Three-rotation two-movement motion mode parallel stirring and mixing robot with locking mode and driving method

Abstract

The invention discloses a three-rotation two-movement motion mode parallel stirring and mixing robot with a locking mode, which comprises a base and a movable platform, and a first kinematic chain, a second kinematic chain, a third kinematic chain, a fourth kinematic chain, a fifth kinematic chain, a sixth kinematic chain, a seventh kinematic chain and an eighth kinematic chain are arranged between the base and the movable platform. When the robot is in a locking mode and all driving motors do not need to be locked, an end effector of the parallel stirring and mixing robot can still be in a locking state, the capacity of keeping the posture and the position stable is achieved, and the external impact acting force can be resisted through the strength and the overall rigidity of structural rod pieces of the robot. The invention further discloses a driving method of the three-rotation two-movement motion mode parallel stirring and mixing robot with the locking mode.

Description

Technical Field

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

[0002] A parallel stirring and mixing robot with a three-rotation two-translation motion mode can perform three-dimensional rotation and two-dimensional translation stirring and mixing operations in three-dimensional space. During the three-dimensional rotation process, the mixing effect can be generated by relying on the inertial force of the material itself. During the two-dimensional translation process, a directional moving impact effect can be generated to promote the stirring and mixing effect of the material. At present, such stirring and mixing robots with multiple degrees of freedom are not common in the market, and they have the advantages of high load and large material stirring and mixing processing capacity. However, when loading and unloading materials for existing such stirring and mixing robots, it is necessary to lock the driving joints to keep the posture of the stirring and mixing container stable. When the amount of mixed materials to be processed is large, during the loading and unloading process of the materials, when the impact force of sudden loading and unloading is large when the volume of the stirred and mixed materials is large, it will cause a large impact force on the equipment and the motor. And frequent loading and unloading will increase the wear of the equipment joints, accelerate the damage of the joints and the driving joint motors, and will reduce the operation accuracy and service life of the equipment. Summary of the Invention

[0003] The first object of the present invention is to provide a parallel stirring and mixing robot with a three-rotation two-translation motion mode having a locking mode. In the locking mode, without the need to lock all driving motors, the end effector of the parallel stirring and mixing robot can still be in a locked state, having the ability to maintain the stability of the posture and position, and being able to resist external impact forces through the self-strength and overall stiffness of the robot structure members.

[0004] The second object of the present invention is to provide a driving method for a parallel stirring and mixing robot with a three-rotation two-translation motion mode having a locking mode.

[0005] The first technical solution adopted by the present invention is that a parallel stirring and mixing robot with a three-rotation two-translation motion mode having a locking mode includes a base and a moving platform, and a first motion chain, a second motion chain, a third motion chain, a fourth motion chain, a fifth motion chain, a sixth motion chain, a seventh motion chain and an eighth motion chain are arranged between the base and the moving platform.

[0006] The features of the present invention further lie in: The first kinematic chain includes an eleventh revolute pair R11, a second link, a twelfth revolute pair R12, a third link, a thirteenth revolute pair R13, a fourth link, a fourteenth revolute pair R14, a fifth link, a fifteenth prismatic pair P15, a sixth link, a sixteenth prismatic pair P16, a seventh link, and a seventeenth revolute pair R17, which are connected in sequence; the seventeenth revolute pair R17 is also connected to the moving platform, and the eleventh revolute pair R11 is also connected to the base; An auxiliary rotational drive motor is connected to the eleventh revolute pair R11.

[0007] The second kinematic chain includes a twenty-first revolute pair R21, an eleventh link, a twenty-second revolute pair R22, a tenth link, a twenty-third revolute pair R23, a ninth link, a twenty-fourth prismatic pair P24, an eighth link, and a twenty-fifth prismatic pair P25, which are connected in sequence; the twenty-fifth prismatic pair P25 is also connected to the moving platform, and the twenty-first revolute pair R21 is also connected to the base; A rotational drive motor is connected to the twenty-first revolute pair R21.

[0008] The third kinematic chain includes a thirty-first revolute pair R31, a twelfth link, a thirty-second revolute pair R32, a thirteenth link, a thirty-third revolute pair R33, a fourteenth link, a thirty-fourth revolute pair R34, a fifteenth link, a thirty-fifth prismatic pair P35, a sixteenth link, a thirty-sixth prismatic pair P36, a seventeenth link, and a thirty-seventh revolute pair R37, which are connected in sequence; the thirty-seventh revolute pair R37 is also connected to the moving platform, and the thirty-first revolute pair R31 is also connected to the base; An auxiliary rotational drive motor is connected to the thirty-first revolute pair R31.

[0009] The fourth kinematic chain includes a forty-first revolute pair R41, a twenty-first link, a forty-second revolute pair R42, a twentieth link, a forty-third revolute pair R43, a nineteenth link, a forty-fourth prismatic pair P44, an eighteenth link, and a forty-fifth prismatic pair P45, which are connected in sequence; the forty-fifth prismatic pair P45 is also connected to the moving platform, and the forty-first revolute pair R41 is also connected to the base; A rotational drive motor is connected to the forty-first revolute pair R41.

[0010] The fifth kinematic chain includes a fifty-first revolute pair R51, a twenty-second link, a fifty-second revolute pair R52, a twenty-third link, a fifty-third revolute pair R53, a twenty-fourth link, a fifty-fourth prismatic pair P54, a twenty-fifth link, and a fifty-fifth prismatic pair P55, which are connected in sequence; the fifty-fifth prismatic pair P55 is also connected to the moving platform, and the fifty-first revolute pair R51 is also connected to the base; A rotational drive motor is connected to the fifty-first revolute pair R51.

