair P25.

[0035] Figure 1 In the configuration of the mechanism shown, the moving directions of the fourteenth prismatic pair P14 and the twenty-fifth prismatic pair P25 are parallel and parallel to the Z-axis.

[0036] Figure 1 In the configuration of the mechanism shown, the axis of the forty-first revolute pair R41 is collinear with the axis of the forty-sixth revolute pair R46, and this axis is not perpendicular to the moving direction of the forty-fifth prismatic pair P45.

[0037] Figure 1 In the configuration of the mechanism shown, the moving directions of the thirty-fourth prismatic pair P34 and the forty-fifth prismatic pair P45 are parallel to the Z-axis.

[0038] Figure 1 In the configuration of the mechanism shown, there is a straight line in the plane where the axis of the twenty-first revolute pair R21 and point O are located, which is perpendicular to the moving direction of the twenty-fifth prismatic pair P25.

[0039] Figure 1 In the configuration of the shown mechanism, there is a straight line in the plane where the axis of the forty-first revolute pair R41 lies and point O is located, which is perpendicular to the moving direction of the forty-fifth prismatic pair P45.

[0040] Figure 1 In the configuration of the shown mechanism, the axis of the twenty-first revolute pair R21 is not perpendicular to the moving direction of the twenty-fifth prismatic pair P25.

[0041] Figure 1 In the configuration of the shown mechanism, the axis of the forty-first revolute pair R41 is not perpendicular to the moving direction of the forty-fifth prismatic pair P45.

[0042] Figure 1 In the configuration of the shown mechanism, the eleventh revolute pair R11, the twenty-second revolute pair R22, and the forty-second revolute pair R42 are all connected with rotational drive motors. The thirty-fourth prismatic pair P34 is connected with a hydraulic drive motor.

[0043] Figure 1 In the configuration of the shown mechanism, the twenty-first revolute pair R21 and the forty-first revolute pair R41 are both connected with auxiliary drive motors.

[0044] Figure 1 In the configuration of the shown mechanism, locking the eleventh revolute pair R11, the twenty-second revolute pair R22, and the forty-second revolute pair R42 are connected with rotational drive motors. Locking the thirty-fourth prismatic pair P34 is connected with a hydraulic drive motor. Driving the twenty-first revolute pair R21 and the forty-first revolute pair R41 are connected with auxiliary drive motors, which can make Figure 1 the shown mechanism move to Figure 3 the configuration of the shown mechanism.

[0045] Figure 3 In the configuration of the shown mechanism, the axes of the twenty-second revolute pair R22, the twenty-third revolute pair R23, and the twenty-fourth revolute pair R24 intersect at point O1, and the axis of the twenty-first revolute pair R21 coincides with the axis of the twenty-sixth revolute pair R26. The moving directions of the twenty-fifth prismatic pair P25 and the fourteenth prismatic pair P14 do not coincide.

[0046] Figure 3 In the configuration of the shown mechanism, the axes of the forty-first revolute pair R41, the forty-second revolute pair R42, and the forty-third revolute pair R43 intersect at point O2, and the axis of the forty-first revolute pair R41 coincides with the axis of the forty-sixth revolute pair R46. The moving direction of the forty-fifth prismatic pair P45 does not coincide with the moving direction of the thirty-fourth prismatic pair P34.

[0047] Figure 3 In the configuration of the shown mechanism, the line connecting point O and point O1 does not coincide with the line connecting point O and O2.

[0048] Figure 3In the configuration of the shown mechanism, there is a straight line in the plane where the axis of the twenty - first revolute pair R21 and the point O 1 are located, which is perpendicular to the moving direction of the twenty - fifth prismatic pair P25, and this straight line is not perpendicular to the moving direction of the fourteenth prismatic pair P14.

