Three-translational-one-rotational parallel mixer robot with virtual center of rotation and locking mode and method

Abstract

This invention discloses a parallel mixing robot with a virtual rotation center and a locking mode, comprising a base and a moving platform. A first kinematic chain, a second kinematic chain, and a third kinematic chain are directly connected between the base and the moving platform. The first kinematic chain includes a twentieth link and a U-shaped link connected sequentially. The first end of the twentieth link is fixed to the moving platform, and the second end of the twentieth link is connected to the body of the U-shaped link. The first end of the U-shaped link is connected to a first branch, and the second end of the U-shaped link is connected to a second branch. The U-shaped link is connected to the base via the first and second branches. This parallel mixing robot does not require a locking drive and can lock a 4-DOF motion mode. Utilizing the structural strength of the mixing robot to resist external impacts and maintain stable position and posture, it plays a role in improving the safety and reliability of the end effector operation.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode, and also to a driving method for the three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode. Background Technology

[0002] Parallel mixing robots with a virtual rotation center (three-rotor, one-movement) have promising applications in the material mixing industry. The virtual rotation center allows for ample space on the end effector to accommodate various operating devices, enabling a wide operating range. Currently, existing parallel mixing robots with a virtual rotation center generally lack a locking mode. To maintain the end effector at a specific position, the drive motor must be locked. When the end effector is locked, sudden loads can impact the drive motor. During material loading, large forces can cause sudden loads that negatively affect the stability of the motor and end effector, impacting the normal operation of the mixing equipment. Furthermore, installing complex tool heads on the end effector increases its overall weight. Relying solely on motor locking to maintain the end effector's position and reliability compromises the safety and reliability of the robot's end effector operation. Summary of the Invention

[0003] The first objective of this invention is to provide a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode. It does not require a locking drive and can lock a 4-degree-of-freedom motion mode. It utilizes the structural strength of the mixing robot to resist external impacts and maintain stable position and posture, thereby improving the safety and reliability of the mixing robot's end effector during operation.

[0004] The second objective of this invention is a driving method for a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode.

[0005] The first technical solution adopted in this invention is a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode, including a base and a moving platform, wherein a first kinematic chain, a second kinematic chain and a third kinematic chain are directly arranged between the base and the moving platform.

[0006] The first kinematic chain includes a twentieth link and a U-shaped link connected in sequence. The first end of the twentieth link is fixed to the moving platform, and the second end of the twentieth link is connected to the body of the U-shaped link. The first end of the U-shaped link is connected to a first branch chain, and the second end of the U-shaped link is connected to a second branch chain. The U-shaped link is connected to the base through the first branch chain and the second branch chain respectively.

[0007] The invention is further characterized in that:

[0008] The first branch chain includes an eleventh rotary joint R11, a second link, a twelfth rotary joint R12, a third link, a thirteenth rotary joint R13, a fourth link, and a fourteenth prismatic joint P14 connected in sequence. The fourteenth prismatic joint P14 is also connected to the first end of the U-shaped link, and the eleventh rotary joint R11 is also connected to the base.

[0009] The second branch chain includes the following components connected in sequence: the twenty-first revolute joint R21, the ninth link, the twenty-second revolute joint R22, the eighth link, the twenty-third revolute joint R23, the seventh link, the twenty-fourth revolute joint R24, the sixth link, the twenty-fifth prismatic joint P25, the fifth link, and the twenty-sixth revolute joint R26. The twenty-sixth revolute joint R26 is also connected to the second end of the U-shaped link, and the twenty-first revolute joint R21 is also connected to the base.

[0010] The second kinematic chain includes the thirty-first revolute joint R31, the tenth link, the thirty-second revolute joint R32, the eleventh link, the thirty-third revolute joint R33, the twelfth link, and the thirty-fourth prismatic joint P34 connected in sequence. The thirty-fourth prismatic joint P34 is also connected to the moving platform, and the thirty-first revolute joint R31 is also connected to the base.