[0011] The sixth kinematic chain includes a sixty-first revolute pair R61, a thirty-first link 31, a sixty-second revolute pair R62, a thirtieth link 30, a sixty-third revolute pair R63, a twenty-ninth link 29, a sixty-fourth revolute pair R64, a twenty-eighth link 28, a sixty-fifth prismatic pair P65, a twenty-seventh link 27, a sixty-sixth prismatic pair P66, a twenty-sixth link 26, and a sixty-seventh revolute pair R67, which are connected in sequence; the sixty-seventh revolute pair R67 is also connected to the moving platform, and the sixty-first revolute pair R61 is also connected to the base; An auxiliary rotational drive motor is connected to the sixty-first revolute pair R61.

[0012] The seventh kinematic chain includes a seventy-first spherical pair S71, a thirty-second link, a seventy-second prismatic pair P72, a thirty-third link, and a seventy-third spherical pair S73, which are connected in sequence; the seventy-third spherical pair S73 is also connected to the moving platform, and the seventy-first spherical pair S71 is also connected to the base; A linear drive motor is connected to the seventy-second prismatic pair P72.

[0013] The eighth kinematic chain includes an eighty-third spherical pair S83, a thirty-fifth link, an eighty-second prismatic pair P82, a thirty-fourth link, and an eighty-first spherical pair S81, which are connected in sequence; the eighty-first spherical pair S81 is also connected to the moving platform, and the eighty-third spherical pair S83 is also connected to the base; A linear drive motor is connected to the eighty-second prismatic pair P82.

[0014] The second technical solution adopted by the present invention is a driving method for a parallel stirring and mixing robot with a three-rotation two-linear motion mode having a locking mode, specifically: Control the rotational drive motors connected to the twenty-first revolute pair R21, the forty-first revolute pair R41, and the fifty-first revolute pair R51, control the linear drive motors connected to the seventy-second prismatic pair P72 and the eighty-second prismatic pair P82, and control the auxiliary rotational drive motors connected to the eleventh revolute pair R11, the thirty-first revolute pair R31, and the sixty-first revolute pair R61, so that the moving platform is in a three-rotation two-linear motion mode.

[0015] The beneficial effects of the present invention are: (1) The parallel stirring and mixing robot with a three-rotation two-linear motion mode having a locking mode according to the present invention can have its end effector in a locking mode through motion mode transformation. In the locking mode, without the need for all drive motors to be locked, the three-rotation two-linear motion mode of the end effector of the parallel stirring and mixing robot can still be in a locked state, having the ability to maintain stable posture and position, and being able to resist external impact forces through the self-strength and overall stiffness of the robot's structural members.

[0016] (2) The parallel stirring and mixing robot of the present invention has a three-rotation and two-translation motion mode with a locking mode. When the three-rotation and two-translation motion mode of the end effector of the parallel stirring and mixing robot is in the locked state, the impact force during material loading and unloading can be resisted through the connecting rod and the overall stiffness of the robot. In this mode, the driving motor does not need to be locked, reducing the adverse effects of the suddenly applied impact force on the accuracy and service life of the joint driving motor. This mode reduces the impact damage of the external impact force on the driving motor of the stirring robot, and maintains the tool posture stable after installing the processing tool, which has a relatively positive effect on improving the service life of the stirring robot, ensuring the accuracy of motion processing operations, and the safe operation of the equipment.

[0017] (3) The parallel stirring and mixing robot of the present invention has a three-rotation and two-translation motion mode with a locking mode. When the end effector of the robot is in the locking mode, all drives can be in the idle state, which can reduce the energy consumption during the long waiting time of the robot operation, and improve the resistance to the damage of the external force suddenly applied to the robot driver. Brief Description of the Drawings

[0018] Figure 1 Configuration of the Motion Mode Transformation of the Parallel Stirring and Mixing Robot with a Three-Rotation and Two-Translation Motion Mode and a Locking Mode Figure 2 Configuration of the Three-Rotation and Two-Translation Motion Mode of the Parallel Stirring and Mixing Robot with a Three-Rotation and Two-Translation Motion Mode and a Locking Mode Figure 3 Base of the Locking Mode Configuration of the Parallel Stirring and Mixing Robot with a Three-Rotation and Two-Translation Motion Mode and a Locking Mode, 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. Eighteenth Connecting Rod, 19. Nineteenth Connecting Rod, 20. Twentieth Connecting Rod, 21. Twenty-First Connecting Rod, 22. Twenty-Second Connecting Rod, 23. Twenty-Third Connecting Rod, 24. Twenty-Fourth Connecting Rod, 25. Twenty-Fifth Connecting Rod, 26. Twenty-Sixth Connecting Rod, 27. Twenty-Seventh Connecting Rod, 28. Twenty-Eighth Connecting Rod, 29. Twenty-Ninth Connecting Rod, 30. Thirtieth Connecting Rod, 31. Thirty-First Connecting Rod, 32. Thirty-Second Connecting Rod, 33. Thirty-Third Connecting Rod, 34. Thirty-Fourth Connecting Rod, 35. Thirty-Fifth Connecting Rod, 36. Moving Platform. Detailed Embodiments The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The present invention provides a parallel stirring and mixing robot with a locking mode and a three-rotation and two-translation motion mode, including a base 1 and a moving platform 36. Between the base 1 and the moving platform 36, a first motion chain, a second motion chain, a third motion chain, a fourth motion chain, a fifth motion chain, a sixth motion chain, a seventh motion chain and an eighth motion chain are provided.

[0020] The first motion 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, a fourteenth revolute pair R14, a fifth link 5, a fifteenth prismatic pair P15, a sixth link 6, a sixteenth prismatic pair P16, a seventh link 7 and a seventeenth revolute pair R17, which are connected in sequence; the seventeenth revolute pair R17 is also connected to the moving platform 36, and the eleventh revolute pair R11 is also connected to the base 1; An auxiliary rotation drive motor is connected to the eleventh revolute pair R11.