[0049] Figure 3 In the configuration of the shown mechanism, there is a straight line in the plane where the axis of the forty - first revolute pair R41 and the point O 2 are located, which is perpendicular to the moving direction of the forty - fifth prismatic pair P45, and this straight line is not perpendicular to the moving direction of the thirty - fourth prismatic pair P34.

[0050] Figure 3 In the configuration of the shown mechanism, the rotation centers in each kinematic chain are O, O 1 , O 2 respectively. The three rotation centers do not coincide. Therefore, the moving platform 18 does not have three - rotation motion. Moreover, from the end of the first branch chain, the U - shaped connecting rod 19 only has a translational motion parallel to the Z - axis. From the end of the second branch chain, the U - shaped connecting rod 19 does not have a translational motion parallel to the Z - axis. Therefore, the moving platform 18 has a locking mode, and there is no need to lock the rotation driving motors connected to the eleventh revolute pair R11, the twenty - second revolute pair R22, and the forty - second revolute pair R42. There is no need to lock the hydraulic driving motor connected to the thirty - fourth prismatic pair P34. There is no need to lock the auxiliary driving motors connected to the twenty - first revolute pair R21 and the forty - first revolute pair R41. The moving platform 18 is in the locking mode.

[0051] Figure 1 In the configuration of the shown mechanism, locking the rotation driving motors connected to the eleventh revolute pair R11, the twenty - second revolute pair R22, and the forty - second revolute pair R42, driving the hydraulic driving motor connected to the thirty - fourth prismatic pair P34, and locking the auxiliary driving motors connected to the twenty - first revolute pair R21 and the forty - first revolute pair R41 can make Figure 1 the shown mechanism move to Figure 2 the configuration of the shown mechanism.

[0052] Figure 2 In the configuration of the shown mechanism, the axes of the eleventh revolute pair R11, the twelfth revolute pair R12, the thirteenth revolute pair R13, the twenty - second revolute pair R22, the twenty - third revolute pair R23, the twenty - fourth revolute pair R24, the thirty - first revolute pair R31, the thirty - second revolute pair R32, the thirty - third revolute pair R33, the forty - second revolute pair R42, the forty - third revolute pair R43, and the forty - fourth revolute pair R44 intersect at the point O.

[0053] Figure 2 In the configuration of the shown mechanism, the axes of the twenty - first revolute pair R21 and the twenty - sixth revolute pair R26 are parallel and non - collinear.

[0054] Figure 2 In the configuration of the mechanism shown, the axes of the forty-first revolute pair R41 and the forty-sixth revolute pair R46 are parallel and non-collinear.

[0055] Figure 2 In the configuration of the mechanism shown, the moving platform 18 has a three-rotation and one-translation motion mode. The moving platform 18 has a three-degree-of-freedom rotational motion centered at point O and a one-degree-of-freedom translational motion along the moving direction of the fourteenth prismatic pair P14.

[0056] Figure 2 In the configuration of the mechanism shown, the axis of the twenty-first revolute pair R21 is not perpendicular to the moving direction of the twenty-fifth prismatic pair P25. And the twenty-sixth revolute pair R26, the twenty-first revolute pair R21, and the rotation center point O are not coplanar.

[0057] Figure 2 In the configuration of the mechanism shown, the axis of the forty-first revolute pair R41 is not perpendicular to the moving direction of the forty-fifth prismatic pair P45. And the axis of the forty-first revolute pair R41, the axis of the forty-sixth revolute pair R46, and the rotation center point O are not coplanar.

[0058] Figure 2 In the configuration of the mechanism shown, the rotational drive motor connected to the eleventh revolute pair R11, the twenty-second revolute pair R22, and the forty-second revolute pair R42, and the hydraulic drive motor connected to the thirty-fourth prismatic pair P34 can control the three-rotation and one-translation motion mode of the moving platform 18.