[0011] The third kinematic chain includes the forty-first revolute joint R41, the thirteenth link, the forty-second revolute joint R42, the fourteenth link, the forty-third revolute joint R43, the fifteenth link, the forty-fourth revolute joint R44, the sixteenth link, the forty-fifth prismatic joint P45, the seventeenth link, the forty-sixth revolute joint R46, and the twenty-first link, which are connected in sequence; the twenty-first link is also fixedly connected to the moving platform, and the forty-first revolute joint R41 is also connected to the base.

[0012] The eleventh rotary joint R11 is connected to a rotary drive motor.

[0013] The 22nd revolute joint R22 is connected to a rotary drive motor; the 21st revolute joint R21 is connected to an auxiliary drive motor.

[0014] The thirty-fourth moving part P34 is connected to a hydraulic drive motor.

[0015] The forty-second revolute joint R42 is connected to a rotary drive motor;

[0016] The forty-first rotary joint R41 is connected to an auxiliary drive motor.

[0017] The second technical solution adopted in this invention is a driving method for a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode. Specifically, when the moving platform 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 moving pair P34 is driven to control the three-rotation-one-movement motion mode of the moving platform.

[0018] The beneficial effects of this invention are:

[0019] (1) The end effector of the three-rotation-one-movement parallel mixing robot with virtual rotation center and locking mode of the present invention can be equipped with large-sized complex tools and has a large installation space.

[0020] (2) The present invention provides a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode. Its end effector can be in a locked position, eliminating the need for locking drive. It can lock a 4-degree-of-freedom motion mode, utilizing the structural strength of the mixing robot to resist external impacts and maintain stable position and posture. This improves the safety and reliability of the end effector operation. When subjected to environmental impacts, the overall structural strength of the mixing robot can resist uncertain external forces. This solves the problem that current three-rotation-one-movement parallel mixing robots require locking all motors to maintain the end effector's posture, which can easily damage the motors and reduce the safety and reliability of operation when resisting sudden external forces. Attached Figure Description

[0021] Figure 1 This is a configuration diagram of the three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to the present invention.

[0022] Figure 2 This is a configuration diagram of the three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode according to the present invention.

[0023] Figure 3 This is a configuration diagram of the locking mode of the three-rotation-one-movement parallel stirring robot with a virtual rotation center and a locking mode according to the present invention.

[0024] 1. Base, 2. Second Link, 3. Third Link, 4. Fourth Link, 5. Fifth Link, 6. Sixth Link, 7. Seventh Link, 8. Eighth Link, 9. Ninth Link, 10. Tenth Link, 11. Eleventh Link, 12. Twelfth Link, 13. Thirteenth Link, 14. Fourteenth Link, 15. Fifteenth Link, 16. Sixteenth Link, 17. Seventeenth Link, 18. Moving Platform, 19. U-shaped Link, 20. Twentieth Link, 21. Twenty-first Link. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0026] This invention provides a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode, such as... Figure 1 As shown, it includes a base 1 and a moving platform 18, and 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;

[0027] 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 fixed to the moving platform 18, and 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 to a first branch chain, and the second end of the U-shaped link 19 is connected to a second branch chain. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain, respectively.

[0028] The first branch chain includes an eleventh rotary joint R11, a second link 2, a twelfth rotary joint R12, a third link 3, a thirteenth rotary joint R13, a fourth link 4, and a fourteenth prismatic joint P14 connected in sequence. The fourteenth prismatic joint P14 is also connected to the first end of the U-shaped link 19, and the eleventh rotary joint R11 is also connected to the base 1.

[0029] The second branch includes the following components connected in sequence: the twenty-first revolute joint R21, the ninth link 9, the twenty-second revolute joint R22, the eighth link 8, the twenty-third revolute joint R23, the seventh link 7, the twenty-fourth revolute joint R24, the sixth link 6, the twenty-fifth prismatic joint P25, the fifth link 5, and the twenty-sixth revolute joint R26. The twenty-sixth revolute joint R26 is also connected to the second end of the U-shaped link 19, and the twenty-first revolute joint R21 is also connected to the base 1.