[0021] The second motion chain includes a twenty-first revolute pair R21, an eleventh link 11, a twenty-second revolute pair R22, a tenth link 10, a twenty-third revolute pair R23, a ninth link 9, a twenty-fourth prismatic pair P24, an eighth link 8 and a twenty-fifth prismatic pair P25, which are connected in sequence; the twenty-fifth prismatic pair P25 is also connected to the moving platform 36, and the twenty-first revolute pair R21 is also connected to the base 1; A rotation drive motor is connected to the twenty-first revolute pair R21.

[0022] The third motion chain includes a thirty-first revolute pair R31, a twelfth link 12, a thirty-second revolute pair R32, a thirteenth link 13, a thirty-third revolute pair R33, a fourteenth link 14, a thirty-fourth revolute pair R34, a fifteenth link 15, a thirty-fifth prismatic pair P35, a sixteenth link 16, a thirty-sixth prismatic pair P36, a seventeenth link 17 and a thirty-seventh revolute pair R37, which are connected in sequence; the thirty-seventh revolute pair R37 is also connected to the moving platform 36, and the thirty-first revolute pair R31 is also connected to the base 1; The fifteenth link 15 is a V-shaped link; An auxiliary rotation drive motor is connected to the thirty-first revolute pair R31.

[0023] The fourth motion chain includes a forty-first revolute pair R41, a twenty-first link 21, a forty-second revolute pair R42, a twentieth link 20, a forty-third revolute pair R43, a nineteenth link 19, a forty-fourth prismatic pair P44, an eighteenth link 18 and a forty-fifth prismatic pair P45, which are connected in sequence; the forty-fifth prismatic pair P45 is also connected to the moving platform 36, and the forty-first revolute pair R41 is also connected to the base 1; A rotation drive motor is connected to the forty-first revolute pair R41.

[0024] The fifth kinematic chain includes a fifty-first revolute pair R51, a twenty-second link 22, a fifty-second revolute pair R52, a twenty-third link 23, a fifty-third revolute pair R53, a twenty-fourth link 24, a fifty-fourth prismatic pair P54, a twenty-fifth link 25, and a fifty-fifth prismatic pair P55 connected in sequence; the fifty-fifth prismatic pair P55 is also connected to the moving platform 36, and the fifty-first revolute pair R51 is also connected to the base 1; A rotational driving motor is connected to the fifty-first revolute pair R51.

[0025] The sixth kinematic chain includes a sixty-first revolute pair R61, a thirty-first link 31, a sixty-second revolute pair R62, a thirtieth link 30, a sixty-third revolute pair R63, a twenty-ninth link 29, a sixty-fourth revolute pair R64, a twenty-eighth link 28, a sixty-fifth prismatic pair P65, a twenty-seventh link 27, a sixty-sixth prismatic pair P66, a twenty-sixth link 26, and a sixty-seventh revolute pair R67 connected in sequence; the sixty-seventh revolute pair R67 is also connected to the moving platform 36, and the sixty-first revolute pair R61 is also connected to the base 1; An auxiliary rotational driving motor is connected to the sixty-first revolute pair R61.

[0026] The seventh kinematic chain includes a seventy-first spherical pair S71, a thirty-second link 32, a seventy-second prismatic pair P72, a thirty-third link 33, and a seventy-third spherical pair S73 connected in sequence; the seventy-third spherical pair S73 is also connected to the moving platform 36, and the seventy-first spherical pair S71 is also connected to the base 1; A translational driving motor is connected to the seventy-second prismatic pair P72.

[0027] The eighth kinematic chain includes an eighty-third spherical pair S83, a thirty-fifth link 35, an eighty-second prismatic pair P82, a thirty-fourth link 34, and an eighty-first spherical pair S81 connected in sequence; the eighty-first spherical pair S81 is also connected to the moving platform 36, and the eighty-third spherical pair S83 is also connected to the base 1; A translational driving motor is connected to the eighty-second prismatic pair P82.

[0028] The present invention also provides a driving method for a three-rotation two-translation motion mode parallel stirring and mixing robot with a locking mode, specifically: By controlling the rotational driving motors connected to the twenty-first revolute pair R21, the forty-first revolute pair R41, and the fifty-first revolute pair R51, controlling the translational driving motors connected to the seventy-second prismatic pair P72 and the eighty-second prismatic pair P82, and controlling the auxiliary rotational driving motors connected to the eleventh revolute pair R11, the thirty-first revolute pair R31, and the sixty-first revolute pair R61, the moving platform 36 can be in a three-rotation two-translation motion mode.

[0029] As Figure 1As shown, the second link 2 is rotatably connected to the base 1 through the eleventh revolute pair R11, the third link 3 is rotatably connected to the second link 2 through the twelfth revolute pair R12, the fourth link 4 is rotatably connected to the third link 3 through the thirteenth revolute pair R13, and the fifth link 5 is rotatably connected to the fourth link 4 through the fourteenth revolute pair R14. The sixth link 6 is slidably connected to the fifth link 5 through the fifteenth prismatic pair P15. The seventh link 7 is slidably connected to the sixth link 6 through the sixteenth prismatic pair P16. The moving platform 36 is rotatably connected to the seventh link 7 through the seventeenth revolute pair R17.

[0030] As Figure 1 shown, the eleventh link 11 is rotatably connected to the base 1 through the twenty - first revolute pair R21, the tenth link 10 is rotatably connected to the eleventh link 11 through the twenty - second revolute pair R22, and the ninth link 9 is rotatably connected to the tenth link 10 through the twenty - third revolute pair R23. The eighth link 8 is slidably connected to the ninth link 9 through the twenty - fourth prismatic pair P24. The eighth link 8 is slidably connected to the moving platform 36 through the twenty - fifth prismatic pair P25.