[0059] Embodiment 1 A three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode, as Figure 1 shown, includes a base 1 and a moving platform 18. A first kinematic chain, a second kinematic chain, and a third kinematic chain are directly arranged between the base 1 and the moving platform 18; The first kinematic chain includes a twentieth link 20 and a U-shaped link 19 connected in sequence. The first end of the twentieth link 20 is fixedly connected to the moving platform 18, the second end of the twentieth link 20 is connected to the rod body of the U-shaped link 19. A first branch chain is connected to the first end of the U-shaped link 19, and a second branch chain is connected to the second end of the U-shaped link 19. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain respectively.

[0060] Embodiment 2 A three-rotation and one-translation parallel stirring robot with a virtual rotation center and a locking mode, as Figure 1 shown, includes a base 1 and a moving platform 18. A first kinematic chain, a second kinematic chain, and a third kinematic chain are directly arranged between the base 1 and the moving platform 18; The first kinematic chain includes a twentieth connecting rod 20 and a U-shaped connecting rod 19 connected in sequence. The first end of the twentieth connecting rod 20 is fixedly connected to the moving platform 18, the second end of the twentieth connecting rod 20 is connected to the rod body of the U-shaped connecting rod 19, the first end of the U-shaped connecting rod 19 is connected to a first branch chain, the second end of the U-shaped connecting rod 19 is connected to a second branch chain, and the U-shaped connecting rod 19 is connected to the base 1 through the first branch chain and the second branch chain respectively.

[0061] The first branch chain includes an eleventh revolute pair R11, a second connecting rod 2, a twelfth revolute pair R12, a third connecting rod 3, a thirteenth revolute pair R13, a fourth connecting rod 4, and a fourteenth prismatic pair P14 connected in sequence. The fourteenth prismatic pair P14 is also connected to the first end of the U-shaped connecting rod 19, and the eleventh revolute pair R11 is also connected to the base 1.

[0062] Embodiment 3 A three-revolution-one-translation parallel stirring robot with a virtual rotation center and a locking mode, as Figure 1 shown, includes a base 1 and a moving platform 18. A first kinematic chain, a second kinematic chain, and a third kinematic chain are directly provided between the base 1 and the moving platform 18; The first kinematic chain includes a twentieth connecting rod 20 and a U-shaped connecting rod 19 connected in sequence. The first end of the twentieth connecting rod 20 is fixedly connected to the moving platform 18, the second end of the twentieth connecting rod 20 is connected to the rod body of the U-shaped connecting rod 19, the first end of the U-shaped connecting rod 19 is connected to a first branch chain, the second end of the U-shaped connecting rod 19 is connected to a second branch chain, and the U-shaped connecting rod 19 is connected to the base 1 through the first branch chain and the second branch chain respectively.

[0063] The first branch chain includes an eleventh revolute pair R11, a second connecting rod 2, a twelfth revolute pair R12, a third connecting rod 3, a thirteenth revolute pair R13, a fourth connecting rod 4, and a fourteenth prismatic pair P14 connected in sequence. The fourteenth prismatic pair P14 is also connected to the first end of the U-shaped connecting rod 19, and the eleventh revolute pair R11 is also connected to the base 1.

[0064] The second branch chain includes a twenty-first revolute pair R21, a ninth connecting rod 9, a twenty-second revolute pair R22, an eighth connecting rod 8, a twenty-third revolute pair R23, a seventh connecting rod 7, a twenty-fourth revolute pair R24, a sixth connecting rod 6, a twenty-fifth prismatic pair P25, a fifth connecting rod 5, and a twenty-sixth revolute pair R26 connected in sequence. The twenty-sixth revolute pair R26 is also connected to the second end of the U-shaped connecting rod 19, and the twenty-first revolute pair R21 is also connected to the base 1.