[0030] The second kinematic chain includes a 31st revolute joint R31, a 10th link 10, a 32nd revolute joint R32, an 11th link 11, a 33rd revolute joint R33, a 12th link 12, and a 34th prismatic joint P34 connected in sequence. The 34th prismatic joint P34 is also connected to the moving platform 18, and the 31st revolute joint R31 is also connected to the base 1.

[0031] The third kinematic chain includes the forty-first revolute joint R41, the thirteenth link 13, the forty-second revolute joint R42, the fourteenth link 14, the forty-third revolute joint R43, the fifteenth link 15, the forty-fourth revolute joint R44, the sixteenth link 16, the forty-fifth prismatic joint P45, the seventeenth link 17, the forty-sixth revolute joint R46, and the twenty-first link 21, which are connected in sequence. The twenty-first link 21 is also fixedly connected to the moving platform 18, and the forty-first revolute joint R41 is also connected to the base 1.

[0032] The eleventh rotary joint R11 is connected to a rotary drive motor.

[0033] The 22nd revolute joint R22 is connected to a rotary drive motor; the 21st revolute joint R21 is connected to an auxiliary drive motor.

[0034] The thirty-fourth moving part P34 is connected to a hydraulic drive motor.

[0035] The forty-second revolute joint R42 is connected to a rotary drive motor;

[0036] The forty-first rotary joint R41 is connected to an auxiliary drive motor.

[0037] The present invention also provides a driving method for a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode. Specifically, when the moving platform 18 has a three-rotation-one-movement motion mode configuration, the rotation drive motor connected to the eleventh rotation pair R11, the twenty-second rotation pair R22 and the forty-second rotation pair R42 is driven, and the hydraulic drive motor connected to the thirty-fourth moving pair P34 is driven, thereby controlling the three-rotation-one-movement motion mode of the moving platform 18.

[0038] When the parallel mixer is in a three-rotation-one-movement motion mode, the drive motors connected to the eleventh rotary joint R11, the twenty-second rotary joint R22, and the forty-second rotary joint 42, and the hydraulic drive motor connected to the thirty-fourth moving joint P34 are not on the moving connecting rods, thus reducing the inertia of the moving components.

[0039] like Figure 1 As shown, the second link 2 is rotatably connected to the base 1 through the eleventh revolute joint R11, the third link 3 is rotatably connected to the second link 2 through the twelfth revolute joint R12, the fourth link 4 is rotatably connected to the third link 3 through the thirteenth revolute joint R13, the first end of the U-shaped link 19 is movably connected to the fourth link 4 through the fourteenth prismatic joint 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 body of the U-shaped link 19 via the twentieth link 20. The second end of the U-shaped link 19 is rotatably connected to the fifth link 5 via the twenty-sixth revolute joint R26. The fifth link 5 is movably connected to the sixth link 6 via the twenty-fifth prismatic joint P25. The sixth link 6 is rotatably connected to the seventh link 7 via the twenty-fourth revolute joint R24. The seventh link 7 is rotatably connected to the eighth link 8 via the twenty-third revolute joint R23. The eighth link 8 is rotatably connected to the ninth link 9 via the twenty-second revolute joint R22. The ninth link 9 is rotatably connected to the base 1 via the twenty-first revolute joint R21.

[0040] like Figure 1As shown, the tenth link 10 is rotatably connected to the base 1 via the thirty-first revolute joint R31, the eleventh link 11 is rotatably connected to the tenth link 10 via the thirty-second revolute joint R32, and the twelfth link 12 is rotatably connected to the eleventh link 11 via the thirty-third revolute joint R33. The moving platform 18 is movably connected to the twelfth link 12 via the thirty-fourth prismatic joint P34, the twenty-first link 21 is fixed to the moving platform 18, the twenty-first link 21 is rotatably connected to the seventeenth link 17 via the forty-sixth revolute joint R46, and the seventeenth link 17 is movably connected to the sixteenth link 16 via the forty-fifth prismatic joint P45. The sixteenth link 16 is rotatably connected to the fifteenth link 15 via the forty-fourth revolute joint R44, the fifteenth link 15 is rotatably connected to the fourteenth link 14 via the forty-third revolute joint R43, and the fourteenth link 14 is rotatably connected to the thirteenth link 13 via the forty-second revolute joint R42. The thirteenth link 13 is rotatably connected to the base 1 through the forty-first revolute joint R41.