[0031] As Figure 1 shown, the twelfth link 12 is rotatably connected to the thirty - first revolute pair R31, the thirteenth link 13 is rotatably connected to the twelfth link 12 through the thirty - second revolute pair R32. The fourteenth link 14 is rotatably connected to the thirteenth link 13 through the thirty - third revolute pair R33. The fifteenth link 15 is rotatably connected to the fourteenth link 14 through the thirty - fourth revolute pair R34. The sixteenth link 16 is slidably connected to the fifteenth link 15 through the thirty - fifth prismatic pair P35. The seventeenth link 17 is slidably connected to the sixteenth link 16 through the thirty - sixth prismatic pair P36. The moving platform 36 is rotatably connected to the seventeenth link 17 through the thirty - seventh revolute pair R37.

[0032] Figure 1 shown, the twenty - first link 21 is rotatably connected to the base 1 through the forty - first revolute pair R41. The twentieth link 20 is rotatably connected to the twenty - first link 21 through the forty - second revolute pair R42. The nineteenth link 19 is rotatably connected to the twentieth link 20 through the forty - third revolute pair R43. The eighteenth link 18 is slidably connected to the nineteenth link 19 through the forty - fourth prismatic pair P44. The moving platform 36 is slidably connected to the eighteenth link 18 through the forty - fifth prismatic pair P45.

[0033] As Figure 1As shown in the figure, the twenty-second link 22 is rotatably connected to the base 1 through the fifty-first revolute pair R51. The twenty-third link 23 is rotatably connected to the twenty-second link 22 through the fifty-second revolute pair R52. The twenty-fourth link 24 is rotatably connected to the twenty-third link 23 through the fifty-third revolute pair R53. The twenty-fifth link 25 is rotatably connected to the twenty-fourth link 24 through the fifty-fourth prismatic pair P54. The moving platform 36 is movably connected to the twenty-fifth link 25 through the fifty-fifth prismatic pair P55.

[0034] As Figure 1 shown in the figure, the thirty-first link 31 is rotatably connected to the base 1 through the sixty-first revolute pair R61. The thirtieth link 30 is rotatably connected to the thirty-first link 31 through the sixty-second revolute pair R62. The twenty-ninth link 29 is rotatably connected to the thirtieth link 30 through the sixty-third revolute pair R63. The twenty-eighth link 28 is rotatably connected to the twenty-ninth link 29 through the sixty-fourth revolute pair R64. The twenty-seventh link 27 is movably connected to the twenty-eighth link 28 through the sixty-fifth prismatic pair P65. The twenty-sixth link 26 is movably connected to the twenty-seventh link 27 through the sixty-sixth prismatic pair P66. The moving platform 36 is rotatably connected to the twenty-sixth link 26 through the sixty-seventh revolute pair R67.

[0035] As Figure 1 shown in the figure, the thirty-second link 32 is spherical pair connected to the base 1 through the seventy-first spherical pair S71. The thirty-third link 33 is movably connected to the thirty-second link 32 through the seventy-second prismatic pair P72. The moving platform 36 is spherical pair connected to the thirty-third link 33 through the seventy-third spherical pair S73.

[0036] As Figure 1 shown in the figure, the thirty-fifth link 35 is spherical pair connected to the base 1 through the eighty-third spherical pair S83. The thirty-fourth link 34 is movably connected to the thirty-fifth link 35 through the eighty-second prismatic pair P82. The thirty-fourth link 34 is spherical pair connected to the moving platform 36 through the eighty-first spherical pair S81.

[0037] The twenty-first revolute pair R21, the forty-first revolute pair R41 and the fifty-first revolute pair R51 are all connected with rotational drive motors.

[0038] The seventy-second prismatic pair P72 and the eighty-second prismatic pair P82 are connected with linear drive motors.

[0039] The eleventh revolute pair R11, the thirty-first revolute pair R31 and the sixty-first revolute pair R61 are connected with auxiliary rotational drive motors.

[0040] As Figure 1As shown, the axes of the twelfth rotating pair R12, the thirteenth rotating pair R13, the fourteenth rotating pair R14, the twenty-first rotating pair R21, the twenty-second rotating pair R22, the twenty-third rotating pair R23, the thirty-second rotating pair R32, the thirty-third rotating pair R33, the thirty-fourth rotating pair R34, the forty-first rotating pair R41, the forty-second rotating pair R42, the forty-third rotating pair R43, the fifty-first rotating pair R51, the fifty-second rotating pair R52, the fifty-third rotating pair R53, the sixty-second rotating pair R62, the sixty-third rotating pair R63 and the sixty-fourth rotating pair R64 intersect at point O.

[0041] As Figure 1 shown, the moving directions of the fifteenth sliding pair P15, the twenty-fourth sliding pair P24, the thirty-fifth sliding pair P35, the forty-fourth sliding pair P44, the fifty-fourth sliding pair P54 and the sixty-fifth sliding pair P65 are parallel to the Z-axis.

[0042] As Figure 1 shown, the moving directions of the sixteenth sliding pair P16, the twenty-fifth sliding pair P25, the thirty-sixth sliding pair P36, the forty-fifth sliding pair P45, the fifty-fifth sliding pair P55 and the sixty-sixth sliding pair P66 are parallel to the X-axis.

[0043] As Figure 1 shown, the axes of the eleventh rotating pair R11 and the seventeenth rotating pair R17 coincide and do not pass through point O.

[0044] As Figure 1 shown, the axes of the thirty-first rotating pair R31 and the thirty-seventh rotating pair R37 coincide and do not pass through point O.