[0065] Embodiment 4 A three-revolution-one-translation parallel stirring robot with a virtual rotation center and a locking mode, as Figure 1 shown, includes a base 1 and a moving platform 18. A first kinematic chain, a second kinematic chain, and a third kinematic chain are directly provided between the base 1 and the moving platform 18; The first kinematic chain includes a twentieth connecting rod 20 and a U-shaped connecting rod 19 connected in sequence. The first end of the twentieth connecting rod 20 is fixedly connected to the moving platform 18, the second end of the twentieth connecting rod 20 is connected to the rod body of the U-shaped connecting rod 19. A first branch chain is connected to the first end of the U-shaped connecting rod 19, and a second branch chain is connected to the second end of the U-shaped connecting rod 19. The U-shaped connecting rod 19 is connected to the base 1 through the first branch chain and the second branch chain respectively.

[0066] The first branch chain includes an eleventh revolute pair R11, a second connecting rod 2, a twelfth revolute pair R12, a third connecting rod 3, a thirteenth revolute pair R13, a fourth connecting rod 4 and a fourteenth prismatic pair P14 connected in sequence. The fourteenth prismatic pair P14 is also connected to the first end of the U-shaped connecting rod 19, and the eleventh revolute pair R11 is also connected to the base 1.

[0067] The second branch chain includes a twenty-first revolute pair R21, a ninth connecting rod 9, a twenty-second revolute pair R22, an eighth connecting rod 8, a twenty-third revolute pair R23, a seventh connecting rod 7, a twenty-fourth revolute pair R24, a sixth connecting rod 6, a twenty-fifth prismatic pair P25, a fifth connecting rod 5 and a twenty-sixth revolute pair R26 connected in sequence. The twenty-sixth revolute pair R26 is also connected to the second end of the U-shaped connecting rod 19, and the twenty-first revolute pair R21 is also connected to the base 1.

[0068] The second kinematic chain includes a thirty-first revolute pair R31, a tenth connecting rod 10, a thirty-second revolute pair R32, an eleventh connecting rod 11, a thirty-third revolute pair R33, a twelfth connecting rod 12 and a thirty-fourth prismatic pair P34 connected in sequence. The thirty-fourth prismatic pair P34 is also connected to the moving platform 18, and the thirty-first revolute pair R31 is also connected to the base 1.

[0069] Embodiment 5 A three-revolution-one-translation parallel stirring robot with a virtual rotation center and a locking mode, as Figure 1 shown, includes a base 1 and a moving platform 18. A first kinematic chain, a second kinematic chain and a third kinematic chain are directly arranged between the base 1 and the moving platform 18; The first kinematic chain includes a twentieth connecting rod 20 and a U-shaped connecting rod 19 connected in sequence. The first end of the twentieth connecting rod 20 is fixedly connected to the moving platform 18, the second end of the twentieth connecting rod 20 is connected to the rod body of the U-shaped connecting rod 19. A first branch chain is connected to the first end of the U-shaped connecting rod 19, and a second branch chain is connected to the second end of the U-shaped connecting rod 19. The U-shaped connecting rod 19 is connected to the base 1 through the first branch chain and the second branch chain respectively.

[0070] The first branch chain includes an eleventh revolute pair R11, a second link 2, a twelfth revolute pair R12, a third link 3, a thirteenth revolute pair R13, a fourth link 4, and a fourteenth prismatic pair P14 connected in sequence. The fourteenth prismatic pair P14 is also connected to the first end of the U-shaped link 19, and the eleventh revolute pair R11 is also connected to the base 1.

[0071] The second branch chain includes a twenty-first revolute pair R21, a ninth link 9, a twenty-second revolute pair R22, an eighth link 8, a twenty-third revolute pair R23, a seventh link 7, a twenty-fourth revolute pair R24, a sixth link 6, a twenty-fifth prismatic pair P25, a fifth link 5, and a twenty-sixth revolute pair R26 connected in sequence. The twenty-sixth revolute pair R26 is also connected to the second end of the U-shaped link 19, and the twenty-first revolute pair R21 is also connected to the base 1.