[0041] Figure 1 In the configuration shown, the axes of the eleventh revolute joint R11, the twelfth revolute joint R12, the thirteenth revolute joint R13, the twenty-second revolute joint R22, the twenty-third revolute joint R23, the twenty-fourth revolute joint R24, the thirty-first revolute joint R31, the thirty-second revolute joint R32, the thirty-third revolute joint R33, the forty-second revolute joint R42, the forty-third revolute joint R43, and the forty-fourth revolute joint R44 intersect at point O.

[0042] Figure 1 In the configuration shown, the axis of the 21st revolute joint R21 is collinear with the axis of the 26th revolute joint R26, and the axis is not perpendicular to the direction of movement of the 25th prismatic joint P25.

[0043] Figure 1 In the configuration shown, the fourteenth sliding joint P14 and the twenty-fifth sliding joint P25 move in parallel directions, parallel to the Z-axis.

[0044] Figure 1 In the configuration shown, the axis of the forty-first revolute joint R41 is collinear with the axis of the forty-sixth revolute joint R46, and the axis is not perpendicular to the direction of movement of the forty-fifth prismatic joint P45.

[0045] Figure 1 In the configuration shown, the movement directions of the 34th sliding joint P34 and the 45th sliding joint P45 are parallel to the Z-axis.

[0046] Figure 1 In the configuration shown, the axis of the 21st revolute joint R21 is in a straight line with the plane where point O is located, and is perpendicular to the direction of movement of the 25th prismatic joint P25.

[0047] Figure 1 In the configuration shown, the axis of the forty-first revolute joint R41 is in a straight line with the plane where point O is located, and is perpendicular to the direction of movement of the forty-fifth prismatic joint P45.

[0048] Figure 1 In the configuration shown, the axis of the 21st revolute joint R21 is not perpendicular to the direction of movement of the 25th prismatic joint P25.

[0049] Figure 1 In the configuration shown, the axis of the forty-first revolute joint R41 is not perpendicular to the direction of movement of the forty-fifth prismatic joint P45.

[0050] Figure 1 In the configuration shown, the eleventh revolute joint R11, the twenty-second revolute joint R22, and the forty-second revolute joint R42 are all connected to rotary drive motors. The thirty-fourth prismatic joint P34 is connected to a hydraulic drive motor.

[0051] Figure 1 In the configuration shown, both the 21st rotary joint R21 and the 41st rotary joint R41 are connected to auxiliary drive motors.

[0052] Figure 1 In the shown mechanism configuration, locking the eleventh rotary joint R11, the twenty-second rotary joint R22, and the forty-second rotary joint R42 are connected to rotary drive motors. Locking the thirty-fourth sliding joint P34 is connected to a hydraulic drive motor. Driving the twenty-first rotary joint R21 and the forty-first rotary joint R41 is connected to an auxiliary drive motor, which allows... Figure 1 The mechanism shown moves to Figure 3 The configuration of the mechanism shown is as follows.

[0053] Figure 3 In the configuration shown, the axes of the 22nd revolute joint R22, the 23rd revolute joint R23, and the 24th revolute joint R24 intersect at point O1. The axis of the 21st revolute joint R21 coincides with the axis of the 26th revolute joint R26. The 25th prismatic joint P25 does not coincide with the direction of movement of the 14th revolute joint P14.

[0054] Figure 3 In the configuration shown, the axes of the forty-first revolute joint R41, the forty-second revolute joint R42, and the forty-third revolute joint R43 intersect at point O2. The axes of the forty-first revolute joint R41 and the forty-sixth revolute joint R46 coincide. The direction of movement of the forty-fifth prismatic joint P45 does not coincide with the direction of movement of the thirty-fourth prismatic joint P34.

[0055] Figure 3 In the configuration shown, the line connecting point O and point O1 does not coincide with the line connecting point O and point O2.

[0056] Figure 3In the configuration shown, the axis of the 21st revolute joint R21 and the plane where point O1 is located are in a straight line, which is perpendicular to the movement direction of the 25th prismatic joint P25, and this straight line is not perpendicular to the movement direction of the 14th prismatic joint P14.