[0045] As Figure 1 shown, the axes of the sixty-first rotating pair R61 and the sixty-seventh rotating pair R67 coincide and do not pass through point O.

[0046] As Figure 1 shown, the moving directions of the seventy-second sliding pair P72 and the eighty-second sliding pair P82 are along a general direction in space.

[0047] As Figure 1 shown, there is a straight line in the plane where the axis of the eleventh rotating pair R11 is located and point O is located, and this straight line is perpendicular to the moving directions of both the sixteenth sliding pair P16 and the fifteenth sliding pair P15.

[0048] As Figure 1 shown, there is a straight line in the plane where the axis of the thirty-first rotating pair R31 is located and point O is located, and this straight line is perpendicular to the moving directions of both the thirty-fifth sliding pair P35 and the thirty-sixth sliding pair P36.

[0049] As Figure 1As shown, there is a straight line in the plane where the axis of the sixty-first revolute pair R61 lies and passes through point O. This straight line is perpendicular to the moving directions of both the sixty-fifth prismatic pair P65 and the sixty-sixth prismatic pair P66.

[0050] Figure 1 In the configuration of the shown mechanism, the moving platform 36 is in the transformation configuration between the locked mode and the three-revolute two-prismatic motion mode.

[0051] Figure 1 In the configuration of the shown mechanism, control the rotational drive motors connected to the twenty-first revolute pair R21, the forty-first revolute pair R41, and the fifty-first revolute pair R51, control the translational drive motors connected to the seventy-second prismatic pair P72 and the eighty-second prismatic pair P82, and control the auxiliary rotational drive motors connected to the eleventh revolute pair R11, the thirty-first revolute pair R31, and the sixty-first revolute pair R61, such that Figure 1 the configuration of the shown mechanism is transformed to Figure 2 the configuration of the shown mechanism.

[0052] Figure 2 In the configuration of the shown mechanism, the moving platform 36 is in the three-revolute two-prismatic motion mode.

[0053] Figure 2 In the configuration of the shown mechanism, the axes of the twelfth revolute pair R12, the thirteenth revolute pair R13, the fourteenth revolute pair R14, the twenty-first revolute pair R21, the twenty-second revolute pair R22, the twenty-third revolute pair R23, the thirty-second revolute pair R32, the thirty-third revolute pair R33, the thirty-fourth revolute pair R34, the forty-first revolute pair R41, the forty-second revolute pair R42, the forty-third revolute pair R43, the fifty-first revolute pair R51, the fifty-second revolute pair R52, the fifty-third revolute pair R53, the sixty-second revolute pair R62, the sixty-third revolute pair R63, and the sixty-fourth revolute pair R64 intersect at point O.

[0054] As Figure 2 shown, the moving directions of the fifteenth prismatic pair P15, the twenty-fourth prismatic pair P24, the thirty-fifth prismatic pair P35, the forty-fourth prismatic pair P44, the fifty-fourth prismatic pair P54, and the sixty-fifth prismatic pair P65 are parallel to the Z-axis.

[0055] As Figure 2 shown, the moving directions of the sixteenth prismatic pair P16, the twenty-fifth prismatic pair P25, the thirty-sixth prismatic pair P36, the forty-fifth prismatic pair P45, the fifty-fifth prismatic pair P55, and the sixty-sixth prismatic pair P66 are parallel to the X-axis.

[0056] As Figure 2 shown, the axes of the eleventh revolute pair R11 and the seventeenth revolute pair R17 do not coincide. As Figure 2As shown, the axes of the thirty - first revolute pair R31 and the thirty - seventh revolute pair R37 do not coincide. As Figure 2 shown, the axes of the sixty - first revolute pair R61 and the sixty - seventh revolute pair R67 do not coincide.

[0057] Figure 2 In the mechanism configuration shown, by controlling the drive motors connected to the twenty - first revolute pair R21, the forty - first revolute pair R41, the sixty - first revolute pair R61, the seventy - second prismatic pair P72, and the eighty - second prismatic pair P82, it is possible to control Figure 2 the three - dimensional rotation of the moving platform 36 about point O and the two - dimensional movement along the x - axis and z - axis of the moving coordinate system. Figure 2 In the mechanism configuration shown, the moving coordinate system is fixedly connected to the moving platform 36 and coincides with the fixed coordinate system XYZ.

[0058] Figure 1 In the mechanism configuration shown, by controlling the rotational drive motors connected to the twenty - first revolute pair R21, the forty - first revolute pair R41, and the fifty - first revolute pair R51, controlling the linear drive motors connected to the seventy - second prismatic pair P72 and the eighty - second prismatic pair P82, and controlling the auxiliary rotational drive motors connected to the eleventh revolute pair R11, the thirty - first revolute pair R31, and the sixty - first revolute pair R61, Figure 1 the mechanism configuration shown is transformed into Figure 3 the mechanism configuration shown.

[0059] Figure 3 In the mechanism configuration shown, when the moving platform 36 is in the locked mode, without locking the rotational drive motors connected to the twenty - first revolute pair R21, the forty - first revolute pair R41, and the fifty - first revolute pair R51, without locking the linear drive motors connected to the seventy - second prismatic pair P72 and the eighty - second prismatic pair P82, and without locking the auxiliary rotational drive motors connected to the eleventh revolute pair R11, the thirty - first revolute pair R31, and the sixty - first revolute pair R61, the moving platform 36 remains in the locked state.

[0060] Figure 3 In the mechanism configuration shown, the axes of the twelfth revolute pair R12, the thirteenth revolute pair R13, and the fourteenth revolute pair R14 intersect at point O1, the axes of the thirty - second revolute pair R32, the thirty - third revolute pair R33, and the thirty - fourth revolute pair R34 intersect at point O2, and the axes of the sixty - second revolute pair R62, the sixty - third revolute pair R63, and the sixty - fourth revolute pair R64 intersect at point O3.