[0072] The second kinematic chain includes a thirty-first revolute pair R31, a tenth link 10, a thirty-second revolute pair R32, an eleventh link 11, a thirty-third revolute pair R33, a twelfth link 12, and a thirty-fourth prismatic pair P34 connected in sequence. The thirty-fourth prismatic pair P34 is also connected to the moving platform 18, and the thirty-first revolute pair R31 is also connected to the base 1.

[0073] The third kinematic chain includes a forty-first revolute pair R41, a thirteenth link 13, a forty-second revolute pair R42, a fourteenth link 14, a forty-third revolute pair R43, a fifteenth link 15, a forty-fourth revolute pair R44, a sixteenth link 16, a forty-fifth prismatic pair P45, a seventeenth link 17, a forty-sixth revolute pair R46, and a twenty-first link 21 connected in sequence. The twenty-first link 21 is also fixedly connected to the moving platform 18, and the forty-first revolute pair R41 is also connected to the base 1.

[0074] Embodiment 6 A three-revolute-one-prismatic parallel stirring robot with a virtual rotation center and a locking mode, as Figure 1 shown, includes a base 1 and a moving platform 18. A first kinematic chain, a second kinematic chain, and a third kinematic chain are directly arranged between the base 1 and the moving platform 18; The first kinematic chain includes a twentieth link 20 and a U-shaped link 19 connected in sequence. The first end of the twentieth link 20 is fixedly connected to the moving platform 18, the second end of the twentieth link 20 is connected to the rod body of the U-shaped link 19. The first end of the U-shaped link 19 is connected with a first branch chain, the second end of the U-shaped link 19 is connected with a second branch chain, and the U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain respectively.

[0075] The first branch chain includes an eleventh revolute pair R11, a second connecting rod 2, a twelfth revolute pair R12, a third connecting rod 3, a thirteenth revolute pair R13, a fourth connecting rod 4, and a fourteenth prismatic pair P14 connected in sequence. The fourteenth prismatic pair P14 is also connected to the first end of the U-shaped connecting rod 19, and the eleventh revolute pair R11 is also connected to the base 1.

[0076] The second branch chain includes a twenty-first revolute pair R21, a ninth connecting rod 9, a twenty-second revolute pair R22, an eighth connecting rod 8, a twenty-third revolute pair R23, a seventh connecting rod 7, a twenty-fourth revolute pair R24, a sixth connecting rod 6, a twenty-fifth prismatic pair P25, a fifth connecting rod 5, and a twenty-sixth revolute pair R26 connected in sequence. The twenty-sixth revolute pair R26 is also connected to the second end of the U-shaped connecting rod 19, and the twenty-first revolute pair R21 is also connected to the base 1.

[0077] The second kinematic chain includes a thirty-first revolute pair R31, a tenth connecting rod 10, a thirty-second revolute pair R32, an eleventh connecting rod 11, a thirty-third revolute pair R33, a twelfth connecting rod 12, and a thirty-fourth prismatic pair P34 connected in sequence. The thirty-fourth prismatic pair P34 is also connected to the moving platform 18, and the thirty-first revolute pair R31 is also connected to the base 1.

[0078] The third kinematic chain includes a forty-first revolute pair R41, a thirteenth connecting rod 13, a forty-second revolute pair R42, a fourteenth connecting rod 14, a forty-third revolute pair R43, a fifteenth connecting rod 15, a forty-fourth revolute pair R44, a sixteenth connecting rod 16, a forty-fifth prismatic pair P45, a seventeenth connecting rod 17, a forty-sixth revolute pair R46, and a twenty-first connecting rod 21 connected in sequence. The twenty-first connecting rod 21 is also fixedly connected to the moving platform 18, and the forty-first revolute pair R41 is also connected to the base 1.

[0079] The eleventh revolute pair R11 is connected with a rotational drive motor.