[0057] Figure 3 In the configuration shown, the axis of the forty-first revolute joint R41 and the plane containing point O2 form a straight line that is perpendicular to the direction of movement of the forty-fifth prismatic joint P45, and this straight line is not perpendicular to the direction of movement of the thirty-fourth prismatic joint P34.

[0058] Figure 3 In the illustrated configuration, the rotation centers in each kinematic chain are O, O1, and O2, respectively. Since these three rotation centers do not coincide, the moving platform 18 does not have three-rotational motion. Furthermore, viewed from the end of the first branch, the U-shaped link 19 only has a movement parallel to the Z-axis; viewed from the end of the second branch, the U-shaped link 19 does not have a movement parallel to the Z-axis. Therefore, the moving platform 18 has a locked mode, eliminating the need to lock the rotary drive motors connected to the eleventh rotary joint R11, the twenty-second rotary joint R22, and the forty-second rotary joint R42. It also eliminates the need to lock the hydraulic drive motor connected to the thirty-fourth sliding joint P34. Finally, it eliminates the need to lock the auxiliary drive motors connected to the twenty-first rotary joint R21 and the forty-first rotary joint R41. Thus, the moving platform 18 is in a locked mode.

[0059] Figure 1 In the configuration shown, locking the rotary drive motors connected to the eleventh rotary joint R11, the twenty-second rotary joint R22, and the forty-second rotary joint R42 drives the hydraulic drive motor connected to the thirty-fourth sliding joint P34, and locking the auxiliary drive motors connected to the twenty-first rotary joint R21 and the forty-first rotary joint R41 allows... Figure 1 The mechanism shown moves to Figure 2 The configuration of the mechanism shown is as follows.

[0060] Figure 2 In the configuration shown, the axes of the eleventh revolute joint R11, the twelfth revolute joint R12, the thirteenth revolute joint R13, the twenty-second revolute joint R22, the twenty-third revolute joint R23, the twenty-fourth revolute joint R24, the thirty-first revolute joint R31, the thirty-second revolute joint R32, the thirty-third revolute joint R33, the forty-second revolute joint R42, the forty-third revolute joint R43, and the forty-fourth revolute joint R44 intersect at point O.

[0061] Figure 2 In the configuration shown, the axes of the 21st revolute joint R21 and the 26th revolute joint R26 are parallel and not collinear.

[0062] Figure 2In the configuration shown, the axes of the forty-first revolute joint R41 and the forty-sixth revolute joint R46 are parallel and not collinear.

[0063] Figure 2 In the configuration shown, the moving platform 18 has a three-rotation and one-movement motion mode. The moving platform 18 has a three-degree-of-freedom rotational motion with point O as the rotation center and a one-degree-of-freedom moving motion along the direction of the fourteenth moving joint P14.

[0064] Figure 2 In the configuration shown, the axis of the 21st revolute joint R21 is not perpendicular to the direction of movement of the 25th prismatic joint P25. Furthermore, the 26th revolute joint R26, the 21st revolute joint R21, and the rotation center point O are not coplanar.

[0065] Figure 2 In the configuration shown, the axis of the forty-first revolute joint R41 is not perpendicular to the direction of movement of the forty-fifth prismatic joint P45. Furthermore, the axes of the forty-first revolute joint R41 and the forty-sixth revolute joint R46 are not coplanar with the rotation center point O.

[0066] Figure 2 In the configuration shown, the rotary drive motors connected to the eleventh rotary joint R11, the twenty-second rotary joint R22, and the forty-second rotary joint R42 drive the hydraulic drive motor connected to the thirty-fourth sliding joint P34, thereby controlling the three-rotation and one-sliding motion mode of the motion platform 18.

[0067] Example 1

[0068] A parallel mixing robot with three rotations and one movement, featuring a virtual rotation center and a locking mode, such as... Figure 1 As shown, it includes a base 1 and a moving platform 18, and 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;

[0069] 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 fixed to the moving platform 18, and 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 to a first branch chain, and the second end of the U-shaped link 19 is connected to a second branch chain. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain, respectively.