[0061] Figure 3In the configuration of the mechanism shown, the moving planes determined by the moving directions of the fifteenth moving pair P15 and the sixteenth moving pair P16, the moving planes determined by the moving directions of the thirty-fifth moving pair P35 and the thirty-sixth moving pair P36, and the moving planes determined by the moving directions of the sixty-fifth moving pair P65 and the sixty-sixth moving pair P66 are not coplanar and there is no common line.

[0062] Figure 3 In the configuration of the mechanism shown, the lines connecting point O1 and point O, the line connecting point O2 and point O, and the line connecting point O3 and point O are not collinear and not coplanar.

[0063] As Figure 3 shown, there is a straight line in the plane where the axis of the eleventh rotating pair R11 lies and passes through point O, and this straight line is perpendicular to the moving directions of both the sixteenth moving pair P16 and the fifteenth moving pair P15.

[0064] As Figure 3 shown, there is a straight line in the plane where the axis of the thirty-first rotating pair R31 lies and passes through point O, and this straight line is perpendicular to the moving directions of both the thirty-fifth moving pair P35 and the thirty-sixth moving pair P36.

[0065] As Figure 3 shown, there is a straight line in the plane where the axis of the sixty-first rotating pair R61 lies and passes through point O, and this straight line is perpendicular to the moving directions of both the sixty-fifth moving pair P65 and the sixty-sixth moving pair P66.

[0066] As Figure 3 shown, the axes of the eleventh rotating pair R11 and the seventeenth rotating pair R17 coincide and do not pass through point O.

[0067] As Figure 3 shown, the axes of the thirty-first rotating pair R31 and the thirty-seventh rotating pair R37 coincide and do not pass through point O.

[0068] As Figure 3 shown, the axes of the sixty-first rotating pair R61 and the sixty-seventh rotating pair R67 coincide and do not pass through point O.

[0069] Embodiment 1 A parallel stirring and mixing robot with a three-rotation and two-translation motion mode having a locking mode includes a base 1 and a moving platform 36. Between the base 1 and the moving platform 36, a first motion chain, a second motion chain, a third motion chain, a fourth motion chain, a fifth motion chain, a sixth motion chain, a seventh motion chain, and an eighth motion chain are provided.

[0070] Embodiment 2 A parallel stirring and mixing robot with a three-rotation and two-translation motion mode having a locking mode, comprising a base 1 and a moving platform 36. Between the base 1 and the moving platform 36, a first motion chain, a second motion chain, a third motion chain, a fourth motion chain, a fifth motion chain, a sixth motion chain, a seventh motion chain and an eighth motion chain are provided.

[0071] The first motion 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, a fourteenth revolute pair R14, a fifth link 5, a fifteenth prismatic pair P15, a sixth link 6, a sixteenth prismatic pair P16, a seventh link 7 and a seventeenth revolute pair R17 connected in sequence; the seventeenth revolute pair R17 is also connected to the moving platform 36, and the eleventh revolute pair R11 is also connected to the base 1; The eleventh revolute pair R11 is connected with an auxiliary rotational drive motor.

[0072] Embodiment 3 A parallel stirring and mixing robot with a three-rotation and two-translation motion mode having a locking mode, comprising a base 1 and a moving platform 36. Between the base 1 and the moving platform 36, a first motion chain, a second motion chain, a third motion chain, a fourth motion chain, a fifth motion chain, a sixth motion chain, a seventh motion chain and an eighth motion chain are provided.

[0073] The first motion 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, a fourteenth revolute pair R14, a fifth link 5, a fifteenth prismatic pair P15, a sixth link 6, a sixteenth prismatic pair P16, a seventh link 7 and a seventeenth revolute pair R17 connected in sequence; the seventeenth revolute pair R17 is also connected to the moving platform 36, and the eleventh revolute pair R11 is also connected to the base 1; The eleventh revolute pair R11 is connected with an auxiliary rotational drive motor.

[0074] The second motion chain includes a twenty-first revolute pair R21, an eleventh link 11, a twenty-second revolute pair R22, a tenth link 10, a twenty-third revolute pair R23, a ninth link 9, a twenty-fourth prismatic pair P24, an eighth link 8 and a twenty-fifth prismatic pair P25 connected in sequence; the twenty-fifth prismatic pair P25 is also connected to the moving platform 36, and the twenty-first revolute pair R21 is also connected to the base 1; The twenty-first revolute pair R21 is connected with a rotational drive motor.

[0075] Embodiment 4 A parallel stirring and mixing robot with a three-rotation and two-translation motion mode having a locking mode, including a base 1 and a moving platform 36. Between the base 1 and the moving platform 36, a first motion chain, a second motion chain, a third motion chain, a fourth motion chain, a fifth motion chain, a sixth motion chain, a seventh motion chain, and an eighth motion chain are provided.

[0076] The first motion 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, a fourteenth revolute pair R14, a fifth link 5, a fifteenth prismatic pair P15, a sixth link 6, a sixteenth prismatic pair P16, a seventh link 7, and a seventeenth revolute pair R17, which are connected in sequence. The seventeenth revolute pair R17 is also connected to the moving platform 36, and the eleventh revolute pair R11 is also connected to the base 1. An auxiliary rotational drive motor is connected to the eleventh revolute pair R11.

[0077] The second motion chain includes a twenty-first revolute pair R21, an eleventh link 11, a twenty-second revolute pair R22, a tenth link 10, a twenty-third revolute pair R23, a ninth link 9, a twenty-fourth prismatic pair P24, an eighth link 8, and a twenty-fifth prismatic pair P25, which are connected in sequence. The twenty-fifth prismatic pair P25 is also connected to the moving platform 36, and the twenty-first revolute pair R21 is also connected to the base 1. A rotational drive motor is connected to the twenty-first revolute pair R21.