Claims

1. A three-rotation and one-motion parallel stirring robot with a virtual rotation center and a locking mode, characterized in that: It comprises a base (1) and a moving platform (18), wherein the base (1) and the moving platform (18) are directly provided with a first kinematic chain, a second kinematic chain and a third kinematic chain; The first kinematic chain comprises a twentieth link (20) and a U-shaped link (19) connected in sequence, the first end of the twentieth link (20) being fixedly connected to the moving platform (18), the second end of the twentieth link (20) being connected to the rod body of the U-shaped link (19), the first end of the U-shaped link (19) being connected to a first branch chain, the second end of the U-shaped link (19) being connected to a second branch chain, and the U-shaped link (19) being connected to the base (1) via the first branch chain and the second branch chain respectively.

2. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 1, characterized in that: The first branch chain comprises an eleventh rotational pair R11, a second connecting rod (2), a twelfth rotational pair R12, a third connecting rod (3), a thirteenth rotational pair R13, a fourth connecting rod (4) and a fourteenth movable pair P14 which are connected in sequence. The fourteenth movable pair P14 is also connected to the first end of the U-shaped connecting rod (19). The eleventh rotational pair R11 is also connected to the base (1).

3. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 1, characterized in that: The second branch chain comprises a twenty-first rotation pair R21, a ninth connecting rod (9), a twenty-second rotation pair R22, an eighth connecting rod (8), a twenty-third rotation pair R23, a seventh connecting rod (7), a twenty-fourth rotation pair R24, a sixth connecting rod (6), a twenty-fifth movable pair P25, a fifth connecting rod (5) and a twenty-sixth rotation pair R26 which are connected in sequence. The twenty-sixth rotation pair R26 is also connected to the second end of the U-shaped connecting rod (19). The twenty-first rotation pair R21 is also connected to the base (1).

4. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 1, characterized in that: The second kinematic chain comprises a thirty-first rotational pair R31, a tenth connecting rod (10), a thirty-second rotational pair R32, an eleventh connecting rod (11), a thirty-third rotational pair R33, a twelfth connecting rod (12) and a thirty-fourth movable pair P34 which are connected in sequence. The thirty-fourth movable pair P34 is also connected to the moving platform (18), and the thirty-first rotational pair R31 is also connected to the base (1).

5. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 1, characterized in that: The third kinematic chain comprises a forty-first rotational pair R41, a thirteenth connecting rod (13), a forty-second rotational pair R42, a fourteenth connecting rod (14), a forty-third rotational pair R43, a fifteenth connecting rod (15), a forty-fourth rotational pair R44, a sixteenth connecting rod (16), a forty-fifth movable pair P45, a seventeenth connecting rod (17), a forty-sixth rotational pair R46 and a twenty-first connecting rod (21) which are connected in sequence; the twenty-first connecting rod (21) is also fixedly connected to the moving platform (18), and the forty-first rotational pair R41 is also connected to the base (1).

6. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 2, characterized in that: The eleventh rotation pair R11 is connected to a rotation driving motor.

7. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 3, characterized in that: The twenty-second rotation pair R22 is connected to a rotation drive motor; the twenty-first rotation pair R21 is connected to an auxiliary drive motor.

8. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 4, characterized in that: The thirty-fourth movable pair P34 is connected to a hydraulic drive motor.

9. The three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to claim 5, characterized in that: The 42nd rotation pair R42 is connected to a rotation drive motor; the 41st rotation pair R41 is connected to an auxiliary drive motor.

10. The driving method of the three-rotation-one-motion parallel stirring robot with a virtual rotation center and a locking mode according to any one of claims 1 to 9, characterized in that: Specifically, when the moving platform (18) has a three-rotation-one-movement motion mode configuration, the rotation drive motors connected to the eleventh rotation pair R11, the twenty-second rotation pair R22 and the forty-second rotation pair R42 are driven, and the hydraulic drive motor connected to the thirty-fourth movement pair P34 is driven to control the three-rotation-one-movement motion mode of the moving platform (18).

Images