[0070] Example 2

[0071] A parallel mixing robot with three rotations and one movement, featuring a virtual rotation center and a locking mode, such as... Figure 1 As shown, it includes a base 1 and a moving platform 18, and 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;

[0072] 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 fixed to the moving platform 18, and 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 to a first branch chain, and the second end of the U-shaped link 19 is connected to a second branch chain. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain, respectively.

[0073] The first branch chain includes an eleventh rotary joint R11, a second link 2, a twelfth rotary joint R12, a third link 3, a thirteenth rotary joint R13, a fourth link 4, and a fourteenth prismatic joint P14 connected in sequence. The fourteenth prismatic joint P14 is also connected to the first end of the U-shaped link 19, and the eleventh rotary joint R11 is also connected to the base 1.

[0074] Example 3

[0075] A parallel mixing robot with three rotations and one movement, featuring a virtual rotation center and a locking mode, such as... Figure 1 As shown, it includes a base 1 and a moving platform 18, and 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;

[0076] 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 fixed to the moving platform 18, and 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 to a first branch chain, and the second end of the U-shaped link 19 is connected to a second branch chain. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain, respectively.

[0077] The first branch chain includes an eleventh rotary joint R11, a second link 2, a twelfth rotary joint R12, a third link 3, a thirteenth rotary joint R13, a fourth link 4, and a fourteenth prismatic joint P14 connected in sequence. The fourteenth prismatic joint P14 is also connected to the first end of the U-shaped link 19, and the eleventh rotary joint R11 is also connected to the base 1.

[0078] The second branch includes the following components connected in sequence: the twenty-first revolute joint R21, the ninth link 9, the twenty-second revolute joint R22, the eighth link 8, the twenty-third revolute joint R23, the seventh link 7, the twenty-fourth revolute joint R24, the sixth link 6, the twenty-fifth prismatic joint P25, the fifth link 5, and the twenty-sixth revolute joint R26. The twenty-sixth revolute joint R26 is also connected to the second end of the U-shaped link 19, and the twenty-first revolute joint R21 is also connected to the base 1.

[0079] Example 4

[0080] A parallel mixing robot with three rotations and one movement, featuring a virtual rotation center and a locking mode, such as... Figure 1As shown, it includes a base 1 and a moving platform 18, and 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;

[0081] 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 fixed to the moving platform 18, and 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 to a first branch chain, and the second end of the U-shaped link 19 is connected to a second branch chain. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain, respectively.

[0082] The first branch chain includes an eleventh rotary joint R11, a second link 2, a twelfth rotary joint R12, a third link 3, a thirteenth rotary joint R13, a fourth link 4, and a fourteenth prismatic joint P14 connected in sequence. The fourteenth prismatic joint P14 is also connected to the first end of the U-shaped link 19, and the eleventh rotary joint R11 is also connected to the base 1.

[0083] The second branch includes the following components connected in sequence: the twenty-first revolute joint R21, the ninth link 9, the twenty-second revolute joint R22, the eighth link 8, the twenty-third revolute joint R23, the seventh link 7, the twenty-fourth revolute joint R24, the sixth link 6, the twenty-fifth prismatic joint P25, the fifth link 5, and the twenty-sixth revolute joint R26. The twenty-sixth revolute joint R26 is also connected to the second end of the U-shaped link 19, and the twenty-first revolute joint R21 is also connected to the base 1.

[0084] The second kinematic chain includes a 31st revolute joint R31, a 10th link 10, a 32nd revolute joint R32, an 11th link 11, a 33rd revolute joint R33, a 12th link 12, and a 34th prismatic joint P34 connected in sequence. The 34th prismatic joint P34 is also connected to the moving platform 18, and the 31st revolute joint R31 is also connected to the base 1.

[0085] Example 5

[0086] A parallel mixing robot with three rotations and one movement, featuring a virtual rotation center and a locking mode, such as... Figure 1 As shown, it includes a base 1 and a moving platform 18, and 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;

[0087] 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 fixed to the moving platform 18, and 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 to a first branch chain, and the second end of the U-shaped link 19 is connected to a second branch chain. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain, respectively.