[0078] The third motion chain includes a thirty-first revolute pair R31, a twelfth link 12, a thirty-second revolute pair R32, a thirteenth link 13, a thirty-third revolute pair R33, a fourteenth link 14, a thirty-fourth revolute pair R34, a fifteenth link 15, a thirty-fifth prismatic pair P35, a sixteenth link 16, a thirty-sixth prismatic pair P36, a seventeenth link 17, and a thirty-seventh revolute pair R37, which are connected in sequence. The thirty-seventh revolute pair R37 is also connected to the moving platform 36, and the thirty-first revolute pair R31 is also connected to the base 1.

[0079] Example 5 A parallel stirring and mixing robot with a three-rotation and two-translation motion mode having a locking mode, including a base 1 and a moving platform 36. Between the base 1 and the moving platform 36, a first motion chain, a second motion chain, a third motion chain, a fourth motion chain, a fifth motion chain, a sixth motion chain, a seventh motion chain, and an eighth motion chain are provided.

[0080] The first kinematic 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, a fourteenth revolute pair R14, a fifth link 5, a fifteenth prismatic pair P15, a sixth link 6, a sixteenth prismatic pair P16, a seventh link 7, and a seventeenth revolute pair R17, which are connected in sequence; the seventeenth revolute pair R17 is also connected to the moving platform 36, and the eleventh revolute pair R11 is also connected to the base 1; An auxiliary rotational drive motor is connected to the eleventh revolute pair R11.

[0081] The second kinematic chain includes a twenty - first revolute pair R21, an eleventh link 11, a twenty - second revolute pair R22, a tenth link 10, a twenty - third revolute pair R23, a ninth link 9, a twenty - fourth prismatic pair P24, an eighth link 8, and a twenty - fifth prismatic pair P25, which are connected in sequence; the twenty - fifth prismatic pair P25 is also connected to the moving platform 36, and the twenty - first revolute pair R21 is also connected to the base 1; A rotational drive motor is connected to the twenty - first revolute pair R21.

[0082] The third kinematic chain includes a thirty - first revolute pair R31, a twelfth link 12, a thirty - second revolute pair R32, a thirteenth link 13, a thirty - third revolute pair R33, a fourteenth link 14, a thirty - fourth revolute pair R34, a fifteenth link 15, a thirty - fifth prismatic pair P35, a sixteenth link 16, a thirty - sixth prismatic pair P36, a seventeenth link 17, and a thirty - seventh revolute pair R37, which are connected in sequence; the thirty - seventh revolute pair R37 is also connected to the moving platform 36, and the thirty - first revolute pair R31 is also connected to the base 1; The fifteenth link 15 is a V - shaped link.

[0083] Embodiment 6 A parallel stirring and mixing robot with a three - rotation and two - translation motion mode having a locking mode includes a base 1 and a moving platform 36. Between the base 1 and the moving platform 36, there are a first kinematic chain, a second kinematic chain, a third kinematic chain, a fourth kinematic chain, a fifth kinematic chain, a sixth kinematic chain, a seventh kinematic chain, and an eighth kinematic chain.

[0084] The first kinematic 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, a fourteenth revolute pair R14, a fifth link 5, a fifteenth prismatic pair P15, a sixth link 6, a sixteenth prismatic pair P16, a seventh link 7, and a seventeenth revolute pair R17, which are connected in sequence; the seventeenth revolute pair R17 is also connected to the moving platform 36, and the eleventh revolute pair R11 is also connected to the base 1; An auxiliary rotational drive motor is connected to the eleventh revolute pair R11.

[0085] The second kinematic chain includes a twenty-first revolute pair R21, an eleventh link 11, a twenty-second revolute pair R22, a tenth link 10, a twenty-third revolute pair R23, a ninth link 9, a twenty-fourth prismatic pair P24, an eighth link 8, and a twenty-fifth prismatic pair P25 connected in sequence; the twenty-fifth prismatic pair P25 is also connected to the moving platform 36, and the twenty-first revolute pair R21 is also connected to the base 1; A rotational drive motor is connected to the twenty-first revolute pair R21.

[0086] The third kinematic chain includes a thirty-first revolute pair R31, a twelfth link 12, a thirty-second revolute pair R32, a thirteenth link 13, a thirty-third revolute pair R33, a fourteenth link 14, a thirty-fourth revolute pair R34, a fifteenth link 15, a thirty-fifth prismatic pair P35, a sixteenth link 16, a thirty-sixth prismatic pair P36, a seventeenth link 17, and a thirty-seventh revolute pair R37 connected in sequence; the thirty-seventh revolute pair R37 is also connected to the moving platform 36, and the thirty-first revolute pair R31 is also connected to the base 1; The fifteenth link 15 is a V-shaped link; An auxiliary rotational drive motor is connected to the thirty-first revolute pair R31.

Claims

1. A parallel stirring and mixing robot with three rotation and two movement modes and a locking mode, characterized in that: The invention comprises a base (1) and a moving platform (36), wherein a first kinematic chain, a second kinematic chain, a third kinematic chain, a fourth kinematic chain, a fifth kinematic chain, a sixth kinematic chain, a seventh kinematic chain and an eighth kinematic chain are arranged between the base (1) and the moving platform (36).

2. The three-rotation and two-movement parallel stirring and mixing robot with locking mode according to claim 1, characterized in that: The first kinematic 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), a fourteenth rotational pair R14, a fifth connecting rod (5), a fifteenth movable pair P15, a sixth connecting rod (6), a sixteenth movable pair P16, a seventh connecting rod (7) and a seventeenth rotational pair R17 which are connected in sequence; the seventeenth rotational pair R17 is also connected to the moving platform (36), and the eleventh rotational pair R11 is also connected to the base (1); The eleventh rotation pair R11 is connected to an auxiliary rotation driving motor.