[0088] The first branch chain includes an eleventh rotary joint R11, a second link 2, a twelfth rotary joint R12, a third link 3, a thirteenth rotary joint R13, a fourth link 4, and a fourteenth prismatic joint P14 connected in sequence. The fourteenth prismatic joint P14 is also connected to the first end of the U-shaped link 19, and the eleventh rotary joint R11 is also connected to the base 1.

[0089] The second branch includes the following components connected in sequence: the twenty-first revolute joint R21, the ninth link 9, the twenty-second revolute joint R22, the eighth link 8, the twenty-third revolute joint R23, the seventh link 7, the twenty-fourth revolute joint R24, the sixth link 6, the twenty-fifth prismatic joint P25, the fifth link 5, and the twenty-sixth revolute joint R26. The twenty-sixth revolute joint R26 is also connected to the second end of the U-shaped link 19, and the twenty-first revolute joint R21 is also connected to the base 1.

[0090] The second kinematic chain includes a 31st revolute joint R31, a 10th link 10, a 32nd revolute joint R32, an 11th link 11, a 33rd revolute joint R33, a 12th link 12, and a 34th prismatic joint P34 connected in sequence. The 34th prismatic joint P34 is also connected to the moving platform 18, and the 31st revolute joint R31 is also connected to the base 1.

[0091] The third kinematic chain includes the forty-first revolute joint R41, the thirteenth link 13, the forty-second revolute joint R42, the fourteenth link 14, the forty-third revolute joint R43, the fifteenth link 15, the forty-fourth revolute joint R44, the sixteenth link 16, the forty-fifth prismatic joint P45, the seventeenth link 17, the forty-sixth revolute joint R46, and the twenty-first link 21, which are connected in sequence. The twenty-first link 21 is also fixedly connected to the moving platform 18, and the forty-first revolute joint R41 is also connected to the base 1.

[0092] Example 6

[0093] A parallel mixing robot with three rotations and one movement, featuring a virtual rotation center and a locking mode, such as... Figure 1 As shown, it includes a base 1 and a moving platform 18, and 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;

[0094] 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 fixed to the moving platform 18, and 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 to a first branch chain, and the second end of the U-shaped link 19 is connected to a second branch chain. The U-shaped link 19 is connected to the base 1 through the first branch chain and the second branch chain, respectively.

[0095] The first branch chain includes an eleventh rotary joint R11, a second link 2, a twelfth rotary joint R12, a third link 3, a thirteenth rotary joint R13, a fourth link 4, and a fourteenth prismatic joint P14 connected in sequence. The fourteenth prismatic joint P14 is also connected to the first end of the U-shaped link 19, and the eleventh rotary joint R11 is also connected to the base 1.

[0096] The second branch includes the following components connected in sequence: the twenty-first revolute joint R21, the ninth link 9, the twenty-second revolute joint R22, the eighth link 8, the twenty-third revolute joint R23, the seventh link 7, the twenty-fourth revolute joint R24, the sixth link 6, the twenty-fifth prismatic joint P25, the fifth link 5, and the twenty-sixth revolute joint R26. The twenty-sixth revolute joint R26 is also connected to the second end of the U-shaped link 19, and the twenty-first revolute joint R21 is also connected to the base 1.

[0097] The second kinematic chain includes a 31st revolute joint R31, a 10th link 10, a 32nd revolute joint R32, an 11th link 11, a 33rd revolute joint R33, a 12th link 12, and a 34th prismatic joint P34 connected in sequence. The 34th prismatic joint P34 is also connected to the moving platform 18, and the 31st revolute joint R31 is also connected to the base 1.

[0098] The third kinematic chain includes the forty-first revolute joint R41, the thirteenth link 13, the forty-second revolute joint R42, the fourteenth link 14, the forty-third revolute joint R43, the fifteenth link 15, the forty-fourth revolute joint R44, the sixteenth link 16, the forty-fifth prismatic joint P45, the seventeenth link 17, the forty-sixth revolute joint R46, and the twenty-first link 21, which are connected in sequence. The twenty-first link 21 is also fixedly connected to the moving platform 18, and the forty-first revolute joint R41 is also connected to the base 1.

[0099] The eleventh rotary joint R11 is connected to a rotary drive motor.

Claims

1. A three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode, characterized in that, It includes a base (1) and a moving platform (18), and 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 includes a twentieth link (20) and a U-shaped link (19) connected in sequence. The first end of the twentieth link (20) is fixed to the moving platform (18), and 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 to a first branch chain, and the second end of the U-shaped link (19) is connected to a second branch chain. The U-shaped link (19) is connected to the base (1) through the first branch chain and the second branch chain respectively. The first branch includes an eleventh rotary joint R11, a second link (2), a twelfth rotary joint R12, a third link (3), a thirteenth rotary joint R13, a fourth link (4), and a fourteenth sliding joint P14 connected in sequence. The fourteenth sliding joint P14 is also connected to the first end of the U-shaped link (19), and the eleventh rotary joint R11 is also connected to the base (1). The second branch includes the 21st rotary joint R21, the 9th link (9), the 22nd rotary joint R22, the 8th link (8), the 23rd rotary joint R23, the 7th link (7), the 24th rotary joint R24, the 6th link (6), the 25th sliding joint P25, the 5th link (5), and the 26th rotary joint R26 connected in sequence. The 26th rotary joint R26 is also connected to the second end of the U-shaped link (19), and the 21st rotary joint R21 is also connected to the base (1). The second kinematic chain includes a 31st rotary joint R31, a 10th link (10), a 32nd rotary joint R32, an 11th link (11), a 33rd rotary joint R33, a 12th link (12), and a 34th prismatic joint P34 connected in sequence. The 34th prismatic joint P34 is also connected to the moving platform (18), and the 31st rotary joint R31 is also connected to the base (1). The third kinematic chain includes a forty-first revolute joint R41, a thirteenth link (13), a forty-second revolute joint R42, a fourteenth link (14), a forty-third revolute joint R43, a fifteenth link (15), a forty-fourth revolute joint R44, a sixteenth link (16), a forty-fifth prismatic joint P45, a seventeenth link (17), a forty-sixth revolute joint 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 joint R41 is also connected to the base (1); The rotation centers in each kinematic chain are O, O1, and O2, respectively. The three rotation centers do not coincide, so the moving platform (18) does not have three rotational movements. Furthermore, from the end of the first branch chain, the U-shaped link (19) only has a movement parallel to the Z-axis. From the end of the second branch chain, the U-shaped link (19) does not have a movement parallel to the Z-axis. Therefore, the moving platform (18) has a locking mode. It is not necessary to lock the rotation drive motors connected to the eleventh rotary joint R11, the twenty-second rotary joint R22, and the forty-second rotary joint R42. It is not necessary to lock the hydraulic drive motor connected to the thirty-fourth sliding joint P34. It is not necessary to lock the auxiliary drive motors connected to the twenty-first rotary joint R21 and the forty-first rotary joint R41. The moving platform (18) is in the locking mode.

2. The three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode according to claim 1, characterized in that, The eleventh rotary joint R11 is connected to a rotary drive motor.

3. The three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode according to claim 1, characterized in that, The 22nd rotary joint R22 is connected to a rotary drive motor; the 21st rotary joint R21 is connected to an auxiliary drive motor.

4. The three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode according to claim 1, characterized in that, The thirty-fourth moving pair P34 is connected to a hydraulic drive motor.

5. The three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode according to claim 1, characterized in that, The forty-second rotary joint R42 is connected to a rotary drive motor; the forty-first rotary joint R41 is connected to an auxiliary drive motor.

6. The driving method for a three-rotation-one-movement parallel mixing robot with a virtual rotation center and a locking mode according to any one of claims 1-5, characterized in that, Specifically, when the moving platform (18) has a three-rotation-one-movement motion mode configuration, the rotation drive motor connected to the eleventh rotation pair R11, the twenty-second rotation pair R22 and the forty-second rotation pair R42 drives the hydraulic drive motor connected to the thirty-fourth moving pair P34 to control the three-rotation-one-movement motion mode of the moving platform (18).

Images