3. The three-rotation and two-movement parallel stirring and mixing robot with locking mode according to claim 1, characterized in that: The second kinematic chain comprises a twenty-first rotational pair R21, an eleventh connecting rod (11), a twenty-second rotational pair R22, a tenth connecting rod (10), a twenty-third rotational pair R23, a ninth connecting rod (9), a twenty-fourth mobile pair P24, an eighth connecting rod (8) and a twenty-fifth mobile pair P25 which are connected in sequence; the twenty-fifth mobile pair P25 is also connected to the moving platform (36), and the twenty-first rotational pair R21 is also connected to the base (1); The twenty-first rotation pair R21 is connected to a rotation driving motor.

4. The parallel stirring and mixing robot with three rotation and two movement modes and locking mode according to claim 1, characterized in that: The third kinematic chain comprises a thirty-first rotational pair R31, a twelfth connecting rod (12), a thirty-second rotational pair R32, a thirteenth connecting rod (13), a thirty-third rotational pair R33, a fourteenth connecting rod (14), a thirty-fourth rotational pair R34, a fifteenth connecting rod (15), a thirty-fifth moving pair P35, a sixteenth connecting rod (16), a thirty-sixth moving pair P36, a seventeenth connecting rod (17) and a thirty-seventh rotational pair R37 which are connected in sequence; the thirty-seventh rotational pair R37 is also connected to the moving platform (36), and the thirty-first rotational pair R31 is also connected to the base (1); The thirty-first rotation pair R31 is connected to an auxiliary rotation drive motor.

5. The three-rotation and two-movement parallel stirring and mixing robot with locking mode according to claim 1, characterized in that: The fourth kinematic chain comprises a forty-first rotational pair R41, a twenty-first connecting rod (21), a forty-second rotational pair R42, a twentieth connecting rod (20), a forty-third rotational pair R43, a nineteenth connecting rod (19), a forty-fourth movement pair P44, an eighteenth connecting rod (18) and a forty-fifth movement pair P45 which are connected in sequence; the forty-fifth movement pair P45 is also connected to the moving platform (36), and the forty-first rotational pair R41 is also connected to the base (1); The forty-first rotation pair R41 is connected to a rotation driving motor.

6. The three-rotation and two-movement parallel stirring and mixing robot with locking mode according to claim 1, characterized in that: The fifth kinematic chain comprises a fifty-first rotational pair R51, a twenty-second connecting rod (22), a fifty-second rotational pair R52, a twenty-third connecting rod (23), a fifty-third rotational pair R53, a twenty-fourth connecting rod (24), a fifty-fourth moving pair P54, a twenty-fifth connecting rod (25) and a fifty-fifth moving pair P55, which are connected in sequence; the fifty-fifth moving pair P55 is also connected to the moving platform (36), and the fifty-first rotational pair R51 is also connected to the base (1); The fifty-first rotating pair R51 is connected to a rotating driving motor.

7. The three-rotation and two-movement parallel stirring and mixing robot with locking mode according to claim 1, characterized in that: The sixth kinematic chain comprises a sixty-first rotational pair R61, a thirty-first connecting rod 31, a sixty-second rotational pair R62, a thirty-first connecting rod 30, a sixty-third rotational pair R63, a twenty-ninth connecting rod 29, a sixty-fourth rotational pair R64, a twenty-eighth connecting rod 28, a sixty-fifth moving pair P65, a twenty-seventh connecting rod 27, a sixty-sixth moving pair P66, a twenty-sixth connecting rod 26 and a sixty-seventh rotational pair R67, which are connected in sequence; the sixty-seventh rotational pair R67 is also connected to the moving platform (36), and the sixty-first rotational pair R61 is also connected to the base (1); The sixty-first rotation pair R61 is connected to an auxiliary rotation drive motor.

8. The three-rotation and two-movement parallel stirring and mixing robot with locking mode according to claim 1, characterized in that: The seventh kinematic chain comprises a seventy-first ball pair S71, a thirty-second connecting rod (32), a seventy-second moving pair P72, a thirty-third connecting rod (33) and a seventy-third ball pair S73 which are connected in sequence; the seventy-third ball pair S73 is also connected to the moving platform (36), and the seventy-first ball pair S71 is also connected to the base (1); The seventy-second movable pair P72 is connected to a movable driving motor.

9. The three-rotation and two-movement parallel stirring and mixing robot with locking mode according to claim 1, characterized in that: The eighth kinematic chain comprises an eighty-third ball pair S83, a thirty-fifth connecting rod (35), an eighty-second moving pair P82, a thirty-fourth connecting rod (34) and an eighty-first ball pair S81 which are connected in sequence; the eighty-first ball pair S81 is also connected to the moving platform (36), and the eighty-third ball pair S83 is also connected to the base (1); The eighty-second moving pair P82 is connected to a moving drive motor.

10. The driving method of the parallel stirring and mixing robot with three rotation and two movement modes and a locking mode according to any one of claims 1 to 9, characterized in that: Specifically, the rotating drive motors connected to the twenty-first rotating pair R21, the forty-first rotating pair R41 and the fifty-first rotating pair R51 are controlled, the moving drive motors connected to the seventy-second moving pair P72 and the eighty-second moving pair P82 are controlled, and the auxiliary rotating drive motors connected to the eleventh rotating pair R11, the thirty-first rotating pair R31 and the sixty-first rotating pair R61 are controlled, so that the moving platform (36) is in a three-rotation and two-movement motion mode.

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